53results about How to "Small turning radius" patented technology

The utility model relates to the technical field of airplane emergency rescue traction, in particular to an emergency runway separation device which comprises a hydraulic lifting device used for jacking airplane wheels and a trailer used for placing the airplane wheels, the hydraulic lifting device comprises an oil tank, a multi-stage hydraulic cylinder is installed at one end of the oil tank, a jacking head screw is installed on the multi-stage hydraulic cylinder, and the trailer is connected with the hydraulic lifting device. A hydraulic pump is installed at the other end of the oil tank, a low-pressure piston rocker and a high-pressure piston rocker are installed on the hydraulic pump, and handle temporary placing rods and inserting rods are installed on the two sides of the hydraulic pump; the trailer comprises a tire placing plate, and a front universal wheel is installed at one end of the tire placing plate. According to the device, the multi-stage hydraulic jack is adopted to quickly jack up the airplane wheels, the trailer can be conveniently placed below the airplane wheels, the airplane can slowly descend through the multi-stage hydraulic jack so that the airplane wheels can be placed on the trailer, and the airplane can be conveniently dragged and moved through the trailer.

The invention discloses a vertical convection circular cooler. Comprising a rotary disc and a rotary trough mounted on the rotary disc, and the rotary trough rotates along with the rotary disc; a discharge hole is formed in the outer circumference of the bottom of the rotary trough; a sealing cover is arranged above the rotary trough; a plurality of inverted-L-shaped cantilever beams are annularly arranged on the outer side of the rotary trough, and the sealing cover is hung above the rotary trough through the cantilever beams. And the sealing cover does not rotate along with the rotary trough. The device has the advantages of small occupied area, uniform material distribution, few movable parts, less equipment abrasion, long mineral aggregate cooling retention time, energy conservation, environmental protection and the like.

The invention discloses an anti-rollover reversing mechanism of a carrying trolley. The anti-rollover reversing mechanism comprises a trolley frame body, four sets of wheel frames and a steering connecting frame used for connecting the four sets of wheel frames. The four groups of wheel frames are respectively pivoted to four corner ends of the bottom of the frame main body and are used for mounting wheels; a steering assembly is further pivoted to the front side of the frame main body, and the steering assembly is rotationally connected with the steering connecting frame; the steering connecting frame is a rectangular frame defined by two transverse rods and two longitudinal rods, and the four corner ends of the rectangular frame are connected with the four sets of wheel frames in a pivoted mode respectively. The steering assembly comprises a steering rod and a steering plate fixedly connected to the lower end of the steering rod, the tail end of the steering plate is pivoted to the middle of one transverse rod, and the lower end of the steering rod is pivoted to the front end of the bottom of the frame body. The four sets of wheel frames are directly and forcibly driven to rotate around the respective vertical axes or pivot points at the same time through movement of the rectangular frame, the vehicle can rotate around a smaller instantaneous center, and the turning radius is remarkably reduced.

This invention discloses an articulated / tracked dual-mode steering system, comprising a front articulated chassis and a rear articulated chassis. A front axle is connected to the lower part of the front articulated chassis, and a rear axle is connected to the lower part of the rear articulated chassis. Both ends of the front and rear axles are connected to a triangular track via hydraulic motors. A steering gear is mounted on the front articulated chassis, with its lower end connected to a hydraulic steering unit. The two outlets of the hydraulic steering unit are connected to a left and a right steering cylinder, respectively. The system also includes two variable displacement hydraulic pumps connected in series. One variable displacement hydraulic pump is connected to two hydraulic motors located on the right side, and the other variable displacement hydraulic pump is connected to two hydraulic motors located on the left side. This invention also discloses a vehicle. This invention combines two steering modes into a single working vehicle, allowing the vehicle to use either articulated steering or tracked steering depending on the actual situation, fully utilizing the advantages of both steering modes.

The application discloses a low-speed steering control method based on differential braking and torque compensation. The application collects vehicle state signals such as vehicle speed and steering wheel rotation angle in real time, accurately determines the low-speed large-angle steering working condition of the vehicle, determines the inner side rear wheel in the curve according to the steering wheel rotation angle, matches the vehicle speed and the rotation angle, dynamically applies a small amount of braking pressure to form a differential steering torque, and dynamically compensates the braking pressure matched with the outer side driving motor to form a differential steering torque. The application can effectively offset the dragging feeling caused by the braking of the inner side rear wheel, avoid the wheel lock and slip problem, guarantee the smooth process of the low-speed large-angle steering of the vehicle, optimize the low-speed steering performance of the vehicle, and improve the driving comfort and the driving stability.

