CN118182170A - Vehicle in-situ turning control method, device, equipment and storage medium - Google Patents

Abstract

The application provides a vehicle in-situ turning control method, device and equipment and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: when the vehicle enters a turning mode, determining a first driving moment, a second driving moment and a brake hydraulic pressure value according to steering information of the vehicle and physical parameters of a vehicle body; controlling the locking of the outer rear side wheel of the vehicle, and taking the outer rear side wheel as a rotation center; controlling the front wheels and the front wheels of the vehicle to rotate forwards according to the first driving moment, applying a brake hydraulic pressure with a brake hydraulic pressure value to the front wheels and controlling the rear wheels to rotate backwards according to the second driving moment; wherein the inner front wheel, the outer front wheel, the inner rear wheel and the outer rear wheel are determined according to steering information of the vehicle. According to the embodiment of the application, the turning radius of the double-motor four-wheel-drive electric vehicle can be further reduced.

Description

Vehicle in-situ turning control method, device, equipment and storage medium

Technical Field

The application relates to the technical field of vehicle control, in particular to a vehicle in-situ turning control method, device and equipment and a storage medium.

Background

The vehicle has a minimum turning radius, and the smaller the turning radius is, the smaller the place required for the vehicle to turn is, and the better the maneuverability of the vehicle is.

Under some steering working conditions, the vehicle cannot complete one-time steering due to the limitation of the size of the field, and the vehicle has to be repeatedly shifted, so that turning or steering can be completed, the operation complexity of a driver is increased, and the time for steering the vehicle is increased. Therefore, how to further reduce the turning radius of the vehicle is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

In view of the foregoing drawbacks or shortcomings of the prior art, the present application is directed to a vehicle in-situ turning control method, apparatus, device and storage medium for further reducing the turning radius of a dual-motor four-wheel-drive electric vehicle.

The application provides a vehicle in-situ turning control method, which comprises the following steps:

when the vehicle enters a turning mode, determining a first driving moment, a second driving moment and a brake hydraulic pressure value according to steering information of the vehicle and physical parameters of a vehicle body;

Controlling the locking of the outer rear side wheel of the vehicle, and taking the outer rear side wheel as a rotation center; controlling the front wheels and the front wheels of the vehicle to rotate forwards according to the first driving moment, applying a brake hydraulic pressure with a brake hydraulic pressure value to the front wheels and controlling the rear wheels to rotate backwards according to the second driving moment;

Wherein the inner front wheel, the outer front wheel, the inner rear wheel and the outer rear wheel are determined according to steering information of the vehicle.

In one embodiment of the present application, the sum of the braking force generated by the brake fluid pressure applied to the inner front wheel and the rolling friction force provided by the ground applied to the inner front wheel is smaller than the driving force distributed to the inner front wheel by the front motor.

In one embodiment of the present application, determining the first driving torque and the second driving torque based on steering information of the vehicle and physical parameters of the vehicle body includes:

determining constraint conditions according to steering information of the vehicle and physical parameters of the vehicle body;

The first drive torque and the second drive torque are determined based on the constraints.

In one embodiment of the application, the direction of the resultant torque of the first driving torque and the second driving torque, which is the constraint condition twice, is a preset direction, which is a direction perpendicular to a line between a centroid of the vehicle and a rotation center, which is biased toward the front wheel steering of the vehicle, the rotation center being determined according to the front wheel steering of the vehicle.

In one embodiment of the application, the physical parameters of the vehicle body include the rear track of the vehicle, a first distance between the center of mass of the vehicle and the rear axle, a second distance between the center of mass and the center of rotation, and a first angle between the line between the center of mass and the center of rotation and the direction of the vehicle wheelbase;

The constraint conditions are as follows:

F _{Rear part (S)} sinβ+2F _{Front part} sinαcosβ-2F _{Front part} cosαsinβ＞0

sinβ＝L/(2h)

cosβ＝b/h

Wherein F _{Front part} represents a first driving torque, F _{Rear part (S)} represents a second driving torque, L represents a rear wheel track, h represents a second distance, b represents a first distance, α represents a front wheel steering angle of the vehicle, and β represents a first included angle.

