CN117719508A

CN117719508A - Control method and control device for turning around of vehicle, electronic equipment and vehicle

Info

Publication number: CN117719508A
Application number: CN202410132806.XA
Authority: CN
Inventors: 余永智; 王朝均; 王路喜; 杨尉波; 李志�; 邓宇静
Original assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Current assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Priority date: 2024-01-29
Filing date: 2024-01-29
Publication date: 2024-03-19

Abstract

The invention discloses a control method and a control device for turning around a vehicle, electronic equipment and the vehicle, wherein the control method for turning around the vehicle comprises the following steps: detecting whether the vehicle enters a turning mode; if the vehicle enters a turning mode, controlling an inner rear side wheel of the vehicle to brake according to a preset mode, and respectively applying positive torque to an outer front side wheel and an outer rear side wheel of the vehicle based on a first strategy so as to enable the outer front side wheel and the outer rear side wheel of the vehicle to rotate forwards, and applying negative torque to the inner front side wheel of the vehicle so as to enable the inner front side wheel of the vehicle to rotate backwards; wherein the inner rear side wheel, the inner front side wheel, the outer rear side wheel, and the outer front side wheel are determined according to steering information of the vehicle. The automatic turning of the vehicle is realized, and the driving experience of drivers and passengers is improved.

Description

Control method and control device for turning around of vehicle, electronic equipment and vehicle

Technical Field

The application relates to the technical field of vehicle turning, in particular to a control method and device for vehicle turning, electronic equipment and a vehicle.

Background

With the increasing popularity of automobiles and the increasing superiority of people in physical life, people have put higher demands on convenience and adaptability of the automobiles. Under the background of emphasis on individuation and enjoyment of driving, how to realize easy turning around on a narrow road becomes a current research hot spot.

The existing in-situ turning schemes have more or less defects, such as too low speed during turning, so that the turning time is too long, and the driving experience of the aggressive driver is affected; or poor stability of the vehicle when turning around, etc.

In view of this, the present invention has been made.

Disclosure of Invention

The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

In view of the problems of long turn-around time consumption and poor stability of a vehicle in an in-situ turn-around scheme in the prior art, the application provides a control method for vehicle turn-around, which improves the efficiency and stability of vehicle turn-around and is beneficial to improving the driving experience of drivers and passengers.

In a first aspect, the present invention provides a method for controlling a turn of a vehicle, including the steps of:

detecting whether the vehicle enters a turning mode;

if the vehicle enters a turning mode, controlling an inner rear side wheel of the vehicle to brake according to a preset mode, and respectively applying positive torque to an outer front side wheel and an outer rear side wheel of the vehicle based on a first strategy so as to enable the outer front side wheel and the outer rear side wheel of the vehicle to rotate forwards, and applying negative torque to the inner front side wheel of the vehicle so as to enable the inner front side wheel of the vehicle to rotate backwards;

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

Further, the method further comprises the following steps:

during turning, the torques of the outer front wheel, the inner front wheel and the outer rear wheel are adjusted according to the running state of the outer front wheel and/or the running state of the outer rear wheel of the vehicle.

Further, the running state includes a slip state and a normal running state, and the adjusting the torques of the inner front side wheel, the outer front side wheel, and the outer rear side wheel according to the running state of the outer front side wheel of the vehicle and/or the running state of the outer rear side wheel of the vehicle includes:

stopping applying positive torque to the outer front side wheels of the vehicle and applying positive torque to the inner front side wheels based on a second strategy and adjusting the torque of the outer rear side wheels if the running state of the outer front side wheels of the vehicle is a slip state;

if the running state of the outer rear side wheel of the vehicle is a slip state, the application of positive torque to the outer rear side wheel of the vehicle is stopped, and positive torque is applied to the inner front side wheel based on a second strategy, and the torque of the outer front side wheel is adjusted.

