Vehicle u-turn control method and apparatus, and vehicle

Abstract

Disclosed is a vehicle U-turn control method (200), comprising: when it is determined that a vehicle U-turn function state is an activated state, calculating a target torque of a front-axle electric motor of a vehicle, a target torque of a left rear electric motor of the vehicle, and a target torque of a right rear electric motor of the vehicle, so as to apply a negative torque to an inner rear wheel during a U-turn of the vehicle, and apply a drive torque to front wheels and to an outer rear wheel during the U-turn of the vehicle, thereby controlling the vehicle to make a U-turn. Further disclosed are a vehicle U-turn control apparatus (600), a vehicle, a storage medium, and a computer program. The method can reduce the turning radius of a vehicle, thereby significantly mitigating the safety risks of the vehicle that are caused by turning or making a U-turn in areas with numerous vehicles, and also greatly avoiding the problem of tire wear of the vehicle.

Description

Vehicle turning control method and device and vehicle

[0001] The present application claims priority to the Chinese patent application No. 202410895761.1, filed on July 4, 2024, and entitled "Vehicle turning control method and device and vehicle", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of automotive technology, and more particularly to a vehicle turning control method, device and vehicle. BACKGROUND

[0003] During driving, a vehicle often needs to turn or U-turn. The traditional turning function is realized by controlling the front wheel angle through the steering wheel operated by the driver, and the turning radius of the vehicle is large. For the case that the vehicle needs to turn or U-turn in a narrow road, the ordinary normal turning is limited by the too large turning diameter and cannot complete the U-turn or turning, especially when the vehicle needs to turn or U-turn in a place with many vehicles, the driver needs to adjust the vehicle posture many times due to the limitation of the surrounding environment, which can easily cause road traffic congestion and may cause damage to persons or property by scratching the surrounding objects or pedestrians. Therefore, it is necessary to develop a function of reducing the turning radius for turning and passing to improve the vehicle maneuverability.

[0004] In the related art, a braking torque is applied to the diagonal wheels on one side of the vehicle through hydraulic pressure to control the wheels of the vehicle to be stationary, and a driving force is applied to the diagonal wheels on the other side to make the vehicle rotate around the center of the vehicle. The combination of hydraulic pressure and driving force makes the overall driving experience of the vehicle not good, and there is obvious jarring. SUMMARY

[0005] The present application is proposed to solve the above problems. According to an aspect of the present application, a vehicle U-turn control method is provided. The method comprises: when the vehicle U-turn function state is determined to be in an activated state, calculating a front axle motor target torque, a left rear motor target torque and a right rear motor target torque of the vehicle for applying a negative torque to the inner rear wheel when the vehicle U-turns, and applying a driving torque to the front wheel and the outer rear wheel when the vehicle U-turns, thereby controlling the vehicle to U-turn.

[0006] In one embodiment of the present application, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated, comprising: determining the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed of the vehicle according to a first preset relationship table; obtaining the front axle motor target speed, the left rear motor target speed and the right rear motor target speed according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed; and converting the front axle motor target speed, the left rear motor target speed and the right rear motor target speed into the front axle motor target torque, the left rear motor target torque and the right rear motor target torque, respectively.

[0007] In one embodiment of the present application, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are obtained according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed, comprising: obtaining the wheel rolling radius, the front axle motor transmission ratio, the left rear motor transmission ratio and the right rear motor transmission ratio of the vehicle; obtaining the front axle motor target speed based on the front wheel target wheel speed, the wheel rolling radius and the front axle motor transmission ratio, obtaining the left rear motor target speed based on the left rear wheel target wheel speed, the wheel rolling radius and the left rear motor transmission ratio, and obtaining the right rear motor target speed based on the right rear wheel target wheel speed, the wheel rolling radius and the right rear motor transmission ratio.

[0008] In one embodiment of the present application, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated for applying negative torque to the inner side rear wheel when the vehicle is turning around and applying driving torque to the front wheel and the outer side rear wheel when the vehicle is turning around, comprising: when the turning around mode of the vehicle is left turning around, converting the left rear motor target speed into a first left rear motor target torque for applying negative torque to the left rear wheel, converting the front axle motor target speed into a first front axle motor target torque for applying driving torque to the front wheel, and converting the right rear motor target speed into a first right rear motor target torque for applying driving torque to the right rear wheel.

[0009] In one embodiment of the present application, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated for applying negative torque to the inner side rear wheel when the vehicle is turning around and applying driving torque to the front wheel and the outer side rear wheel when the vehicle is turning around, comprising: when the turning around mode of the vehicle is right turning around, converting the right rear motor target speed into a second right rear motor target torque for applying negative torque to the right rear wheel, converting the front axle motor target speed into a second front axle motor target torque for applying driving torque to the front wheel, and converting the left rear motor target speed into a second left rear motor target torque for applying driving torque to the left rear wheel.

