The invention provides an in-situ turning-around control method, device and system and a vehicle. According to the in-situ turning-around control method, after an in-situ turning-around function is started, a brake locking wheel, a first target steering direction of a front axle power source and a second target steering direction of a rear axle power source are determined based on vehicle steering and vehicle gears, and the brake locking wheel is controlled to be braked and locked; determining a first target output torque of a front axle power source, a second target output torque of a rear axle power source and a target braking torque of each rotating wheel based on the current position of the accelerator pedal and the current rotating speed of each rotating wheel of the vehicle; and controlling a front axle power source to perform torque output based on the first target steering direction and the first target output torque, controlling a rear axle power source to perform torque output based on the second target steering direction and the second target output torque, and controlling each rotating wheel to brake based on the target brake torque of each rotating wheel, the vehicle can turn around in situ with the brake locking wheel as the circle center, and the turning radius of the vehicle is greatly reduced.

    本申请提供了一种原地掉头控制方法、装置、系统及车辆,其中,所述原地掉头控制方法在原地掉头功能开启后,基于车辆转向和车辆档位,确定制动锁死轮、前轴动力源的第一目标转向和后轴动力源的第二目标转向,控制制动锁死轮制动锁死,并基于加速踏板的当前位置以及车辆的各转动轮的当前转速确定前轴动力源的第一目标输出扭矩、后轴动力源的第二目标输出扭矩以及各转动轮的目标制动扭矩,以基于第一目标转向和第一目标输出扭矩控制前轴动力源进行扭矩输出,基于第二目标转向和第二目标输出扭矩控制后轴动力源进行扭矩输出,以及基于各转动轮的目标制动扭矩控制各转动轮制动,使得车辆以制动锁死轮为圆心执行原地掉头,极大减小了车辆的掉头半径。


    Access

    Download


    Export, share and cite



    Title :

    In-situ turning control method, device and system and vehicle


    Additional title:

    一种原地掉头控制方法、装置、系统及车辆


    Contributors:
    WANG XIAODAN (author) / WANG BO (author) / LIU YIQIANG (author) / LIU LIANG (author) / ZOU FAMING (author) / WANG XIANGXIANG (author) / ZHANG SHUNLONG (author) / YANG CHAO (author) / LYU RUNSHENG (author) / PENG HUASHUAI (author) ... [more]

    Publication date :

    2024-09-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    Vehicle turning control device, vehicle and vehicle turning control method

    WANG ZHIBIN / SANG SHENGZHAO / ZHANG XI | European Patent Office | 2025

    Free access

    Control method and control device for in-situ turning of vehicle

    MA LIANGFENG | European Patent Office | 2024

    Free access

    In-situ turning device and vehicle

    ZHANG QIANG | European Patent Office | 2023

    Free access

    Vehicle in-situ turning-around device

    HE JINLONG / LIU JINSHAN / ZHONG ZHI et al. | European Patent Office | 2023

    Free access

    In-situ turning control method and device, vehicle and storage medium

    LU GUOXIANG / XU PU / ZHUANG XULI et al. | European Patent Office | 2025

    Free access