Further, the applying positive torque to the inner front side wheel based on the second strategy and adjusting the torque of the outer rear side wheel includes:

determining a first torque value corresponding to the inner front wheel and a second torque value corresponding to the outer rear wheel according to a chassis torque request of the vehicle;

a positive torque of the first torque value is applied to the inner front side wheel and a positive torque of the second torque value is applied to the outer rear side wheel.

Further, the applying positive torque to the outer front side wheels and the outer rear side wheels of the vehicle, respectively, based on the first strategy, includes:

detecting the current opening of the vehicle accelerator pedal;

if the current opening degree is 0, determining a torque value from a first preset relation table according to the gradient of the road where the vehicle is currently located and the current speed of the vehicle;

if the current opening degree is not 0, determining a torque value from a second preset relation table according to the current opening degree and the current speed of the vehicle;

positive torque of the magnitude of the torque value is applied to the outer front side wheels and the outer rear side wheels of the vehicle, respectively.

Further, the controlling the inner rear side wheel of the vehicle to brake according to a preset mode includes:

and controlling calipers of the inner rear side wheels to intermittently perform braking action on the inner rear side wheels.

Further, the detecting whether the vehicle enters the turn-around mode includes:

detecting whether a gear of the vehicle is a forward gear, whether the speed of the vehicle is smaller than a preset value and whether an activation instruction of a turning mode is received.

In a second aspect, the present invention further provides a control device for turning around a vehicle, including: the detection module is used for detecting whether the vehicle enters a turning mode or not;

a control module for controlling an inner rear wheel of the vehicle to brake in a preset mode if the vehicle enters a turning mode, applying positive torque to an outer front wheel and an outer rear wheel of the vehicle based on a first strategy, respectively, so that the outer front wheel and the outer rear wheel of the vehicle both rotate forward, and applying negative torque to the inner front wheel of the vehicle so that the inner front wheel of the vehicle rotates backward;

In a third aspect, the present invention also provides an electronic device, including:

one or more processors;

a storage means for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the control method of turning around the vehicle as described above.

In a fourth aspect, the invention also provides a vehicle comprising an electronic device as described above.

In a fifth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a turn of a vehicle as described above.

According to the control method for turning the vehicle, when the vehicle turns automatically in a turning mode, the inner rear side wheels of the vehicle are controlled to brake according to a preset mode when turning begins, so that the inner rear side wheels are locked and immobilized in situ, and the purpose of reducing the turning radius and achieving in-situ turning is achieved; and applying positive torque to the outer front side wheels and the outer rear side wheels of the vehicle respectively based on a first strategy so that the outer front side wheels and the outer rear side wheels of the vehicle rotate forwards, and applying negative torque to the inner front side wheels of the vehicle so that the inner front side wheels of the vehicle rotate backwards.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a method for controlling turning of a vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a vehicle turn control device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The present 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 invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a schematic flow chart of a method for controlling turning of a vehicle according to the present application, where the method is suitable for a scenario of automatically turning a vehicle in situ, and is particularly suitable for automatically turning a vehicle under narrow road conditions. Specifically, the control method of the vehicle turning can be executed by a vehicle controller.

As shown in fig. 1, the method for controlling the turning of the vehicle comprises the following steps:

s110, detecting whether the vehicle enters a turning mode.

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, the mode of the vehicle entering the turn-around mode may be that the vehicle enters the turn-around mode under the initiative of the driver, for example, the driver activates the turn-around mode of the vehicle through a driving mode selection menu displayed on a central control screen in the cockpit, so that the vehicle enters the turn-around mode; the driver can also put the vehicle into a turn-around mode by means of voice control.