[0010] In an embodiment of the present application, after the vehicle is controlled to make the U-turn, the method further comprises: when the activation state is in the function exit, limiting and smoothing the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed to reach a preset wheel speed, and limiting and smoothing the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque; and calculating the third front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque to control the vehicle to stop the U-turn.

[0011] In an embodiment of the present application, the third front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque are calculated based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque, which comprises: obtaining the third front axle motor target torque based on the processed first front axle motor target torque and a front axle motor transmission ratio; obtaining the third left rear motor target torque based on the processed first left rear motor target torque and a left rear motor transmission ratio; and obtaining the third right rear motor target torque based on the processed first right rear motor target torque and a right rear motor transmission ratio.

[0012] In an embodiment of the present application, after the vehicle is controlled to make the U-turn, the method further comprises: when the activation state is in the function exit, limiting and smoothing the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed to reach a preset wheel speed, and limiting and smoothing the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque; and calculating the fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque to control the vehicle to stop the U-turn.

[0013] In an embodiment of the present application, the fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque are calculated based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque, which comprises: obtaining the fourth front axle motor target torque based on the processed second front axle motor target torque and a front axle motor transmission ratio; obtaining the fourth left rear motor target torque based on the processed second left rear motor target torque and a left rear motor transmission ratio; and obtaining the fourth right rear motor target torque based on the processed second right rear motor target torque and a right rear motor transmission ratio.

[0014] In an embodiment of the present application, the method further comprises: calculating a turning radius of the vehicle, and displaying a turning track of the vehicle through a media interaction host.

[0015] In an embodiment of the present application, the turning radius of the vehicle is calculated, comprising: determining the turning radius according to a second preset relationship table.

[0016] In an embodiment of the present application, the turning function state of the vehicle is determined, comprising: obtaining state information of the vehicle; and determining the turning function state of the vehicle based on the state information.

[0017] In an embodiment of the present application, the state information comprises at least one of the following: steering wheel angle, brake depth, vehicle speed, gear information, vehicle slope and throttle depth.

[0018] In an embodiment of the present application, the condition for the turning function state of the vehicle being in the active state is at least one of the following: the steering wheel angle is within a steering wheel angle threshold range; the brake depth is within a brake depth threshold range; the vehicle speed is less than a vehicle speed threshold and is maintained for a first threshold time; the gear information is in the forward gear; the vehicle slope is less than a slope threshold and is maintained for a second threshold time; and the throttle depth is greater than a throttle intervention threshold.

[0019] According to another aspect of the present application, a vehicle turning control device is provided, the device comprising a processor and a memory, wherein the memory has stored thereon a computer executable program run by the processor, and the computer executable program, when run by the processor, causes the processor to perform the vehicle turning control method described above.

[0020] According to still another aspect of the present application, a vehicle is provided, the vehicle comprising the vehicle turning control device described above.

[0021] According to another aspect of the present application, a storage medium is provided, the storage medium having stored thereon a computer program run by a processor, and the computer program, when run by the processor, causes the processor to perform the vehicle turning control method described above.

[0022] According to another aspect of the present application, a computer program is provided, the computer program, when run by a processor, causes the processor to perform the vehicle turning control method described above.

[0023] The vehicle turning control method, device and vehicle of the present application obtain the front axle motor target torque, left rear motor target torque and right rear motor target torque when the turning function state of the vehicle is in the active state, so as to apply a negative torque to the inner rear wheel of the vehicle and apply a driving torque to the front wheel and the outer rear wheel, thereby achieving the purpose of reducing the turning radius of the vehicle, greatly reducing the safety risk of the vehicle caused by turning or turning around in many places of the vehicle, and greatly avoiding the problem of tire wear of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description thereof taken in conjunction with the accompanying drawings, in which: The accompanying drawings provide exemplary embodiments of the application and serve to illustrate the principles of the present application. The drawings are not intended to limit the scope of the application in any way, but rather serve to provide what is believed to be the most useful and understanding of the present application. In the drawings:

[0025] FIG. 1 shows a schematic block diagram of an example electronic device for a vehicle U-turn control method and apparatus according to embodiments of the present application.

[0026] FIG. 2 shows a schematic flowchart of a vehicle U-turn control method according to embodiments of the present application.

[0027] FIG. 3 shows a schematic structure diagram of a vehicle U-turn function state according to embodiments of the present application.

[0028] FIG. 4 shows a schematic diagram of a vehicle for a vehicle U-turn according to embodiments of the present application.

[0029] FIG. 5 shows a schematic diagram of a vehicle for another vehicle U-turn according to embodiments of the present application.

[0030] FIG. 6 shows a schematic structure block diagram of a vehicle U-turn control apparatus according to embodiments of the present application. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present application more apparent, the following will describe example embodiments according to the present application in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0032] First, referring to FIG. 1, an example electronic device 100 for implementing a vehicle U-turn control method and apparatus according to embodiments of the present application is described.

[0033] As shown in FIG. 1, the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, and an output device 108, which are interconnected by a bus system 110 and / or other forms of connection mechanisms (not shown). It should be noted that the components and structures of the electronic device 100 shown in FIG. 1 are only exemplary and not limiting, and the electronic device can also have other components and structures as needed.