In one embodiment of the present application, before determining the first driving torque, the second driving torque, and the brake fluid pressure value according to the steering information of the vehicle and the physical parameters of the vehicle body, the method further includes:

determining whether the vehicle meets an activation condition of a turn-around mode;

If so, controlling the vehicle to enter a turning mode.

In one embodiment of the application, the activation conditions include:

The switch of the turning mode is turned on, the vehicle speed is smaller than a first threshold value, the gear is a forward gear, the steering wheel angle is larger than a second threshold value, the accelerator opening is larger than a third threshold value, and the state signal of the motor torque is effective.

In a second aspect of the present application, there is provided a vehicle in-situ turning control device, the device comprising:

The determining module is used for determining a first driving moment, a second driving moment and a brake hydraulic value according to steering information of the vehicle and physical parameters of a vehicle body when the vehicle enters a turning mode;

The control module is used for controlling the locking of the outer rear side wheel of the vehicle and taking the outer rear side wheel as a rotation center; controlling the front wheels and the front wheels of the vehicle to rotate forwards according to the first driving moment, applying a brake hydraulic pressure with a brake hydraulic pressure value to the front wheels and controlling the rear wheels to rotate backwards according to the second driving moment;

Wherein the inner front wheel, the outer front wheel, the inner rear wheel and the outer rear wheel are determined according to steering information of the vehicle.

In a third aspect of the present application, there is provided an electronic apparatus comprising: a memory for storing instructions; and the processor is used for calling the instructions stored in the memory to realize the vehicle in-situ turning control method.

In a fourth aspect of the present application, there is provided a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the above-described vehicle in-situ turn control method.

In a fifth aspect of the application, a computer program product is provided, the computer program product storing instructions that, when executed by a computer, cause the computer to implement the vehicle in-situ turn control method described above.

In a sixth aspect of the application, a chip is provided, comprising at least one processor and an interface;

An interface for providing program instructions or data to at least one processor;

The at least one processor is configured to execute the program instructions to implement the vehicle in-situ turn control method described above.

A sixth aspect of the application provides a vehicle comprising the electronic device of the third aspect.

In summary, the application provides a vehicle in-situ turning control method, device, equipment and medium, wherein the outer rear side wheel of the vehicle is locked, the inner front side wheel is applied with a brake hydraulic pressure, so that the outer front side wheel and the inner front side wheel rotate forwards, when the inner rear side wheel rotates backwards, the driving force of the outer front side wheel is larger than the driving force of the inner front side wheel, further, the tank turning function is realized by taking the outer rear side wheel as the rotation center, the turning radius is further reduced, the requirement on the field can be effectively reduced, and the turning efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of a turning scene in the related art;

FIG. 2 is a flow chart of a vehicle in-situ turning control method provided by an embodiment of the application;

FIG. 3 is a schematic diagram of a turning scene according to an embodiment of the present application;

FIG. 4 is a schematic view of a vehicle steering to the right according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a whole vehicle stress analysis according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a vehicle control logic according to an embodiment of the present application;

FIG. 7 is a logic control diagram of a vehicle in-situ turn control according to an embodiment of the present application;

FIG. 8 is a flow chart of operation of a vehicle according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a vehicle in-situ turning control device according to an embodiment of the present application;

fig. 10 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

As mentioned in the background, how to further reduce the turning radius of a vehicle is a technical problem that a person skilled in the art is urgent to solve.

Specifically, the inventor finds that the logic for reducing the turning radius in the related art is based on a heavy low-speed four-wheel drive system or an electric vehicle four-motor drive system, and is realized by virtue of a transmission system or a power system, so that a tank turn-around mode cannot be realized on a front-back double-motor system; and the turning radius in the prior art cannot be greatly reduced (only about 10 percent).

As shown in FIG. 1, the turning center of the traditional vehicle is at the intersection point of the central line of the front wheel and the central line of the rear wheel, the turning radius is larger, the turning can be realized only by needing a wider field or multiple forward and backward movements during turning, and the occupied time is longer.