In some embodiments, the vehicle may actively perform an activation prompt of the turn-around mode, for example, the vehicle analyzes the surrounding environment of the vehicle according to the data detected by the vehicle-mounted sensor, and determines whether the driver has a turn-around intention currently in combination with the real-time state (such as the vehicle speed condition, the gear condition, etc.) of the vehicle, when it is determined that the driver has a turn-around intention currently, the vehicle may actively perform the activation prompt of the turn-around mode, for example, pop up a message on a central control screen in the cockpit to ask whether the driver wants to enter the turn-around mode, or ask the driver if the driver wants to enter the turn-around mode by means of voice broadcasting, and when receiving the response of the driver, perform the operation of entering the turn-around mode, so, the intelligence of the vehicle and the driving experience of the driver may be further improved.

In some embodiments, the detecting whether the vehicle enters a turn-around mode comprises:

In some embodiments, when the vehicle receives an instruction to enter the turning mode, or receives an activation instruction of the turning mode, a prompt of a preset message is performed, where the preset message may be "suggest to turn around in place on the non-paved road surface so as not to cause damage to the vehicle. Specifically, the non-paved road surface is opposite to the paved road surface, the non-paved road surface comprises a road surface which does not pass through artificial pavement such as a stone road, a soil road, a muddy pothole road and the like, and the paved road surface comprises a flat road surface paved with asphalt, cement and the like. The vehicle can turn around in situ on the paved road surface, which may damage the road surface, and in particular, the vehicle can turn around automatically in the turning mode by increasing the pressure of the inner wheels, so that the vehicle turns around in situ at a large angle, and thus the road surface can be damaged to a certain extent, such as forming rut marks, if the vehicle is operated on the paved road surface. On the other hand security problems are also involved: the paved road surface is flat, so that the vehicle can lose stability during steering when in-situ automatic turning, and the risk of turning over is increased. And some paved roads have clear regulatory restrictions for turning around the vehicle. Therefore, in order to reduce damage to the paved road, ensure safety when the vehicle turns around and meet regulatory requirements, when the vehicle receives an instruction for entering the turning-around mode, a prompt of a preset message is carried out so as to prompt a driver not to control the vehicle to automatically turn around in situ on the paved road.

And S120, if the vehicle enters a turning mode, controlling the inner rear side wheels of the vehicle to brake according to a preset mode, and respectively applying positive torque to the outer front side wheels and the outer rear side wheels of the vehicle based on a first strategy so as to enable the outer front side wheels and the outer rear side wheels of the vehicle to rotate forwards, and applying negative torque to the inner front side wheels of the vehicle so as to enable the inner front side wheels of the vehicle to rotate backwards.

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.

In some embodiments, the purpose of controlling the inner rear wheels of the vehicle to brake in a preset pattern is to lock the inner rear wheels so as to achieve a minimum turning radius, i.e. to achieve a turn-in-place. It will be appreciated that the anti-lock function of the inner rear wheels of the vehicle is masked before the inner rear wheels are controlled to brake in a predetermined pattern.

In some embodiments, in order to reduce the wear degree of the inner rear side wheel during the in-situ turning and ensure the minimum turning radius, the braking mode of the inner rear side wheel of the vehicle is improved, specifically, the caliper of the inner rear side wheel is controlled to intermittently perform braking action on the inner rear side wheel, for example, the caliper of the inner rear side wheel is controlled to clamp the inner rear side wheel for 500ms and then release the inner rear side wheel for 100ms, and then the inner rear side wheel is clamped for 500ms and then release the inner rear side wheel, so that the aim of reducing the wear degree of the inner rear side wheel during the in-situ turning and ensuring the minimum turning radius can be achieved through repeated actions.