[0034] The processor 102 can be a central processing unit (CPU) or other form of processing unit that has data processing and / or instruction execution capabilities, and can control other components in the electronic device 100 to perform desired functions.

[0035] The storage 104 can include one or more computer program products that can include various forms of computer nonvolatile readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory, etc. The non-volatile memory may, for example, include read only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions can be stored on the computer non-volatile readable storage media, and the processor 102 can run the program instructions to implement the client functions (implemented by the processor) in the embodiments of the present application below and / or other desired functions. Various application programs and various data, such as various data used and / or generated by the application programs, etc., can also be stored in the computer non-volatile readable storage media.

[0036] The input device 106 can be a device used by a user to input instructions, and can include one or more of a keyboard, a mouse, a microphone, a touch screen, etc. In addition, the input device 106 can also be any interface that receives information.

[0037] The output device 108 can output various information (such as images or sounds) to the outside (such as a user), and can include one or more of a display, a speaker, etc. In addition, the output device 108 can also be any other device with output functions.

[0038] Exemplarily, an example electronic device for implementing the vehicle U-turn control method and device according to the embodiments of the present application can be implemented, such as a smart vehicle terminal, etc.

[0039] Below, the vehicle U-turn control method 200 according to the embodiments of the present application will be described with reference to FIG. 2. FIG. 2 shows a schematic flowchart of the vehicle U-turn control method 200 according to the embodiments of the present application. As shown in FIG. 2, the vehicle U-turn control method 200 according to the embodiments of the present application can include the following steps:

[0040] In step S210, when it is determined that the vehicle U-turn function state is in the active state, the front axle motor target torque, the left rear motor target torque, and the right rear motor target torque of the vehicle are calculated for applying negative torque to the inner rear wheel when the vehicle is U-turning, and driving torque to the front wheel and the outer rear wheel when the vehicle is U-turning, so as to control the vehicle to U-turn.

[0041] In the embodiment of the present application, firstly, the vehicle turning function state at this time is determined through the state information of the vehicle, and the vehicle turning function state is divided into multiple states. When the vehicle turning function state is in the active state, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle can be calculated based on the state information of the vehicle in the active state, and the front axle motor target torque, the left rear motor target torque and the right rear motor target torque are respectively applied to the front drive motor, the left rear drive motor and the right rear drive motor of the vehicle, so as to apply negative torque to the inner rear wheel of the vehicle and apply driving torque to the front wheel and the outer rear wheel, thereby the vehicle can be controlled to turn around the inner rear wheel to reduce the turning radius of the vehicle.

[0042] Therefore, according to the vehicle turning control method 200 of the embodiment of the present application, when the vehicle turning function state is in the active state, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque are obtained to apply negative torque to the inner rear wheel of the vehicle and apply driving torque to the front wheel and the outer rear wheel, thereby achieving the purpose of reducing the turning radius of the vehicle, greatly reducing the safety risk of the vehicle caused by turning or turning around in many places of the vehicle, and greatly avoiding the problem of tire wear of the vehicle.

[0043] In the embodiment of the present application, the state information of the vehicle is obtained, and the vehicle turning function state is determined based on the state information. When the vehicle is driving, normal turning or lane changing can be smoothly completed in the normal state, however, when the vehicle is turning around or turning in a narrow road space, a smaller turning radius is required to realize turning around or turning, so as not to cause road traffic congestion and the like, and therefore a turning control method is required. For the vehicle turning control method, it is required to firstly determine whether the vehicle turning function is started when the vehicle needs to perform turning around, and after it is determined that the vehicle turning function is started, the vehicle turning function state (i.e. the turning function state) is determined at this time, and the vehicle turning function state is determined through the state information of the current vehicle.

[0044] In the embodiments of the present application, the whole vehicle controller of the vehicle collects the state information of the vehicle, and the state information of the vehicle includes at least one of the following: steering wheel angle, brake depth, vehicle speed, gear information, vehicle slope and throttle depth. Specifically, the steering wheel angle is used to realize the steering of the wheels of the vehicle, for example, when the steering wheel is turned to the left by a certain angle, the wheels of the vehicle are also turned to the left at this time, and when the steering wheel is turned to the right by a certain angle, the wheels of the vehicle are also turned to the right at this time; the brake depth refers to the depth of the brake pedal of the vehicle being stepped on; the gear information is the gear state of the vehicle, and the gears of the vehicle generally have a parking gear (i.e. P gear), at this time the wheels are in a mechanical locking state to prevent rolling, a reverse gear (i.e. R gear) is used when the vehicle needs to reverse, a neutral gear (i.e. N gear) is used when temporarily stopping (such as a red light), and a forward gear (i.e. D gear) is used when the vehicle is moving forward; the vehicle slope refers to the slope information of the flat ground at this time, and the throttle depth refers to the depth of the throttle pedal of the vehicle being stepped on by the driver. Of course, the state information of the vehicle can also include other suitable state information, and can also be several of the above listed state information, which is not specifically limited.