A front wheel is connected with a rear wheel through a bicycle beam, a steering column connected with the bicycle beam is arranged below a handlebar, a steering arm is arranged at the tail end of the steering column, the bicycle beam is provided with a steering column connected with the rear wheel, and the steering arm is connected with the steering column above the rear wheel through a steering push-pull cable; a first shock absorber connected with a rear wheel is arranged below the steering column; the saddle is arranged in the middle of the beam; a plurality of circles of end face gears with different diameters are arranged on the front wheel, a cylindrical gear meshed with the end face gears is arranged on the bicycle beam, and the cylindrical gear is connected with the handlebar through a variable-speed push-pull cable. A simple end face gear speed change mechanism is adopted, and the transmission efficiency is high; due to rear steering and front driving, steering is flexible, and the turning radius is small; the saddle is low in gravity center, small in wind resistance, anti-falling and safe; the speed change range is wide and can be fast or slow; chain deviation resistance caused by different surfaces of the chain disc is avoided; a large-modulus gear is adopted, so that the strength is high and durability is realized; the failure rate is low and maintenance is easy.

This invention discloses a high lift-to-drag ratio, long-endurance, low-speed airfoil, revealing its maximum relative camber, maximum relative thickness, and the curve equations satisfied by its upper and lower edges. The origin of the coordinate system containing the airfoil is defined as the leading edge of the chord. The X-axis coincides with the chord line, pointing from the leading edge to the trailing edge of the airfoil. The Y-axis is perpendicular to the X-axis, pointing in the direction of the airfoil's curvature. The chord length is defined as C; therefore, the maximum relative camber is 6%C, and the maximum relative thickness is 4.5%C. The airfoil of this invention exhibits a higher lift-to-drag ratio and a higher lift coefficient while maintaining a lower drag coefficient. It reduces the weight of the wing structure, and its thin, curved shape results in a smaller internal wing cavity, optimizing aircraft weight while concentrating stress on the structure.

The application belongs to the technical field of dental equipment and relates to a head and a light curing machine. The head comprises a lamp head, a rotating mechanism and a fixing part, one end of the rotating mechanism is fixedly connected with the lamp head, the other end is rotationally connected with the fixing part, a limiting structure is arranged between the rotating mechanism and the fixing part, and the limiting structure is used for limiting the angle of axial rotation of the lamp head around the head. In some special cases, such as a small patient opening, a molar back surface and an outer surface as the irradiation position, the application can more easily realize the need for vertical irradiation of resin material and can avoid the pulling and fracture of internal wires caused by the unrestricted circumferential rotation of the lamp head.

The utility model discloses a base module, cleaning equipment and cleaning system, base module includes base, two walking components and drive arrangement, two walking components are separately arranged at the lateral both sides of base, and each walking component includes the axle body and the wheel body, and the axle body is installed for the wheel body rotation one section, and the other section is installed in the base around the vertical extension axis and can be deflected, and drive arrangement is located in the base and is connected with the axle body to drive the axle body deflection. The driving of the drive arrangement to the walking component can basically eliminate the disadvantage of laborious in the steering process in the application. And under the driving of the drive arrangement, the deflection angle of the axle body around the vertical axis can be flexibly adjusted, which makes the rotation angle of the whole machine can be adjusted arbitrarily. Compared with the manual operation of the user, the driving of the drive arrangement can ensure that the rotation angle is more accurate and stable, which helps to improve the reliability of the whole machine steering.

The present application belongs to the technical field of rehabilitation medical apparatus and instruments, and particularly relates to a robot system for gait training, which comprises a chassis module, the front and rear ends of the chassis module are provided with steering wheels, the chassis module further comprises a directional wheel and a driving wheel, and the directional wheel is connected with a lifting assembly; a pair of lifting modules are arranged in the middle of the chassis module, each lifting module is connected with a body state control module, and each body state control module is driven to move up and down through the lifting module; the robot system for gait training provided by the present application enables the pelvis of a patient to move freely, so that the patient can perform balance training.