Aiming at the problems in the prior art, the application provides a vehicle in-situ turning control method, device, equipment and medium, which can finish tank turning based on a braking system matched with a front motor power system and a rear motor power system, make up the blank of a new energy double-motor system vehicle type, and can greatly reduce turning radius (40% of turning radius at maximum) on a road surface with relatively low attachment coefficient such as grasslands, snowlands, ice surfaces, sand roads, muddy roads and the like and narrower roads, thereby solving the problem that the turning radius of the vehicle is overlarge and the tank can not be turned under extreme conditions.

The present exemplary embodiment will be described in detail below with reference to the accompanying drawings and examples.

Fig. 2 illustrates a vehicle in-situ turn control method in an embodiment of the present disclosure, which may be performed by a vehicle control system, the vehicle being a two-motor four-drive electric vehicle.

As shown in fig. 2, the vehicle in-situ turning control method provided in the embodiment of the application includes steps S202 to S204.

In S202, when the vehicle enters the turn-around mode, a first driving torque, a second driving torque, and a brake fluid pressure value are determined based on steering information of the vehicle and physical parameters of the vehicle body.

The turning mode is a driving mode configured by most vehicles at present, and the vehicles can be turned around automatically in situ in the turning mode, so that driving experience of drivers is improved.

In some embodiments, before controlling the vehicle to enter the turn-around mode, determining whether the vehicle satisfies an activation condition of the turn-around mode; and if so, controlling the vehicle to enter a turning mode.

Specifically, the activation condition includes:

The switch of the turning mode is turned on, the vehicle speed is smaller than a first threshold value, the gear is a forward gear, the steering wheel angle is larger than a second threshold value, the accelerator opening is larger than a third threshold value, and the state signal of the motor torque is effective. When the state signal of the motor torque is effective, the motor can normally feed back a credible output torque to the controller, and under the condition, the driving torque distributed by each wheel can be effectively monitored, so that the automatic in-situ turning is realized, the control precision and the control effect can be improved, and the turning efficiency and the safety are ensured.

Exemplary, determining whether the vehicle satisfies the activation condition of the turn-around mode specifically includes: in the power-on state of the vehicle, a switch for detecting the turning function is turned on, and the switch can be a soft switch on a central control large screen in a cockpit or a physical switch on the vehicle. The user can turn on the switch of the turn-around function through a voice command mode, can turn on the switch of the turn-around function through a manual triggering mode, can analyze the surrounding environment of the vehicle according to detection data of the vehicle-mounted sensor by the vehicle-mounted system, can determine whether the driver has turn-around intention currently according to the real-time state (such as the vehicle speed condition, the gear condition and the like) of the vehicle, and can actively carry out the activation prompt of the turn-around mode when determining that the driver has the turn-around intention currently, such as popping up a message on a central control screen in a cockpit to inquire whether the driver needs to enter the turn-around mode or inquiring whether the driver needs to enter the turn-around mode through a voice broadcasting mode, and can control the switch of the turn-around function to be turned on when receiving the response of the driver, so that the intelligence of the vehicle and the driving experience of the driver can be further improved. If the switch of the turning function is detected to be on, whether the current speed of the vehicle is smaller than a first threshold value is further detected, if yes, whether the current gear of the vehicle is a forward gear is further detected, if yes, whether the current steering wheel angle of the vehicle is larger than a second threshold value is further detected, if yes, whether the current accelerator opening of the vehicle is larger than a third threshold value is further detected, if yes, whether a state signal of the motor torque is effective is further detected, and if yes, the vehicle is controlled to enter a turning mode. It can be understood that no sequence exists between the conditions, and as long as the switch of the turning mode is turned on, the vehicle speed is smaller than a first threshold value, the gear is a forward gear, the steering wheel angle is larger than a second threshold value, the accelerator opening is larger than a third threshold value and the state signal of the motor torque is valid, the activation condition that the vehicle meets the turning mode can be determined.

