The invention discloses a running control method of a wheeled vehicle and the wheeled vehicle. The running control method of the wheeled vehicle comprises the following steps that the current working state of a differential mechanism is obtained, wherein the current working state comprises a releasing state and a hanging state; acquiring a request instruction for controlling the differential mechanism, wherein the request instruction comprises a releasing instruction and a hanging instruction; controlling the steering mechanism to act according to the current working state of the differential and the request instruction. According to the driving control method, when the steering mechanism is subjected to steering control, the current working state of the differential mechanism and the request instruction for the differential mechanism are comprehensively considered, for example, when the differential mechanism is in a hanging state, the steering mechanism needs to be controlled to steer within a limited range; the problems of tire abnormal damage and the like caused by steering in the differential engagement state are solved, and then the reliability of a vehicle is improved.
本发明公开了一种轮式车辆的行驶控制方法和轮式车辆。轮式车辆的行驶控制方法包括如下步骤:获取差速器的当前工作状态,当前工作状态包括解除状态和挂合状态;获取对差速器进行控制的请求指令,请求指令包括解除指令和挂合指令;根据差速器的当前工作状态和请求指令控制转向机构动作。本发明的行驶控制方法在对转向机构进行转向控制时综合考虑差速器的当前工作状态以及针对差速器的请求指令,例如当差速器处于挂合状态时,此时就要控制转向机构在限定范围内转向,以降低在差速挂合状态下转向所带来的轮胎异常损坏等问题,进而提高车辆的可靠性。
Travel control method for wheeled vehicle, and wheeled vehicle
轮式车辆的行驶控制方法和轮式车辆
2023-06-23
Patent
Electronic Resource
Chinese
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