The application provides a rear axle steering continuous pipe operation roller semi-trailer. The semi-trailer comprises a frame, a roller arranged on the frame, a rear axle assembly and a rear axle steering mechanism. The rear axle steering mechanism comprises an upper support seat, a rotary disc bearing, a lower support seat and a steering driving assembly. The steering driving assembly and the upper support seat are arranged on the frame, the rotary disc bearing is connected with the upper support seat and the lower support seat respectively, and the lower support seat is fixedly connected with the rear axle assembly. The steering driving assembly is connected with the lower support seat to drive the lower support seat to rotate relative to the upper support seat and drive the rear axle assembly to rotate. The rear axle assembly is steered by adopting the steering driving mechanism to drive the lower support seat. The relative rotation angle between the frame and the wheel is large, the turning radius of the semi-trailer is reduced, the reliability of the steering driving is improved, the safety of the whole vehicle is improved, and the driving strength of the vehicle is reduced.

The utility model discloses a penetrating type groove grinding device which comprises a main shaft and a groove grinding device arranged at the output end of the main shaft, and the groove grinding device comprises a grinding arm body and a groove grinding wheel arranged at one end of the grinding arm body. The transmission connecting assembly comprises a transmission rod connected with the output end of the main shaft, a driving gear piece arranged at the other end of the transmission rod and a driven gear piece connected with the driving gear piece in a meshed mode, a first bearing set is arranged in the driven gear piece, and a second bearing set is arranged in the driving gear piece. The main shaft and the groove grinding wheel are arranged in a staggered mode, the driving gear piece drives the driven gear piece to further drive the groove grinding wheel to rotate, the problems of slipping and abrasion caused by the fact that a belt is used for machining the grinding wheel in a linkage mode in the past can be avoided, interference with a gear transmission part is avoided, and meanwhile the turning radius of the groove grinding wheel is reduced. And the machining efficiency and the machining precision are improved.

A method, apparatus, device, and computer-readable storage medium for reducing the turning radius of a vehicle are disclosed, belonging to the field of automotive technology. The method for reducing the turning radius includes: detecting a curve ahead of the vehicle's travel path, determining whether there is a high obstacle above the curve, and obtaining a determination result; based on the determination result, determining a target lift height for the air suspension system; controlling the air suspension system to rise to the target lift height to reduce the vehicle's turning radius. This solves the technical problem in the prior art where adding a rear-wheel steering mechanism to reduce the vehicle's turning radius, or adding wheel-side motors to achieve on-the-spot U-turns, leads to increased cost and vehicle weight; and achieves a reduction in the vehicle's turning radius without increasing cost or vehicle weight.

The robot chassis comprises a main frame, a rear wheel set, a first driving device, an auxiliary frame, a front wheel set, a slewing bearing and a traction mechanism. The rear wheel sets and the first driving device are arranged on the main frame, and the first driving device is used for driving the first rear wheel set to rotate; the front wheel set is arranged on the auxiliary frame, and the traction mechanism is arranged at the front end of the auxiliary frame. The bottom of the front end of the main frame is rotationally connected with the auxiliary frame through the slewing bearing; a first connecting part is arranged at the front end of the main frame, a second connecting part is arranged on the auxiliary frame, and the first connecting part and the second connecting part are matched in a limiting mode in the self-driving process and release limiting in the traction driving process. Compared with the prior art, the chassis has a traction driving state and a self-driving state, and is high in applicability and more convenient and flexible to use.

This utility model discloses a bidirectional track-and-ground walking chassis, belonging to the field of chassis technology. It includes a chassis body; a rotating base installed at the center of the chassis body; and at least two drive units, each including a bracket, a driver, a first drive wheel, and a second drive wheel. The bracket is connected to the rotating base via a telescopic push rod, and the driver is mounted on the bracket. The first and second drive wheels are coaxially arranged and driven by the driver, with the diameter of the first drive wheel being smaller than that of the second drive wheel. This utility model enables bidirectional movement with high stability. It reduces the turning radius through lateral movement, simplifies the turning and track-changing path of the bidirectional track-and-ground walking chassis in actual use, improves the chassis's applicability in confined areas, and makes it more suitable for use in ground environments.