In S204, the outer rear wheel of the vehicle is controlled to be locked, and the outer rear wheel is used as a rotation center; controlling the front wheels and the front wheels of the vehicle to rotate forwards according to the first driving moment, applying a brake hydraulic pressure with a brake hydraulic pressure value to the front wheels and controlling the rear wheels to rotate backwards according to the second driving moment;

wherein the inner front wheel, the outer front wheel, the inner rear wheel and the outer rear wheel are determined according to steering information of the vehicle. Specifically, when the vehicle turns left, the left front wheel is an inner front wheel, the left rear wheel is an inner rear wheel, the right front wheel is an outer front wheel, and the right rear wheel is an outer rear wheel. When the vehicle turns right, the left front wheel is an outer front wheel, the left rear wheel is an outer rear wheel, the right front wheel is an inner front wheel, and the right rear wheel is an inner rear wheel.

The purpose of controlling the locking of the outer rear wheels of the vehicle is to achieve a minimum turning radius, i.e. to achieve a turn-around-in-place. In some embodiments, controlling an outer rear wheel lock of a vehicle includes: the inner front wheel and the outer rear wheel are locked by a caliper controlling the outer rear wheel.

In the above embodiment, the electric control brake controllers (IPB, WCBS, MCK, MCK2, ESC, ESP, ibooster, IDB, etc.) can control different wheels, and the VCU controls the rotation directions of the front and rear motors at the same time, so as to implement the control logic of front wheel forward rotation and rear wheel backward rotation.

In the above embodiment, the brake fluid pressure of the magnitude of the brake fluid pressure value is applied to the inner front side wheels of the vehicle. The vehicle of the embodiment of the disclosure is a dual-motor vehicle, and includes a front motor and a rear motor, and in the embodiment of the disclosure, the point brake hydraulic pressure is applied to the inner front wheel, so that the driving force of the outer front wheel is greater than the driving force of the inner front wheel.

The braking hydraulic pressure value in the embodiment of the disclosure can be calibrated according to the following two rules, so that the vehicle is always in a stable state when turning:

1. the torque distributed by the outer front wheels can generate enough lateral acceleration, and the torque needs to be transferred to the outer side by braking the inner front wheels;

2. the sum of the braking force generated by the brake fluid pressure of the inner front side wheel and the rolling friction force provided by the ground on which the inner front side wheel is subjected should be smaller than the driving force distributed to the inner front side wheel from the front motor, i.e. the inner front side is ensured to be rotatable.

In some embodiments, the front motor controls the front wheel to turn forward and the rear motor controls the rear wheel to turn backward when controlling the wheel rotation of the vehicle to turn around.

According to the embodiment of the disclosure, the vehicle is a double-motor four-wheel-drive electric vehicle, so that the front rotation of two front wheels can be realized through the cooperation of two motors and the first braking force and the second braking force, the braking of the middle and outer rear wheels of two rear wheels and the rear rotation of the inner rear wheel can be realized, the condition that the outer rear wheels are used as the wheel steering center can be further realized, the requirements on the field can be effectively reduced, and the turning efficiency can be improved.

In some embodiments, determining the first drive torque and the second drive torque based on the vehicle front wheel steering angle and a physical parameter of the vehicle body includes: determining constraint conditions according to the front wheel steering angle of the vehicle and the physical parameters of the vehicle body; the first drive torque and the second drive torque are determined based on the constraints.

The direction of the combined moment of the first driving moment and the second driving moment, the constraint condition of which is twice, is a preset direction, the preset direction is perpendicular to a connecting line between the centroid of the vehicle and a rotation center and is deviated to the direction of steering of the front wheels of the vehicle, the rotation center is determined according to the steering of the front wheels of the vehicle, if the steering angle of the front wheels of the vehicle is leftward, the rotation center is the position of the ground where the right rear wheels are located, and under the turning scene, the right rear wheels are in a locking state. Likewise, if the front wheel steering angle of the vehicle is rightward, the center of rotation is the position of the ground where the left rear wheel is located.

