The invention discloses a pivot steering control method, system and device, a storage medium and a vehicle. The method comprises the steps that it is determined that an automobile enters a pivot steering mode, and the road surface adhesion coefficient between tires and the road surface is obtained when the automobile speed is 0 and the angle of an automobile steering wheel is kept at the maximum angle; according to the road adhesion coefficient, the rotation friction force of the axis tire under the minimum load is determined; determining that the rotating friction force is smaller than the driving force of the rotating tire and the road adhesion coefficient is larger than a preset threshold value, and adjusting the height of an air spring corresponding to each tire to enable the axis tire to enter a first load state; the first load state is that the axis tire is in the minimum load state; the axis tire in the first load state or the second load state is controlled to be braked, so that the axis tire enters a locked state; the locking state of the axis tire is relieved, the rotating tire is controlled to rotate, and in-situ steering of the automobile is achieved. The method can reduce tire wear. The method can be widely applied to the technical field of automobile control.

    本发明公开了一种原地转向控制方法、系统、装置、存储介质以及车辆,方法包括:确定汽车进入原地转向模式并获取汽车车速为0且汽车方向盘的角度保持为最大角度时轮胎与路面之间的路面附着系数;根据路面附着系数,确定轴心轮胎在最小载荷时的旋转摩擦力;确定旋转摩擦力小于转动轮胎的驱动力且路面附着系数大于预设阈值,调整各个轮胎对应的空气弹簧高度,以使轴心轮胎进入第一载荷状态;第一载荷状态为轴心轮胎处于最小载荷的状态;控制处于第一载荷状态或者第二载荷状态的轴心轮胎制动,使轴心轮胎进入抱死状态;解除轴心轮胎的抱死状态并控制转动轮胎转动,实现汽车原地转向。本方法可以减小轮胎磨损。本发明可广泛应用于汽车控制技术领域。


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    Title :

    Pivot steering control method, system and device, storage medium and vehicle


    Additional title:

    一种原地转向控制方法、系统、装置、存储介质以及车辆


    Contributors:
    ZHAO HUICHAO (author) / ZHANG LILIANG (author) / CAO ZHENQIAN (author) / TANG MIN (author) / MIAO WEIWEI (author) / WOO JIN (author)

    Publication date :

    2024-05-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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