The application discloses a large high-efficiency multifunctional intelligent protection hydraulic turnover plough, which comprises a main beam, a supporting beam, a depth limiting wheel, a plough assembly, the depth limiting wheel is arranged on a depth limiting wheel support, the depth limiting wheel support is hingedly connected to one end of a connecting beam A, the other end of the connecting beam A is fixedly connected to one end of the supporting beam, a supporting oil cylinder is arranged between a supporting plate and the connecting beam A, the plough assembly comprises a main beam connecting plate, a plough body and a plough column clamping plate fixed on the main beam connecting plate, the main beam connecting plate is fixed on the main beam, the plough body is fixed on a plough column, the plough column is hingedly connected to the plough column clamping plate, a connecting rod A and a connecting rod B on the plough column clamping plate are further arranged, an overload protection oil cylinder is hingedly connected between free ends of the connecting rod A and the connecting rod B, the overload protection oil cylinder can rotate the connecting rod A and the connecting rod B outward when the overload protection oil cylinder is elongated, supporting points C and C1 are arranged on the connecting rod A and the connecting rod B, and the overload protection oil cylinder is pressed on the connecting rod A and the connecting rod B through the supporting points C and C1 when the overload protection oil cylinder is elongated, so that the plough column A and the plough column B are limited to swing.

The utility model relates to the technical field of concrete spraying equipment, and discloses a slurry spraying machine steering mechanism capable of adapting to narrow space operation, which comprises a wet spraying machine frame, a front wheel module, a rear wheel module, a rotary support bearing, a steering connecting rod, an auxiliary steering connecting rod and a pull rod. According to the shotcrete machine steering mechanism capable of adapting to the operation in the narrow space, the front wheel and the rear wheel are designed into independent modules with rotary supports and are hinged through the X-shaped connecting rod mechanism, when the front wheel module steers, the rear wheel module can be driven to steer synchronously, the front wheel and the rear wheel move in the same track, the factor of inner wheel difference is effectively eliminated, and the steering efficiency of the shotcrete machine is improved. The turning radius of the whole equipment is greatly reduced, the wet spraying machine can flexibly move in places with narrow space and complex terrain, the guniting operation requirement is met, the structure is compact, and main body components such as a pumping system, a hydraulic system and a guniting system of the wet spraying machine are installed on the rectangular rack in a centralized mode.

The chassis frame comprises a longitudinal beam assembly and a cross beam assembly, the longitudinal beam assembly comprises a first longitudinal beam and a second longitudinal beam, the first longitudinal beam and the second longitudinal beam are arranged in a spaced mode in the first direction, and the longitudinal beam assembly is provided with a narrowing section and a broadening section in the second direction. The narrowing sections and the broadening sections are in smooth transition through camber beams, and the distance between the first longitudinal beam and the second longitudinal beam in the narrowing sections is smaller than the distance between the broadening sections; the cross beam assembly comprises a front cross beam and a rear cross beam, the front cross beam is riveted between the first longitudinal beam and the second longitudinal beam and located at the narrowing section, the rear cross beam is riveted between the first longitudinal beam and the second longitudinal beam and located at the broadening section, and a closed frame is defined by the front cross beam, the rear cross beam, the first longitudinal beam and the second longitudinal beam; the longitudinal beam assemblies and the cross beam assemblies are groove-shaped beams. The chassis frame is basically free of a welding structure, is light in overall weight and low in cost, and can meet the steering requirement of the front wheels and the overall strength requirement of the chassis frame at the same time.

The utility model belongs to the technical field of steering of engineering instruments, and provides a steering axle shaft head structure which mainly comprises a supporting frame. The first steering shaft is rotationally arranged on the supporting frame; the steering knuckle is arranged on the first steering shaft, the steering knuckle can synchronously rotate along with the first steering shaft, and a first mounting position is arranged on the steering knuckle; the first supporting shaft is detachably arranged on the first mounting position of the steering knuckle, and the first supporting shaft can synchronously rotate along with the steering knuckle; wherein a first bearing is arranged between the steering knuckle and the supporting frame, the first steering shaft is movably sleeved with the first bearing, the first bearing comprises an abutting inner ring and a clamping outer ring, the clamping outer ring is fixedly arranged on the steering knuckle, and the abutting inner ring abuts against the supporting frame. By the adoption of the structure, abrasion between the supporting frame and the steering knuckle can be reduced, the service life of the steering knuckle is prolonged, meanwhile, steering resistance can be reduced, and steering is more flexible.