The physical parameters of the vehicle body comprise the rear wheel track of the vehicle, a first distance between the mass center of the vehicle and a rear axle, a second distance between the mass center and a rotation center, and a first included angle between a connecting line between the mass center and the rotation center and the direction of the vehicle wheel base;

Specifically, the constraint conditions are as follows:

F _{Rear part (S)} sinβ+2F _{Front part} sinαcosβ-2F _{Front part} cosαsinβ＞0 (2)

sinβ＝L/(2h) (3)

cosβ＝b/h (4)

Wherein F _{Front part} represents a first driving torque, F _{Rear part (S)} represents a second driving torque, L represents a rear wheel track, h represents a second distance, b represents a first distance, α represents a front wheel steering angle of the vehicle, and β represents a first included angle.

Fig. 3 illustrates a schematic view of a scenario of a vehicle turning, as shown in fig. 3, that employs an aspect of an embodiment of the present disclosure to achieve a vehicle turn-around in situ by turning left. The vehicle includes four wheels, namely a left front wheel 301, a right front wheel 302, a left rear wheel 303, and a right rear wheel 304.

When turning around, a brake hydraulic pressure is applied to the left front wheel 301 to lock the right rear wheel 304, then the front motor controls the left front wheel 301 and the right front wheel 302 to rotate forwards, and the rear motor controls the left rear wheel 303 to rotate backwards, so that the left rear wheel 303 is used as a vehicle steering center, the requirements on the field can be effectively reduced, and the turning around efficiency is improved.

The application can complete tank turning based on the cooperation of the braking system and the front and rear double-motor power systems, make up the blank of new energy double-motor system vehicle types, and can be realized on the road with relatively low attachment coefficient and relatively narrow road such as grasslands, snowlands, ice surfaces, sand and gravel roads, muddy roads and the like, thereby greatly reducing the turning radius (maximally reducing 40% of the turning radius) and realizing tank turning. And when the driving motor is large enough, the function can be realized on the road surface with high attachment coefficient.

Fig. 4 is a schematic view of a vehicle steering to the right. Wherein alpha is the wheel angle corresponding to the steering wheel angle; beta is the parameter track of the included angle correlation between the connecting line of the centroid of the vehicle and the rotation center and the central axis of the vehicle, and the distance from the centroid to the rear axle. F is force for steering the vehicle, the direction of the force is perpendicular to the connecting line of the mass center and the rotation center, and if the resultant force is only force in the F direction, the in-situ turning can be realized.

When the vehicle tries to turn right to turn around in situ, a forward force is applied to the front wheels (front wheels turn forward), a rearward force is applied to the right rear wheels (i.e., inner rear wheels) and a holding force is applied to the left rear wheels so that the left rear wheels do not turn. If the vehicle turns left to turn around in situ, the front wheel is controlled to turn forwards, the left rear wheel is controlled to turn backwards, and the right rear wheel is controlled to lock.

Fig. 5 shows a schematic diagram of the stress analysis of the whole vehicle according to the stress condition of the whole vehicle. Assuming that the vehicle turns right to turn around in situ, 2F _{Front part} is the resultant force of the two front wheels, F _{Rear part (S)} is the force generated by the right rear wheel, and the two forces are decomposed towards the direction of the connecting line of the centroid and the rotation center and the direction perpendicular to the connecting line. The force in the direction of the connection between the centroid and the rotation center will move the vehicle forward, and the resultant force in this direction should be 0 as much as possible. The force in the direction perpendicular to the line connecting the centroid and the rotation center is the driving force for steering the front wheel of the vehicle, and the force in the direction is larger than 0. The following can be obtained:

2F _{Front part} cosαcosβ+2F _{Front part} sinαsinβ-F _{Rear part (S)} cosβ＝0 (5)

Namely, the front and rear wheel end moment distribution needs to meet the two formulas, and the front and rear wheel end moment distribution ratio can be obtained based on the two formulas, namely the formula (1).

The centroid to center of rotation distance h is:

Further available are formulas (3) and (4) above.

