The invention provides a U-turn control method, device and system and a vehicle. According to the U-turn control method, after a U-turn function of the vehicle is started, a first target wheel in all wheels of the vehicle is determined based on vehicle steering; determining the target braking torque of the first target wheel based on the first target rotating speed of the first target wheel and the current rotating speed of the first target wheel, and determining the target braking torque of the first target wheel based on the current position of an accelerator pedal of the vehicle and the current rotating speed of each wheel except the first target wheel in the vehicle; a front axle target driving torque, a rear axle target driving torque and target braking torques of all wheels except the first target wheel of the vehicle are determined, so that a power source of the vehicle is controlled to output driving torques based on the front axle target driving torque and the rear axle target driving torque, and braking of all the wheels is controlled based on the target braking torques of all the wheels, therefore, for a four-wheel-drive vehicle with asymmetric power output, the vehicle can be automatically controlled to execute small-radius turning, and the convenience and safety of vehicle driving are guaranteed.
本申请提供了一种掉头控制方法、装置、系统及车辆,其中,所述掉头控制方法在车辆的掉头功能开启后,基于车辆转向确定车辆的各车轮中的第一目标轮,并基于第一目标轮的第一目标转速和第一目标轮的当前转速确定第一目标轮的目标制动扭矩,以及基于车辆的加速踏板的当前位置以及车辆中第一目标轮之外的各车轮的当前转速,确定车辆的前轴目标驱动扭矩、后轴目标驱动扭矩以及第一目标轮之外的各车轮的目标制动扭矩,以基于前轴目标驱动扭矩和后轴目标驱动扭矩控制车辆的动力源进行驱动扭矩的输出以及基于各车轮的目标制动扭矩控制各车轮制动,从而对于动力输出不对称的四驱车辆,能够自动控制车辆执行小半径掉头,保证了车辆驾驶的便利性和安全性。
Turn-around control method, device and system and vehicle
一种掉头控制方法、装置、系统及车辆
2024-09-13
Patent
Electronic Resource
Chinese
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 |
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