Vehicle control method for realizing pivot steering of vehicle, vehicle controller and vehicle

Abstract

The invention provides a vehicle control method for vehicle pivot steering, a vehicle controller and a vehicle, and the method is used for realizing pivot steering of the vehicle after a user starts a pivot steering function. The method comprises the steps that when a user turns a steering wheel of the vehicle leftwards by larger than a preset angle, the opening degree of an accelerator pedal of the vehicle operated by the user is larger than zero, the gear of the vehicle operated by the user is a forward gear, a right front wheel and a right rear wheel of the vehicle are driven to rotate forwards, and a left rear wheel of the vehicle is driven to rotate reversely or the left rear wheel is locked so that the vehicle can steer in situ. And in the in-situ steering process, when the opening degree of an accelerator pedal of the vehicle operated by the user is larger than zero and smaller than a preset opening degree threshold value, a left rear wheel is locked, and when the opening degree of the accelerator pedal of the vehicle operated by the user is larger than or equal to the preset opening degree threshold value, the left rear wheel of the vehicle is driven to rotate reversely. By means of the method, in-situ steering with low tire abrasion and small turning radius can be achieved, and the practicability of the in-situ steering function is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle power control, and in particular to a vehicle control method, a vehicle controller and a vehicle for realizing on-the-spot steering of a vehicle. Background Art

[0002] Turning on the spot, also known as a tank turning on the spot, usually requires locking the inner rear wheel of the vehicle through the hydraulic brake system, or locking the inner rear wheel and the diagonal wheel of the vehicle at the same time, and driving the other wheels to generate yaw moment and yaw angular velocity of the vehicle. When the yaw moment is balanced with the rotational resistance torque, the vehicle forms a stable yaw angular velocity, thereby achieving turning on the spot. However, since the locked wheels will continue to rub against the ground during the vehicle's turning on the spot, the wheels will be severely worn and the practicality is low. Summary of the invention

[0003] The present application proposes a vehicle control method, a vehicle controller and a vehicle for turning on the spot. During the vehicle turning on the spot, the inner rear wheel is locked or rotated in the opposite direction according to the opening of the vehicle's accelerator pedal, which can reduce the wear on the tire while ensuring a small turning radius, thereby improving the practicality of the vehicle's turning on the spot function.

[0004] In the first aspect, the present application provides a vehicle control method for realizing on-the-spot steering of a vehicle. The vehicle control method is used to realize on-the-spot steering of the vehicle after the user activates the on-the-spot steering function. The vehicle control method includes driving the right front wheel and the right rear wheel of the vehicle to rotate forward, driving the left rear wheel of the vehicle to rotate reversely, or locking the left rear wheel to make the vehicle turn on the spot when the user turns the steering wheel of the vehicle to the left greater than a preset angle, the opening of the accelerator pedal operated by the user is greater than zero, and the gear position operated by the user is the forward gear. In the on-the-spot steering process, when the opening of the accelerator pedal operated by the user is greater than zero and less than a preset opening threshold, the left rear wheel is locked, and when the opening of the accelerator pedal operated by the user is greater than or equal to the preset opening threshold, the left rear wheel of the vehicle is driven to rotate reversely.

[0005] When driving a vehicle and turning on the spot, the user can start the on-the-spot turning function by operating the vehicle's steering wheel and accelerator pedal to achieve the vehicle's on-the-spot turning function.

[0006] First, the user needs to activate the on-the-spot steering function of the vehicle so that the vehicle works in the on-the-spot steering mode. In one embodiment, the user clicks the on-the-spot steering function button of the vehicle on the central control screen of the vehicle. In one embodiment, after the vehicle is started and the vehicle is stationary, the user turns the steering wheel of the vehicle to the right or left at an angle greater than a preset angle and steps on the brake pedal to an opening greater than a preset opening, and then the user releases the brake pedal and steps on the accelerator pedal to activate the on-the-spot steering function of the vehicle.