[0045] In this embodiment, based on the state information, the vehicle U-turn function state is determined. The case of the vehicle U-turn function state is described below in combination with FIG. 3. As shown in FIG. 3, the vehicle U-turn function state is divided into multiple function states, including: a prohibited state, a closed state, a standby state and an activated state. In one example, when the OK indicator light in the vehicle is OK; the front motor control module, the left rear motor control module and the right rear motor control module motor allow opening wave signs are allowed, the drive motor transmission ratio fault state is fault-free, the steering wheel angle effective flag bit is valid, the steering wheel angle calibration flag bit is calibrated, the vehicle speed signal state is fault-free, the brake depth effective flag is valid, and the gear system state is normal, then the vehicle U-turn function is in standby state at this time; when the steering wheel angle is greater than a certain angle threshold, the vehicle is on flat ground (the slope is less than a certain slope threshold), the brake depth condition is less than a certain threshold, the vehicle is in a stationary state, and the gear is in forward gear, then the vehicle U-turn function state is activated at this time; when the condition of the steering wheel angle is not met, the vehicle U-turn function state is closed at this time.

[0046] In the embodiments of the present application, the conditions for the vehicle U-turn function state being in the active state include one or more of the following: the steering wheel angle is within a steering wheel angle threshold range; the brake depth is within a brake depth threshold range; the vehicle speed is less than a vehicle speed threshold and is maintained for a first threshold time; the gear information is in the forward gear; the vehicle slope is less than a slope threshold and is maintained for a second threshold time; and the throttle depth is greater than a throttle intervention threshold. In one example, when the conditions for the vehicle U-turn function state being in the active state are met, the steering wheel angle can be between 500° and 540°, although other suitable steering wheel angle ranges can also be used and are not limited in this regard. The vehicle slope is determined to achieve a better U-turn, and in one example, the vehicle slope threshold can be 3%, 2%, or another suitable value, such as when the vehicle slope is near 0%, i.e., the road on which the vehicle is located is approximately flat. In addition, the brake depth needs to be within a certain brake depth threshold range because the vehicle needs to reduce the speed to U-turn, and therefore needs to meet a certain brake depth. When the vehicle selects the U-turn function, the vehicle speed needs to be determined to determine that the vehicle is almost stationary at this time, thereby meeting the conditions for the vehicle U-turn function being in the active state, for example, the vehicle speed can be less than 0.5 km / h and is maintained for 200 ms. When the vehicle throttle depth is greater than a certain throttle intervention threshold, for example, the throttle intervention threshold can be 5%, although other suitable thresholds can also be used and are not limited in this regard, at this time there will be a certain speed to facilitate the vehicle to U-turn, thereby meeting the conditions for the vehicle U-turn function being in the active state. The above conditions for the vehicle U-turn function state being in the active state can also be other suitable conditions related to the vehicle U-turn, which are not limited in this regard.

[0047] In the embodiments of the present application, the calculation of the front axle motor target torque, the left rear motor target torque, and the right rear motor target torque of the vehicle in step S210 includes: determining the front wheel target wheel speed, the left rear wheel target wheel speed, and the right rear wheel target wheel speed of the vehicle according to a first preset relationship table; obtaining the front axle motor target speed, the left rear motor target speed, and the right rear motor target speed according to the front wheel target wheel speed, the left rear wheel target wheel speed, and the right rear wheel target wheel speed; and converting the front axle motor target speed, the left rear motor target speed, and the right rear motor target speed into the front axle motor target torque, the left rear motor target torque, and the right rear motor target torque, respectively. Specifically, when the vehicle U-turn function state is in the active state, the front wheel target wheel speed, the left rear wheel target wheel speed, and the right rear wheel target wheel speed of the current vehicle are first determined according to the user terrain selection mode. Because the target wheel speed of the vehicle is different under different road conditions, the target wheel speed under the corresponding terrain selection mode needs to be determined based on the user selection. The terrain selection mode can be an ice and snow mode, an off-road mode, a highway mode, or another suitable terrain selection mode, which is not limited in this regard.

[0048] In this embodiment, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are obtained according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed obtained by the look-up table; finally, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are converted into corresponding target torques respectively, so as to apply negative torque to the inner rear wheel when the vehicle turns around, and apply driving torque to the front wheel and the outer rear wheel when the vehicle turns around, so as to control the vehicle to turn around. Generally, there is a certain correlation between the vehicle motor speed and the wheel speed, specifically, when the motor speed increases, the wheel speed also increases, and when the motor speed decreases, the wheel speed also decreases. The rear wheels of the vehicle of the present application are independently controlled by the double motors (i.e. the left rear driving motor and the right rear driving motor) to control the left rear wheel and the right rear wheel of the vehicle, so the front axle motor target speed, the left rear motor target speed and the right rear motor target speed can be obtained according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed obtained by the look-up table. The motor speed and the motor torque also have a certain correlation, so the corresponding target torques can be obtained according to the obtained front axle motor target speed, the left rear motor target speed and the right rear motor target speed. The negative torque is applied to the inner rear wheel when the vehicle turns around through the obtained corresponding target torque, so as to control the inner rear wheel to stop, but not to be locked, and the inner rear wheel can be in a state of following without locking; at the same time, the driving torque is applied to the front wheel and the outer rear wheel of the vehicle through the obtained corresponding torque, so that it drives forward, so as to realize the rotation of the vehicle around the inner rear wheel, for controlling the vehicle to turn around, thereby reducing the car turning diameter.