Fig. 6 shows a schematic diagram of control logic including a signal collection layer, a decision control layer, and an execution layer, as shown in fig. 6, according to an embodiment of the present disclosure.

The decision control layer makes decisions based on the signals collected by the signal collection layer, and then turns around through the execution layer.

The signals transmitted from the signal collection layer to the decision control layer include a tank turn-around switch signal (may also be referred to as a vehicle turn-around signal), an accelerator pedal opening (may also be referred to as an accelerator pedal signal), a steering wheel angle signal, a gear signal (may also be referred to as gear information), a brake pedal signal, a wheel speed signal (may also be referred to as wheel speed information), and a Yaw-G signal.

The tank turning support system of the decision control layer obtains the signals, calculates to obtain a tank turning torque demand and a tank turning braking torque demand, transmits the tank turning torque demand and the tank turning braking torque demand to the VCU, and determines a front wheel/rear wheel torque demand, a rear wheel turning direction demand and a braking torque demand according to the tank turning torque demand and the tank turning braking torque demand, and further controls a brake and two driving motors to execute a turning task through control signals.

Fig. 7 shows a logic control diagram of vehicle in-situ turn control in an embodiment of the present disclosure, and fig. 8 shows an operational flow diagram of a vehicle in an embodiment of the present disclosure.

As shown in fig. 7 and 8, after the tank turn switch (hard wire or soft switch) is turned on, the gear is set at D gear and the motor is started in the full-up direction, the brake system controller controls the front wheel to rotate forwards and the rear wheel to rotate backwards, and meanwhile, the brake system provides proper hydraulic pressure for the front inner measuring wheel (to be calibrated) to lock the rear outer wheel, so that the turning radius of the vehicle is reduced. In the R gear, the principle is the same.

The specific operation is as follows:

when the tank turning function is opened, the steering wheel angle is larger than sigma 1 (calibration value), the gear is in D or R gear, and the function is in standby state;

when the opening of the accelerator pedal is more than 0%, the function is activated;

the electric control braking system provides the required torque of the front and rear driving motors and the output braking pressure according to the calibration value, and the turning starts;

When the driver releases the accelerator pedal or the steering wheel angle is less than sigma 2 or the gear is positioned at N/P gear or the brake pedal is stepped on, the turning is completed, and the function is suspended;

And closing the tank turn-around switch, and closing the function.

The application realizes that the outside rear wheel is used as a turning center by controlling the movement direction of the brake by the electric control brake controller and the VCU, can greatly reduce the turning radius, and the normal turning radius of the vehicle is about 11.5m through actual measurement, and the embodiment of the application can be reduced to about 6.9m, simultaneously 360-degree turning can be completed within 12s, and 180-degree turning can be controlled within 10 s.

In the presently disclosed embodiments, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The term "and/or" in this disclosure is merely one association relationship describing the associated object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Furthermore, although the steps of the methods in the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order, or that all illustrated steps be performed, to achieve desirable results.

In some embodiments, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.

Based on the same inventive concept, the embodiment of the application also provides a vehicle in-situ turning control device which is applied to a dual-motor four-wheel-drive electric vehicle, as shown in fig. 9, wherein the vehicle in-situ turning control device 900 comprises a determining module 902 and a control module 904.

A determining module 902, configured to determine a first driving torque, a second driving torque, and a brake hydraulic pressure value according to steering information of the vehicle and physical parameters of a vehicle body when the vehicle enters a turning mode;

A control module 904 for controlling the locking of the outer rear wheel of the vehicle with the outer rear wheel as a rotation center; controlling the front wheels and the front wheels of the vehicle to rotate forwards according to the first driving moment, applying a brake hydraulic pressure with a brake hydraulic pressure value to the front wheels and controlling the rear wheels to rotate backwards according to the second driving moment;

Wherein the inner front wheel, the outer front wheel, the inner rear wheel and the outer rear wheel are determined according to steering information of the vehicle.

In some embodiments, the sum of the braking force generated by the brake fluid pressure applied to the inner front wheels and the rolling friction force provided by the ground applied to the inner front wheels is less than the driving force distributed to the inner front wheels by the front motor.