[0007] It can be understood that the specific value of the preset opening threshold is not limited in the embodiment of the present application. The preset opening threshold can be understood as a smaller throttle opening value. When the throttle pedal opening is less than the preset opening threshold, it can be understood that the user expects the vehicle to slowly turn in place. At this time, the vehicle can reduce the turning radius of the vehicle by locking the rear wheels on the same side of the steering direction. Since the slow turning of the vehicle causes less wear on the tires, turning in place with a small turning radius and low tire wear can be achieved.

[0008] Furthermore, during the on-the-spot steering process, when the opening of the accelerator pedal is greater than or equal to the preset opening threshold, it can be understood that the user expects the vehicle to achieve on-the-spot steering at a faster speed. At this time, the vehicle accelerates the on-the-spot steering speed by controlling the rear wheels on the same side of the steering direction to rotate in the opposite direction, and the friction between the rear wheels and the ground is switched from sliding friction with a higher degree of tire wear to rolling friction with a lower degree of tire wear, which is conducive to reducing tire wear during the on-the-spot steering process.

[0009] It can be understood that the vehicle control method provided in the above embodiment only requires that the rear axle wheels of the vehicle be driven by two motors respectively, and does not limit the driving method of the front axle wheels. That is, both four-wheel drive models with three-motor architecture and four-wheel drive models with four-motor architecture can achieve on-the-spot turning through the above method, which is highly practical.

[0010] According to the scheme of the present application, after starting the on-the-spot steering function, the user can control the vehicle to perform on-the-spot steering movement by turning the steering wheel angle and operating the opening of the accelerator pedal. In addition, during the on-the-spot steering of the vehicle, the vehicle control method provided by the present application controls the rotation state of the inner rear wheel based on the relationship between the opening of the accelerator pedal and the preset opening threshold, so that the wheel is locked to reduce the turning radius when the opening of the accelerator pedal is less than the preset opening threshold, and rotates in the opposite direction to reduce the degree of tire wear when the opening of the accelerator pedal is greater than the preset opening threshold, thereby achieving on-the-spot steering with a small turning radius and low tire wear, and improving the practicality of the on-the-spot steering function.

[0011] In combination with the first aspect, in one embodiment of the first aspect, locking the left rear wheel specifically includes: controlling the speed of the left rear drive motor corresponding to the left rear wheel to zero, or controlling the vehicle's braking system to brake the left rear wheel so that the speed of the left rear wheel is zero during the vehicle's on-the-spot turning process.

[0012] For example, when the opening of the accelerator pedal is less than the preset opening threshold, the motor controller can control the left rear drive motor with a target speed of 0 based on the speed control mode, and continuously adjust the driving torque driven by the left rear drive motor so that the actual speed of the motor is, and the speed of the left rear wheel driven by the left rear drive motor is also, that is, the left rear wheel is in a stationary state. In other words, the vehicle can independently achieve on-site steering of the vehicle by controlling the drive system, and the object to be controlled is single and the complexity is low.

[0013] For example, when the opening of the accelerator pedal is less than the preset opening threshold, the central controller in the braking system can control the brake unit corresponding to the left rear wheel to output the braking torque, so that the left rear wheel can keep gripping and stationary under the action of the braking force and the friction force, that is, the left rear wheel is in a stationary state. In other words, the vehicle can achieve on-site steering by cooperatively controlling the drive system and the brake system, which has low performance requirements for the drive system and can reduce the operating load and heat generation of the drive system.

[0014] It can be understood that the specific method of locking the left rear wheel can be selected according to the specific implementation, and this application does not limit this.

[0015] According to the application scheme, during the process of turning on the spot of the vehicle, the driving system can control the turning inner rear wheel to 0 speed, or the braking system can output braking force to the turning inner rear wheel. The control method is flexible and has a wider range of applications.