In some embodiments, the applying positive torque to the outer front side wheels and the outer rear side wheels of the vehicle, respectively, based on the first strategy, comprises: detecting the current opening of the vehicle accelerator pedal; if the current opening degree is 0, determining a torque value from a first preset relation table according to the gradient of the road where the vehicle is currently located and the current speed of the vehicle; if the current opening degree is not 0, determining a torque value from a second preset relation table according to the current opening degree and the current speed of the vehicle; positive torque of the magnitude of the torque value is applied to the outer front side wheels and the outer rear side wheels of the vehicle, respectively. In the process of turning around the vehicle in situ, the driver is supported to self-define and adjust the vehicle speed so as to improve the driving pleasure, meet different driving styles and achieve the purpose of improving the driving experience. However, in order to ensure safety, the output torque corresponding to the accelerator pedal (i.e., the torque value determined from the second preset relational table according to the current opening degree and the current vehicle speed of the vehicle) may be limited, for example, if the output torque corresponding to the accelerator pedal is smaller than a set value, the output torque corresponding to the accelerator pedal is responded, if the output torque corresponding to the accelerator pedal is larger than the set value, the output torque corresponding to the accelerator pedal is not responded, or the output torque at that time is assigned as the set value.

In order to further improve the driving pleasure, the preset modes may be various, for example, a vehicle speed control instruction may be triggered by a mode of presetting a vehicle speed adjusting button on a central control screen in a cockpit of the vehicle, a vehicle speed control instruction may be triggered by a hard switch on the vehicle, a vehicle speed control instruction may be triggered by a voice command mode, or a vehicle speed may be controlled by an accelerator pedal of the vehicle. In summary, the preset mode includes: the vehicle speed adjusting button is preset on a central control screen in the cab of the vehicle, the voice command mode is adopted, or the accelerator pedal mode of the vehicle is adopted.

Exemplary, tables 1-3 are the first preset relationship table and table 4 is the second preset relationship table.

TABLE 1

TABLE 2

TABLE 3 Table 3

For example, when the gradient of the road on which the vehicle is currently located is 3, the corresponding torque value is 700 when the current vehicle speed of the vehicle is 5 km/h.

TABLE 4 Table 4

Further, the negative torque applied to the inner front side wheels of the vehicle may be a preset magnitude of negative torque, for example, may be 100n·m.

In some embodiments, in order to ensure that the vehicle can recover to be normal as soon as possible when slipping occurs in the in-situ turning process, and ensure the stability and the turning efficiency of the vehicle in the in-situ turning process, the control method of the vehicle turning further comprises:

The running states include a slip state and a normal running state, and the adjusting of the torques of the inner front side wheel, the outer front side wheel, and the outer rear side wheel according to the running state of the outer front side wheel of the vehicle and/or the running state of the outer rear side wheel of the vehicle includes:

and if the running state of the outer rear side wheel of the vehicle is a slip state, stopping applying positive torque to the outer rear side wheel of the vehicle, applying positive torque to the inner front side wheel based on a second strategy, and adjusting the torque of the outer front side wheel to ensure enough driving torque so that the vehicle can be driven out of a slip zone as soon as possible, thereby ensuring the stability and the turning efficiency in the in-situ turning process of the vehicle. The determination of the slip state may be determined based on a difference in wheel speeds of front and rear wheels on the same side, for example, if the wheel speed of the outer front wheel is 100r/s, the wheel speed of the outer rear wheel is 200r/s, and the wheel speed of the outer rear wheel is significantly higher than the wheel speed of the outer front wheel, at which time the state of the outer rear wheel may be determined to be the slip state.

The first strategy is based on applying a positive torque to the inner front wheel and adjusting the torque of the outer rear wheel, comprising:

determining a first torque value corresponding to the inner front wheel and a second torque value corresponding to the outer rear wheel according to a chassis torque request of the vehicle; a positive torque of the first torque value is applied to the inner front side wheel and a positive torque of the second torque value is applied to the outer rear side wheel.

Specifically, the principle of determining the torque value corresponding to each wheel according to the chassis torque request of the vehicle is mainly to limit the engine torque and adjust the wheel end braking pressure to ensure that the vehicle can inhibit the wheel slip on ice or separated road surfaces and start smoothly. In addition, there is also a four-wheel drive torque limiting method, which specifically includes: and determining a current road surface attachment coefficient corresponding to the running direction of the vehicle according to the traction force of the wheel end, the lateral force of the wheel end, the longitudinal force of the whole vehicle and the lateral force of the whole vehicle, and finally calculating based on the road surface attachment coefficient by utilizing a tire friction theory to obtain the maximum allowable longitudinal acceleration, and limiting the torque output of the engine to the front axle and the rear axle based on the maximum allowable longitudinal acceleration so as to adjust the posture of the vehicle.