[0049] In the embodiments of the present application, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are obtained according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed, including: obtaining the wheel rolling radius of the vehicle, the front axle motor transmission ratio, the left rear motor transmission ratio and the right rear motor transmission ratio; obtaining the front axle motor target speed based on the front wheel target wheel speed, the wheel rolling radius and the front axle motor transmission ratio, obtaining the left rear motor target speed based on the left rear wheel target wheel speed, the wheel rolling radius and the left rear motor transmission ratio, and obtaining the right rear motor target speed based on the right rear wheel target wheel speed, the wheel rolling radius and the right rear motor transmission ratio. Specifically, there is a certain relationship between the corresponding motor target speed and the corresponding wheel target wheel speed, and the relationship is that the corresponding motor target speed can be obtained through the wheel rolling radius of the vehicle, the corresponding motor transmission ratio and the corresponding wheel target wheel speed. Among them, the wheel rolling radius is the distance from the contact point of the wheel to the ground to the shaft center when the vehicle is stationary; the motor transmission ratio refers to the ratio between the motor output shaft speed and the transmission device output shaft speed, which is directly related to the performance of the machine; the wheel rolling radius and the motor transmission ratio can be directly obtained. Therefore, the front axle motor target speed can be obtained according to the wheel rolling radius, the front axle motor transmission ratio and the front wheel target wheel speed; the left rear motor target speed can be obtained according to the wheel rolling radius, the left rear motor transmission ratio and the left rear wheel target wheel speed; and the right rear motor target speed can be obtained according to the wheel rolling radius, the right rear motor transmission ratio and the right rear wheel target wheel speed.

[0050] In the embodiments of the present application, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated for applying negative torque to the inner rear wheel when the vehicle turns around and applying driving torque to the front wheel and the outer rear wheel when the vehicle turns around, including: when the turning mode of the vehicle is left turn, the left rear motor target speed is converted into a first left rear motor target torque for applying negative torque to the left rear wheel, the front axle motor target speed is converted into a first front axle motor target torque for applying driving torque to the front wheel, and the right rear motor target speed is converted into a first right rear motor target torque for applying driving torque to the right rear wheel. When the turning mode of the vehicle is right turn, the right rear motor target speed is converted into a second right rear motor target torque for applying negative torque to the right rear wheel, the front axle motor target speed is converted into a second front axle motor target torque for applying driving torque to the front wheel, and the left rear motor target speed is converted into a second left rear motor target torque for applying driving torque to the left rear wheel. Specifically, since the motor target speed and the motor target torque have a certain relationship, the corresponding motor speed obtained in the foregoing can be converted into the corresponding motor torque to realize the control of the wheels when the vehicle turns around, which can better reduce the turning radius when the vehicle turns around and reduce the safety risk of the vehicle caused by turning or turning around in many places of the vehicle.

[0051] In this embodiment, as shown in FIG. 4, the rear wheels of the vehicle are independently controlled by double drive motors (i.e., the left rear drive motor controls the left rear wheel, and the right rear drive motor controls the right rear wheel), and the front wheels are controlled by a front drive motor. By applying a negative torque to the inner rear wheel and simultaneously applying a driving torque to the front wheel and the outer rear wheel, the vehicle can make a U-turn around the inner rear wheel. In one example, the case when the vehicle makes a U-turn is described below with reference to FIG. 5. As shown in FIG. 5, when the vehicle makes a U-turn to the left, the left rear wheel of the vehicle is the inner rear wheel. By converting the left rear motor target speed into a left rear motor target torque (i.e., a first left rear motor target torque), a negative torque is applied to the left rear wheel (i.e., the inner rear wheel) of the vehicle by the first left rear motor target torque to lock the left rear wheel, but the left rear wheel can follow without being locked; at the same time, by converting the front axle motor target speed into a front axle motor target torque (i.e., a first front axle target torque) to apply a driving torque to the front wheel of the vehicle; and at the same time, by converting the right rear motor target speed into a right rear motor target torque (i.e., a first right rear motor target torque) to apply a driving torque to the right rear wheel (i.e., the outer rear wheel) of the vehicle, the vehicle can make a U-turn around the left rear wheel.