This utility model provides a delivery robot, including a chassis with a front and rear side on both sides along its length, and wheels mounted on opposite sides along its width. The wheels are driven by motors installed inside the chassis, and the motors are configured to drive the wheels on both sides of the chassis to rotate in opposite directions along its width. The chassis contains a driver, a power module, an embedded computing module, and a main control board, which is connected to the driver, the power module, and the embedded computing module. This delivery robot uses a depth camera to sense road conditions ahead, avoiding collisions. The motor-controlled wheel steering enables the depth camera to capture images horizontally. Since the depth camera has a large field of view in the vertical direction, the combination of the depth camera and wheel steering allows for comprehensive, blind-spot-free imaging.

This invention discloses a long-range underwater vehicle with retractable wings, belonging to the technical field of underwater exploration equipment. It includes a vehicle body with a shell and a propulsion system. The vehicle body is characterized by further including a rotating shaft, retractable wings, and a wing drive motor. The rotating shaft is symmetrically mounted on both sides of the shell, forming a rotating pair with the shell. The axis of the rotating shaft is neither parallel nor intersecting with the axis of the vehicle body. Two retractable wings are respectively mounted on the rotating shaft. The wing drive motor is connected to and drives the rotating shaft to rotate. This vehicle, through the deployment and retraction of the retractable wings, can, from a physical structure perspective, possess both the gliding motion mode of an underwater glider with a sawtooth trajectory and the autonomous high-speed, constant-depth navigation mode of an autonomous underwater vehicle. It combines endurance and maneuverability, and features a simple structure and low failure rate.

The present application relates to the technical field of underground mine transportation equipment, and particularly relates to an explosion-proof remote control electric mine car. The technical scheme comprises a bearing mechanism, a driving mechanism, a load bearing mechanism and an intelligent detection mechanism, the bearing mechanism is provided with a bearing main frame, the driving mechanism is fixedly installed at the bottom of the bearing main frame, the load bearing mechanism is hingedly installed at the top of the bearing main frame, and the intelligent detection mechanism is fixedly installed at the outer side of the bearing main frame. The whole machine adopts an explosion-proof sealing integrated structure, is suitable for the underground working condition of coal mines prone to combustion and explosion, sets a remote control, a disconnection, a manual triple redundant braking structure, cooperates with a multi-dimensional hardware protection mechanism of obstacle detection, gas linkage power-off, Beidou trajectory early warning and battery temperature and pressure monitoring, forms a closed loop safety system, does not need software to participate in control, effectively solves the problems of single protection of traditional mine cars, remote control disconnection and loss of control, battery overheating and gas operation risk, and comprehensively improves the underground transfer safety and equipment stability.

This utility model provides a delivery robot. Wheels driven by motors are mounted on opposite sides of the chassis in the width direction. The motors are configured to drive the wheels on both sides of the chassis to rotate in opposite directions. An openable takeout box frame is located at the upper end of the chassis. An inner takeout box frame is located inside the outer frame and extends through the opening. A touch screen is located on the outer side of the movable takeout box. This delivery robot uses a fusion of depth camera and LiDAR to sense the surrounding road conditions. The depth camera, combined with wheel steering, enables omnidirectional shooting. Navigation and positioning are achieved through a BeiDou positioning module for precise location. Users can retrieve their takeout by inputting a pickup code via a voice interaction module and the touch screen, meeting the needs of different users. After receiving the correct pickup code, the inner takeout box frame rises, allowing the user to easily retrieve the takeout.

The utility model discloses a kind of membrane exit mechanism and film winding vehicle of drum, it is related to packaging equipment technical field, including membrane exit drum, the drum support being set on frame body, membrane exit drum is set on the other end of frame body, the distance of the axis of membrane exit drum and the axis of the deceleration drum is 40% to 60% of film winding vehicle swing arm length. In the utility model, membrane exit drum is close to the middle position of swing arm, the turning radius of membrane exit drum is reduced, i.e. the turning radius of membrane exit point is reduced, the turning radius of membrane exit point is greatly reduced, the length of film pulled out can be significantly reduced when film winding vehicle turns.

This utility model relates to a large-angle steering axle and a commercial vehicle, including a steering axle 1, a steering axle 2, a steering axle 3, and a steering axle 4. The steering axle 1, steering axle 2, steering axle 3, and steering axle 4 are all connected to the vehicle frame through a suspension assembly and a push-up assembly. The large-angle steering axle can achieve a maximum inner turning angle of 41° while meeting the requirements of heavy load and high-reliability braking performance. It has a small turning radius, strong cornering ability, and is suitable for complex working conditions such as narrow and short road surfaces.