Specifically, for example, when the vehicle turns left and turns around, the right front wheel and the right rear wheel normally run without slipping, a negative torque of 100n·m is applied to the left front wheel; when the right rear wheel slips, the left front wheel and the right front wheel respond to the positive torque output of the whole vehicle controller, and the right rear wheel outputs 0 torque; when the right front wheel slips, the left front wheel and the right rear wheel respond to the positive torque output of the whole vehicle controller, and the right front wheel outputs 0 torque so as to ensure that the vehicle gets rid of the trouble when in emergency.

In some alternative embodiments, when the vehicle is in the turning mode, if the duration of the driver stepping on the brake pedal is detected to exceed the set value, or the duration of the state that the opening of the brake pedal is greater than the opening threshold exceeds the set value, the turning mode is automatically exited, and the real-time requirements of the user are responded in time, so that the intelligence and the user experience are improved.

Fig. 2 is a schematic structural diagram of a vehicle turn control device according to an embodiment of the present invention, where the vehicle turn control device may be integrated in a controller of a vehicle. As shown in fig. 2, the apparatus includes: a detection module 210 and a control module 220. A detection module 210, configured to detect whether the vehicle enters a turn-around mode; a control module 220 for controlling the inner rear wheels of the vehicle to brake in a preset mode if the vehicle enters a turn-around mode, and applying positive torque to the outer front wheels and the outer rear wheels of the vehicle, respectively, based on a first strategy, so that the outer front wheels and the outer rear wheels of the vehicle both rotate forward, and applying negative torque to the inner front wheels of the vehicle so that the inner front wheels of the vehicle rotate backward; wherein the inner rear side wheel, the inner front side wheel, the outer rear side wheel, and the outer front side wheel are determined according to steering information of the vehicle.

In some embodiments, further comprising: and the adjusting module is used for adjusting the torque of the outer front side wheel, the inner front side wheel and the outer rear side wheel according to the running state of the outer front side wheel and/or the running state of the outer rear side wheel of the vehicle in the turning process.

In some embodiments, the driving state includes a slip state and a normal driving state, and the adjustment module is specifically configured to: stopping applying positive torque to the outer front side wheels of the vehicle and applying positive torque to the inner front side wheels based on a second strategy and adjusting the torque of the outer rear side wheels if the running state of the outer front side wheels of the vehicle is a slip state;

Further, the adjusting module is specifically configured to: determining a first torque value corresponding to the inner front wheel and a second torque value corresponding to the outer rear wheel according to a chassis torque request of the vehicle;

In some embodiments, the control module 220 is specifically configured to control the caliper of the inner rear wheel to intermittently perform a braking action on the inner rear wheel; detecting the current opening of the vehicle accelerator pedal; if the current opening degree is 0, determining a torque value from a first preset relation table according to the gradient of the road where the vehicle is currently located and the current speed of the vehicle; if the current opening degree is not 0, determining a torque value from a second preset relation table according to the current opening degree and the current speed of the vehicle; positive torque of the magnitude of the torque value is applied to the outer front side wheels and the outer rear side wheels of the vehicle, respectively.

In some embodiments, the detection module 210 is specifically configured to: detecting whether a gear of the vehicle is a forward gear, whether the speed of the vehicle is smaller than a preset value and whether an activation instruction of a turning mode is received.