[0052] In this embodiment, when the vehicle makes a U-turn to the right, the right rear wheel of the vehicle is the inner rear wheel. By converting the right rear motor target speed into a right rear motor target torque (i.e., a second right rear motor target torque), a negative torque is applied to the right rear wheel (i.e., the inner rear wheel) of the vehicle by the right rear motor target torque to lock the right rear wheel, but the right rear wheel can follow without being locked; at the same time, by converting the front axle motor target speed into a front axle motor target torque (i.e., a second front axle target torque) to apply a driving torque to the front wheel of the vehicle; and at the same time, by converting the left rear motor target speed into a left rear motor target torque (i.e., a second left rear motor target torque) to apply a driving torque to the left rear wheel (i.e., the outer rear wheel) of the vehicle, the vehicle can make a U-turn around the right rear wheel.

[0053] In the embodiments of the present application, when the vehicle is turning left, after the vehicle is controlled to turn around, the method further comprises: when the activation state is in the function exiting, limiting and smoothing the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed to a preset wheel speed, limiting and smoothing the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque; calculating the third motor front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque, so as to control the vehicle to stop turning around. When the vehicle is turning right, limiting and smoothing the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed, limiting and smoothing the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque; calculating the fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque, so as to control the vehicle to stop turning around. In order to realize the smoothness of the whole vehicle, when the vehicle is about to exit after turning around, the activation state is switched to the function exiting state at this time, and the corresponding target wheel speed and the corresponding target torque in the process of turning around the vehicle are limited and smoothed to make the vehicle turn around and stop smoothly.

[0054] In this embodiment, first, the corresponding target wheel speed and the corresponding target torque in the process of turning around the vehicle are limited, that is, when the vehicle is turning left, the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed are limited, and the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque are limited. When the vehicle is turning right, the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed are limited, and the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque are limited. The corresponding target wheel speed is controlled within a certain wheel speed threshold range, for example, the upper limit of the target wheel speed is 15kph, and the lower limit of the target wheel speed is -15kph. The wheel speed threshold range can also be other appropriate values, which are not limited in particular. And the corresponding target torque is controlled within a certain torque threshold range, for example, the upper limit of the target torque is 2500Nm, and the lower limit of the target wheel speed is -2500Nm. The torque threshold range can also be other appropriate values, which are not limited in particular.

[0055] In this embodiment, the limited amplitude corresponding target wheel speed and the corresponding target torque are loaded and unloaded to obtain the processed target wheel speed and the processed target torque (i.e., the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque when turning left; the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque when turning right). In the function exit stage, the speed control needs to be switched to torque control, and only pure torque control is performed, at this time the target wheel speed of the vehicle is zero, so as to realize the speed control. Therefore, no matter whether the vehicle turns left or right, the processed front wheel target speed, the left rear target speed and the right rear target speed need to reach the target speed in the function exit stage (i.e., zero). The processed first front axle motor target torque and the front axle motor transmission ratio are calculated to obtain the third front axle motor target torque, the processed first left rear motor target torque and the left rear motor transmission ratio are calculated to obtain the third left rear motor target torque, and the processed first right rear motor target torque and the right rear motor transmission ratio are calculated to obtain the third right rear motor target torque, so as to meet the required target torque in the function exit stage, thereby realizing the smoothness of the vehicle when turning left.

[0056] In this embodiment, when the vehicle turns right, the processed second front axle motor target torque and the front axle motor transmission ratio are calculated to obtain the fourth front axle motor target torque, the processed second left rear motor target torque and the left rear motor transmission ratio are calculated to obtain the fourth left rear motor target torque, and the processed second right rear motor target torque and the right rear motor transmission ratio are calculated to obtain the fourth right rear motor target torque, so as to meet the required target torque in the function exit stage.

[0057] In the embodiments of the present application, the turning radius of the vehicle can also be calculated, and the turning trajectory of the vehicle can be displayed on the media interaction host. In order to make the user experience better when the vehicle is turning, and also to remind the user to pay attention to the surrounding environment and avoid collision with objects, the turning trajectory of the vehicle can be displayed on the media interaction host.

[0058] In the embodiments of the present application, the turning radius of the vehicle is calculated, including: determining the turning radius according to a second preset relationship table. Specifically, the turning radius of the vehicle is obtained based on the road adhesion coefficient table.

[0059] Therefore, according to the vehicle turning control method of the embodiments of the present application, when the vehicle turning function state is determined to be in the active state, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque are obtained, so as to apply a negative torque to the inner side rear wheel of the vehicle and apply a driving torque to the front wheel and the outer side rear wheel, thereby achieving the purpose of reducing the turning radius of the vehicle. The safety risk of the vehicle caused by turning or turning in many places is greatly reduced, and the problem of tire wear of the vehicle is greatly avoided.