This utility model discloses a confined space damper transportation device, including a placement platform and a hoisting mechanism fixed to the placement platform. The placement platform is a movable flat platform; push rods for pushing and control are fixedly connected to both ends of the placement platform, and traveling devices are provided at the four corners of the lower surface; the hoisting mechanism is a hydraulic cylinder-driven vehicle-mounted hoisting mechanism, consisting of a hydraulic cylinder, a boom, and a hanging plate; the hydraulic cylinder is fixed to one side of the placement platform; the output shaft of the hydraulic cylinder is driven and fixedly connected to the horizontally arranged boom; a circular hanging plate is connected to the lower part of the other end of the boom; two sets of lifting devices for connecting and fixing the damper are symmetrically arranged on the hanging plate. The hoisting mechanism of the device can hoist and adjust the position of the damper on the placement platform. The moving groove and moving block improve the range and performance of the hoisting use, and the overall transportation movement is realized under the action of the traveling device; multiple sets of fixing mechanisms are set on the placement platform to realize the support and limit of the damper.

This application provides a method, apparatus, device, and storage medium for controlling a vehicle to turn in place, relating to the field of vehicle control technology. The method includes: when the vehicle enters a turn-around mode, determining a first driving torque, a second driving torque, and a brake hydraulic pressure value based on the vehicle's steering information and the vehicle's physical parameters; controlling the outer rear wheel of the vehicle to lock up, with the outer rear wheel as the center of rotation; controlling the outer front wheel and inner front wheel of the vehicle to rotate forward according to the first driving torque, and applying brake hydraulic pressure equal to the brake hydraulic pressure value to the inner front wheel; and controlling the inner rear wheel of the vehicle to rotate backward according to the second driving torque; wherein the inner front wheel, outer front wheel, inner rear wheel, and outer rear wheel are determined based on the vehicle's steering information. According to the embodiments of this application, the turning radius of a dual-motor four-wheel drive electric vehicle can be further reduced.

The utility model discloses a seamless steel tube finished product transfer device, which relates to the technical field of steel tube transfer and comprises two frame strips arranged front and back, supporting strips are fixedly connected to the left side and the right side between the two frame strips, and first connecting plates are fixedly connected to the bottoms of the left end and the right end of the two frame strips. A protection strip is fixed above the middle of the position between the two frame strips, sliding sleeves are fixedly connected above the position between the two first connecting plates located on the left side and the right side, expansion assemblies are arranged on the outer sides of the two frame strips, and steering assemblies are arranged at the bottoms of the two frame strips. The steel pipe transfer trolley has the advantages that the bearing range can be flexibly expanded or contracted according to the requirement of the transfer number of steel pipes, different load capacities are adapted, the problem of low transfer efficiency caused by load limitation is avoided, the transfer flexibility and adaptability are improved, the turning radius is greatly reduced, the occupied space is small and the time is short during turning in an operation site, and the working efficiency is improved. And normal operation of other operation equipment cannot be excessively hindered.

The application discloses a 4WIS mode controller based on a road adhesion coefficient and speed, and the method is based on a road adhesion coefficient and a longitudinal vehicle speed in the aspect of trajectory tracking control of a four-wheel independent steering vehicle, three self-adaptive steering modes of high adhesion low speed, high adhesion high speed and low adhesion steady running are designed, and the optimization matching of steering characteristics under different working conditions is realized.

The application discloses a vehicle torque adjustment method and device and electronic equipment, and relates to the technical field of vehicles. The method comprises the following steps: acquiring driving data of a vehicle, wherein the driving data is used to represent the driving state of the vehicle; in response to the driving data meeting a target condition, determining a target feedforward torque based on the axle load of the rear axle of the vehicle, the road adhesion coefficient, the correction coefficient and the target longitudinal force; determining a target slip ratio based on the target feedforward torque, wherein the target slip ratio comprises a first slip ratio of an inner rear wheel and a second slip ratio of an outer rear wheel; and adjusting the slip ratio of the vehicle based on the target slip ratio, so as to adjust the wheel torque based on the adjustment of the slip ratio. The application solves the technical problems of slow response, complex control logic and low precision in the related art.