In some embodiments, a determination module 902 for determining a constraint based on steering information of the vehicle and physical parameters of the vehicle body; the first drive torque and the second drive torque are determined based on the constraints.

In some embodiments, the direction of the resultant of the first drive torque and the second drive torque, which is twice the constraint condition, is a preset direction, which is a direction perpendicular to a line between a centroid of the vehicle and a rotation center of the vehicle and biased toward the front wheel steering of the vehicle, the rotation center being determined according to the front wheel steering of the vehicle.

In some embodiments, the center of rotation is the location of the ground on which the right rear wheel is located if the front wheel of the vehicle is turned to the left, and the center of rotation is the location of the ground on which the left rear wheel is located if the front wheel of the vehicle is turned to the right.

In some embodiments, the physical parameters of the vehicle body include a rear track of the vehicle, a first distance between a centroid of the vehicle and a rear axle, a second distance between the centroid and a center of rotation, and a first angle between a line between the centroid and the center of rotation and a direction of the vehicle wheelbase;

The constraints are the above formula (1), formula (2), formula (3) and formula (4).

In some embodiments, the vehicle in-situ turn control device 900 may further include a turn determination module.

The turning judgment module is used for determining whether the vehicle meets the activation condition of a turning mode or not; if so, controlling the vehicle to enter a turning mode.

In some embodiments, the activation condition comprises: the switch of the turning mode is turned on, the vehicle speed is smaller than a first threshold value, the gear is a forward gear, the steering wheel angle is larger than a second threshold value, the accelerator opening is larger than a third threshold value, and the state signal of the motor torque is effective.

The terms "first," "second," and the like in this disclosure are used merely to distinguish between different devices, modules or units and are not intended to limit the order or interdependence of functions performed by these devices, modules or units.

With respect to the vehicle in-situ turning control device in the above-described embodiment, the specific manner in which the respective modules perform the operations has been described in detail in the embodiment regarding the vehicle in-situ turning control method, and will not be described in detail herein.

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory.

Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.

Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 10, an electronic device 1000 includes one or more processors 1001 and memory 1002.

The processor 1001 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities and may control other components in the electronic device 1000 to perform desired functions.

Memory 1002 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. On which one or more computer program instructions may be stored that the processor 1001 may execute to implement the vehicle in-situ turn control method and/or other desired functions of any of the embodiments of the invention described above. Various content such as initial arguments, thresholds, etc. may also be stored in the computer readable storage medium.

In one example, the electronic device 1000 may further include: an input device 1003 and an output device 1004, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown). The input device 1003 may include, for example, a keyboard, a mouse, and the like. The output device 1004 may output various information to the outside, including early warning prompt information, braking force, etc. The output 1004 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.

Of course, only some of the components of the electronic device 1000 that are relevant to the present invention are shown in fig. 10 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 1000 may include any other suitable components depending on the particular application.

In addition to the methods and apparatus described above, embodiments of the invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the vehicle in-situ turn control method provided by any of the embodiments of the invention.

The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present invention may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor to perform the steps of the vehicle in-situ turn control method provided by any of the embodiments of the present invention.

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The embodiment of the application also provides a chip which comprises at least one processor and an interface.

An interface for providing program instructions or data to at least one processor.

The at least one processor is configured to execute program instructions to implement the vehicle in-situ turn control method described in the above method embodiments.

In some embodiments, the chip may also include a memory for holding program instructions and data, the memory being located either within the processor or external to the processor.

The embodiment of the application also provides a vehicle, which comprises the electronic equipment provided by the embodiment of the application.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method or apparatus that includes the element.