When the vehicle turns around automatically in a turning around mode, the control device controls the inner rear side wheels of the vehicle to brake according to a preset mode when turning around starts, so that the inner rear side wheels are locked and immobilized in situ, and the purpose of reducing the turning radius and realizing in-situ turning around is achieved; and applying positive torque to the outer front side wheels and the outer rear side wheels of the vehicle respectively based on a first strategy so that the outer front side wheels and the outer rear side wheels of the vehicle rotate forwards, and applying negative torque to the inner front side wheels of the vehicle so that the inner front side wheels of the vehicle rotate backwards.

The vehicle turning control device provided by the embodiment of the present disclosure may execute steps in the vehicle turning control method provided by the embodiment of the present disclosure, and the execution steps and the beneficial effects are not described herein.

Fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the disclosure. Referring now in particular to fig. 3, a schematic diagram of an electronic device 500 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.

As shown in fig. 3, the electronic device 500 may include a processing means (e.g., a central processor, a graphics processor, etc.) 501 that may perform various suitable actions and processes to implement the methods of embodiments as described in the present disclosure according to programs stored in a Read Only Memory (ROM) 502 or loaded from a storage 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program containing program code for performing the method shown in the flowchart, thereby implementing the method of controlling a vehicle turn as described above. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or from the storage means 508, or from the ROM 502. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 501.

It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but 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 of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: detecting whether the vehicle enters a turning mode; if the vehicle enters a turning mode, controlling an inner rear side wheel of the vehicle to brake according to a preset mode, and respectively applying positive torque to an outer front side wheel and an outer rear side wheel of the vehicle based on a first strategy so as to enable the outer front side wheel and the outer rear side wheel of the vehicle to rotate forwards, and applying negative torque to the inner front side wheel of the vehicle so as to enable the inner front side wheel of the vehicle to rotate backwards; wherein the inner rear side wheel, the inner front side wheel, the outer rear side wheel, and the outer front side wheel are determined according to steering information of the vehicle.

Alternatively, the electronic device may perform other steps described in the above embodiments when the above one or more programs are executed by the electronic device.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).

Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. The foregoing is merely a preferred embodiment of the present application, and it should be noted that, due to the limited nature of text, there is an objectively infinite number of specific structures, and that, to those skilled in the art, several improvements, modifications or changes can be made, and the above technical features can be combined in a suitable manner, without departing from the principles of the present invention; such modifications, variations and combinations, or the direct application of the concepts and aspects of the invention in other applications without modification, are intended to be within the scope of this application.

Claims

1. A control method of turning around a vehicle, characterized by comprising:

detecting whether the vehicle enters a turning mode;

2. The method for controlling a turn of a vehicle according to claim 1, characterized by further comprising:

3. The control method of turning around a vehicle according to claim 2, wherein the running state includes a slip state and a normal running state, the adjusting of the torque of the inner front side wheel, the outer front side wheel, and the outer rear side wheel according to the running state of the outer front side wheel of the vehicle and/or the running state of the outer rear side wheel of the vehicle includes:

4. A control method of turning around a vehicle according to claim 3, wherein the applying positive torque to the inner front side wheel based on the second strategy and adjusting the torque of the outer rear side wheel includes:

5. The method of controlling a turning of a vehicle according to claim 1, wherein the applying positive torque to the outer front side wheel and the outer rear side wheel of the vehicle, respectively, based on a first strategy, comprises:

detecting the current opening of the vehicle accelerator pedal;

6. The method for controlling turning of a vehicle according to claim 1, wherein the controlling of braking of the inner rear wheels of the vehicle in a preset pattern includes:

7. The method for controlling a turn of a vehicle according to claim 1, wherein the detecting whether the vehicle enters a turn mode includes:

8. A control device for turning around a vehicle, comprising:

the detection module is used for detecting whether the vehicle enters a turning mode or not;

9. An electronic device, the electronic device comprising:

one or more processors;

a storage means for storing one or more programs;

when executed by the one or more processors, causes the one or more processors to implement the method of controlling a vehicle turn of any one of claims 1-7.

10. A vehicle comprising the electronic device of claim 9.