[0060] According to another aspect of the present application, a vehicle turning control apparatus is provided. FIG. 6 shows a schematic structural block diagram of a vehicle turning control apparatus 600 according to an embodiment of the present application. As shown in FIG. 6, the vehicle turning control apparatus 600 includes a memory 610 and a processor 620, wherein the memory 610 stores a computer executable program which is run by the processor 620, and the computer executable program, when run by the processor 620, causes the processor 620 to perform the vehicle turning control method 200 described above. Those skilled in the art can understand the structure and specific operations of each module in the vehicle turning control apparatus 600 according to the embodiments of the present application in combination with the content described above, and thus the details are not described here again. Therefore, according to the vehicle turning control apparatus according to the embodiments of the present application, when the vehicle turning function state is determined to be in the active state, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque are obtained, so as to apply a negative torque to the inner rear wheels of the vehicle and apply a driving torque to the front wheels and the outer rear wheels, thereby achieving the purpose of reducing the turning radius of the vehicle, greatly reducing the safety risk of the vehicle caused by turning or turning in many places of the vehicle, and greatly avoiding the problem of tire wear of the vehicle.

[0061] In addition, according to the embodiments of the present application, a vehicle is also provided, which can include the vehicle turning control apparatus 600 described above.

[0062] In addition, the present application also provides a storage medium having a computer program stored thereon, and the computer program, when run by a processor, causes the processor to perform the vehicle turning control method 200 according to the embodiments of the present application described above. The storage medium may, for example, include a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer non-volatile readable storage medium can be any combination of one or more computer non-volatile readable storage media.

[0063] In addition, the present application also provides a computer program having a computer program run by a processor stored thereon, and the computer program, when run by the processor, causes the processor to perform the vehicle turning control method 200 described above.

[0064] Based on the above description, the vehicle turning control method and device and vehicle of the embodiments of the present application, when the vehicle turning function state is determined to be an active state, obtain the front axle motor target torque, the left rear motor target torque and the right rear motor target torque, so as to apply a negative torque to the inner rear wheel of the vehicle, and apply a driving torque to the front wheel and the outer rear wheel, so as to achieve the purpose of reducing the turning radius of the vehicle, and greatly reduce the safety risk of the vehicle caused by turning or turning in many places of the vehicle, and greatly avoid the problem of tire wear of the vehicle.

[0065] Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the example embodiments are only exemplary and are not intended to limit the scope of the present application. Those of ordinary skill in the art can make various changes and modifications without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

[0066] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0067] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of units is only a logical functional division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another device, or some features can be omitted or not executed.

[0068] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the present specification.

[0069] Similarly, it is to be understood that the features of the present application that are of a proprietary nature are set forth in the appended set of claims. If specific embodiments are described in detail in the specification, it is understood that the features of the application further comprise any combination of the features described in the specification including any single feature or sub-combination of features unless expressly identified otherwise. In addition, it is to be understood that features described herein individually can be replaced by alternative features serving the same, equivalent or a similar purpose, unless expressly stated otherwise. Furthermore, examples of the present application as described are to be construed as being without limiting the scope of the application to that described in the specification and claims. Any recitation of numerical ranges by endpoints is intended to include all values

[0070] Those skilled in the art will appreciate that all features described in this specification (including the summary of the application, abstract and claims) and any accompanying sequence diagrams, flow charts, figures and tables can be combined in any combination, save where the features are mutually exclusive. Each feature disclosed in this specification (including the summary of the application, abstract and claims) can be replaced by alternative features serving the same, equivalent or a similar purpose unless expressly stated otherwise.

[0071] Furthermore, those skilled in the art will recognize that references in the specification to "one embodiment", "an embodiment", "an example embodiment" etc. mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily referring to a single, "one embodiment".

[0072] Various component embodiments of the application can be implemented in hardware, or as software modules running in one or more processors, or in combinations thereof. Skilled persons will appreciate that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the application. The application can also be implemented as a program (for example, a computer program and computer program product) for executing any or all of the methods described herein on a computer system. Such a program can be stored on a computer readable medium which can be any medium, tangible or intangible, in which the program can be stored and / or executed including a storage medium. Such a program can have one or more signals, and can be downloaded from an Internet website, or provided on a carrier medium, or in any other form.

[0073] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word comprising does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. Use of the word "at least" followed by a list of one or more items should be interpreted as including at least one of the items but it does not exclude additional one or more items. Similar understandings shall apply to the use of the word "comprising" and "having" in any claim.

[0074] The above descriptions are only specific embodiments or specific implementations of the present application, and the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed in the present application, and all of them should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle turning control method characterized by, The method comprises: When the vehicle turning function state is determined to be in an active state, calculating front axle motor target torque, left rear motor target torque and right rear motor target torque of the vehicle for applying negative torque to the inboard rear wheel when the vehicle turns around and driving torque to the front wheel and the outboard rear wheel when the vehicle turns around, thereby controlling the vehicle to turn around.

2. The method of claim 1, wherein, The calculation of the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle comprises: Determining the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed of the vehicle according to a first preset relationship table; Obtaining front axle motor target speed, left rear motor target speed and right rear motor target speed according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed, and converting the front axle motor target speed, the left rear motor target speed and the right rear motor target speed into the front axle motor target torque, the left rear motor target torque and the right rear motor target torque respectively.