It should also be noted that the positional or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims (10)

1. A vehicle in-situ turn control method, the method comprising:

When a vehicle enters a turning mode, determining a first driving moment, a second driving moment and a brake hydraulic pressure value according to steering information of the vehicle and physical parameters of a vehicle body;

Controlling the locking of an outer rear wheel of the vehicle, and taking the outer rear wheel as a rotation center; controlling the front outer and front inner wheels of the vehicle to rotate forward according to the first driving torque, applying a brake hydraulic pressure of the brake hydraulic pressure value to the front inner wheel of the vehicle, and controlling the rear inner wheel of the vehicle to rotate rearward according to the second driving torque;

Wherein the inner front side wheel, the outer front side wheel, the inner rear side wheel, and the outer rear side wheel are determined according to steering information of the vehicle.

2. The vehicle in-situ u-turn control method according to claim 1, wherein a sum of a braking force generated by the brake fluid pressure received by the inner front side wheel and a rolling friction force provided by a ground received by the inner front side wheel is smaller than a driving force distributed to the inner front side wheel by a front motor.

3. The vehicle in-situ turning control method according to claim 1, characterized in that determining the first driving torque and the second driving torque based on the steering information of the vehicle and the physical parameters of the vehicle body includes:

Determining constraint conditions according to the steering information of the vehicle and the physical parameters of the vehicle body;

the first drive torque and the second drive torque are determined based on the constraints.

4. The vehicle in-situ turning control method according to claim 3, characterized in that a direction of a resultant torque of the first driving torque and the second driving torque, which is twice the constraint condition, is a preset direction, which is a direction perpendicular to a line between a centroid of the vehicle and a rotation center, which is determined according to the vehicle front wheel steering, and which is biased toward the vehicle front wheel steering.

5. The vehicle in-situ turn control method of claim 3, wherein the physical parameters of the vehicle body include a rear track of the vehicle, a first distance between a center of mass of the vehicle and a rear axle, a second distance between the center of mass and a center of rotation, and a first angle between a line between the center of mass and the center of rotation and a vehicle wheelbase direction;

The constraint conditions are as follows:

F _{Rear part (S)} sinβ+2F _{Front part} sinαcosβ-2F _{Front part} cosαsinβ＞0

sinβ＝L/(2h)

cosβ＝b/h

Wherein F _{Front part} represents the first driving torque, F _{Rear part (S)} represents the second driving torque, L represents the rear track width, h represents the second distance, b represents the first distance, α represents the front wheel steering angle of the vehicle, and β represents the first angle.

6. The vehicle in-situ turning control method according to claim 1, characterized by further comprising, before determining the first driving torque, the second driving torque, and the brake fluid pressure value according to the steering information of the vehicle and the physical parameters of the vehicle body:

determining whether the vehicle meets an activation condition of a turn-around mode;

and if so, controlling the vehicle to enter a turning mode.

7. The vehicle in-situ turn control method according to claim 6, characterized in that the activation condition includes:

The switch of the turning mode is turned on, the vehicle speed is smaller than a first threshold value, the gear is a forward gear, the steering wheel angle is larger than a second threshold value, the accelerator opening is larger than a third threshold value, and the state signal of the motor torque is effective.

8. A vehicle in-situ turn control device, the device comprising:

The determining module is used for determining a first driving moment, a second driving moment and a brake hydraulic pressure value according to the steering information of the vehicle and the physical parameters of the vehicle body when the vehicle enters a turning mode;

The control module is used for controlling the locking of the outer rear side wheel of the vehicle and taking the outer rear side wheel as a rotation center; controlling the front outer and front inner wheels of the vehicle to rotate forward according to the first driving torque, applying a brake hydraulic pressure of the brake hydraulic pressure value to the front inner wheel of the vehicle, and controlling the rear inner wheel of the vehicle to rotate rearward according to the second driving torque;

Wherein the inner front side wheel, the outer front side wheel, the inner rear side wheel, and the outer rear side wheel are determined according to steering information of the vehicle.

9. An electronic device, the electronic device comprising:

A processor and a memory;

the processor is configured to execute the steps of the vehicle in-situ turning control method according to any one of claims 1 to 7 by calling a program or instructions stored in the memory.

10. A computer-readable storage medium storing a program or instructions that cause a computer to execute the steps of the vehicle in-situ turning control method according to any one of claims 1 to 7.