3. The method of claim 2, wherein, The obtaining of the front axle motor target speed, the left rear motor target speed and the right rear motor target speed according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed comprises: Obtaining wheel rolling radius, front axle motor transmission ratio, left rear motor transmission ratio and right rear motor transmission ratio of the vehicle; Obtaining the front axle motor target speed based on the front wheel target wheel speed, the wheel rolling radius and the front axle motor transmission ratio, the left rear motor target speed based on the left rear wheel target wheel speed, the wheel rolling radius and the left rear motor transmission ratio, and the right rear motor target speed based on the right rear wheel target wheel speed, the wheel rolling radius and the right rear motor transmission ratio.

4. The method of claim 3, wherein, The calculation of the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle for applying negative torque to the inboard rear wheel when the vehicle turns around and driving torque to the front wheel and the outboard rear wheel when the vehicle turns around comprises: When the turning mode of the vehicle is left turn turning, converting the left rear motor target speed into first left rear motor target torque for applying negative torque to the left rear wheel, the front axle motor target speed into first front axle motor target torque for applying driving torque to the front wheel, and the right rear motor target speed into first right rear motor target torque for applying driving torque to the right rear wheel.

5. The method of claim 3, wherein, The calculation of the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle for applying negative torque to the inboard rear wheel when the vehicle turns around and driving torque to the front wheel and the outboard rear wheel when the vehicle turns around comprises: When the turning mode of the vehicle is right turn turning, converting the right rear motor target speed into second right rear motor target torque for applying negative torque to the right rear wheel, the front axle motor target speed into second front axle motor target torque for applying driving torque to the front wheel, and the left rear motor target speed into second left rear motor target torque for applying driving torque to the left rear wheel.

6. The method of claim 4, wherein, After controlling the vehicle to make a U-turn, the method further comprises: When the activation state is in function exit, the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed are limited and smoothed to reach a preset wheel speed, and the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque are limited and smoothed; Based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque, third front axle motor target torque, third left rear motor target torque and third right rear motor target torque are calculated to control the vehicle to stop U-turn.

7. The method of claim 6, wherein, The calculation of the third front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque comprises: Based on the processed first front axle motor target torque and the front axle motor transmission ratio, the third front axle motor target torque is obtained; Based on the processed first left rear motor target torque and the left rear motor transmission ratio, the third left rear motor target torque is obtained; Based on the processed first right rear motor target torque and the right rear motor transmission ratio, the third right rear motor target torque is obtained.

8. The method of claim 5, wherein, After controlling the vehicle to make a U-turn, the method further comprises: When the activation state is in function exit, the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed are limited and smoothed to reach a preset wheel speed, and the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque are limited and smoothed; Based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque, fourth front axle motor target torque, fourth left rear motor target torque and fourth right rear motor target torque are calculated to control the vehicle to stop U-turn.

9. The method of claim 8, wherein, The calculation of the fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque comprises: Based on the processed second front axle motor target torque and the front axle motor transmission ratio, the fourth front axle motor target torque is obtained; Based on the processed second left rear motor target torque and the left rear motor transmission ratio, the fourth left rear motor target torque is obtained; Based on the processed second right rear motor target torque and the right rear motor transmission ratio, the fourth right rear motor target torque is obtained.

10. The method of claim 1, wherein, The method further comprises: calculating the turning radius of the vehicle, and displaying the turning trajectory of the vehicle through a media interaction host.

11. The method of claim 10, wherein, The calculation of the turning radius of the vehicle comprises: determining the turning radius according to a second preset relationship table.

12. The method of claim 1, wherein, The determination of the vehicle U-turn function state comprises: Obtaining state information of the vehicle; Based on the state information, the vehicle U-turn function state is determined.

13. The method of claim 1, wherein, The state information comprises at least one of the following: a steering wheel angle, a brake depth, a vehicle speed, a gear information, a vehicle slope and an accelerator depth.

14. The method of claim 13, wherein, The condition for the vehicle U-turn function state being in an active state is at least one of the following: The steering wheel angle is within a steering wheel angle threshold range; The brake depth is within a brake depth threshold range; The vehicle speed is less than a vehicle speed threshold and is maintained for a first threshold time; The gear information is a forward gear; The vehicle slope is less than a slope threshold and is maintained for a second threshold time; The accelerator depth is greater than an accelerator intervention threshold.

15. A vehicle turning control device characterized by comprising: The apparatus comprises a memory and a processor, wherein the memory has stored thereon a computer executable program which, when executed by the processor, causes the processor to perform the vehicle U-turn control method of any one of claims 1-14.

16. A vehicle characterized by comprising: The vehicle comprises the vehicle U-turn control apparatus of claim 15.

17. A storage medium, characterized by The storage medium has stored thereon a computer program which, when executed by a processor, causes the processor to perform the vehicle U-turn control method of any one of claims 1-14.

18. A computer program, characterized in that, The computer program, when executed by a processor, causes the processor to perform the vehicle U-turn control method of any one of claims 1-14.

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