[0016] In combination with the first aspect, in one embodiment of the first aspect, in the process of driving the right rear wheel to rotate forward, the vehicle control method also includes controlling the torque output by the corresponding right rear drive motor of the right rear wheel to increase as the opening of the accelerator pedal increases.

[0017] It is understood that the functional relationship between the torque output by the drive motor and the accelerator pedal opening is not limited in the embodiment of the present application. For example, the output torque can be linearly related to the accelerator pedal opening, that is, the torque output by the right rear drive motor to the rear wheel will increase linearly with the increase of the accelerator pedal opening until the peak torque is reached. The peak torque can be the maximum torque that can be output under the capacity limitation of the right rear drive motor, or a larger preset torque that can be output by the right rear drive motor, which is not limited in the embodiment of the present application.

[0018] According to the present application, the user can adjust the driving force output by the right rear-drive motor or the left rear-drive motor by controlling the accelerator pedal opening, thereby controlling the vehicle's on-the-spot turning speed, which is highly safe and maneuverable.

[0019] In combination with the first aspect, in one embodiment of the first aspect, during the process of the vehicle turning on the spot, when the user operates the accelerator pedal of the vehicle to an opening degree greater than or equal to a preset opening degree threshold, the vehicle control method also includes controlling the torque output by the corresponding left rear drive motor of the left rear wheel and the corresponding right rear drive motor of the right rear wheel to be equal in magnitude and opposite in direction.

[0020] According to the scheme of the present application, during the process of turning on the spot of the vehicle, the torque output by the rear drive motor to the two rear axle wheels is controlled to be equal in magnitude and opposite in direction, so that the vehicle obtains a stable yaw torque, the control method is simple and the reliability is high.

[0021] In combination with the first aspect, in one implementation of the first aspect, during the process of the vehicle turning on the spot, the vehicle control method also includes driving the left front wheel of the vehicle to rotate in the opposite direction.

[0022] In other words, when the vehicle turns left in situ, the vehicle control method further comprises driving the right front wheel to rotate forward and driving the left front wheel to rotate reversely. When the vehicle turns right in situ, the vehicle control method further comprises driving the left front wheel to rotate forward and driving the right front wheel to rotate reversely.

[0023] It can be understood that for a four-motor four-wheel drive vehicle, the two front-wheel drive motors can be used to drive the two front wheels to rotate in opposite directions, so that the front axle wheels can also provide yaw torque for the vehicle. At this time, the yaw torque of the whole vehicle is the sum of the yaw torque provided by the front axle wheels and the yaw torque provided by the rear axle wheels. Compared with a three-motor four-wheel drive vehicle, when the yaw torque of the whole vehicle is the same, the rear-wheel drive motor needs to output a smaller torque value, a smaller load, and lower heat.

[0024] It is understood that the user can control the magnitude of the yaw torque by operating the accelerator pedal opening, and the front axle motor and the rear axle motor can output the yaw torque in a certain ratio. Moreover, during the vehicle's in-situ steering process, the ratio value can be a fixed value or a dynamically adjusted value, which is not limited in this application.

[0025] According to the solution of the present application, during the process of turning on the spot of the vehicle, by controlling the front axle wheels to rotate in opposite directions respectively, the front axle wheels can also provide yaw torque for the vehicle, which can not only reduce the load on the rear drive motor, but also support the vehicle to turn at a faster speed, further improving the practicality of the turning on the spot function.

[0026] In combination with the first aspect, in one embodiment of the first aspect, during the process of the vehicle turning on the spot, the vehicle control method also includes controlling the torques output by the corresponding left front drive motor of the left front wheel and the corresponding right front drive motor of the right front wheel to be equal in magnitude and opposite in direction.

[0027] According to the scheme of the present application, during the process of turning on the spot of the vehicle, the front drive motor is controlled to output torques of equal magnitude and opposite directions to the two front axle wheels, so that the vehicle obtains a stable yaw torque, the control method is simple, and the reliability is high.

[0028] In combination with the first aspect, in one embodiment of the first aspect, during the process of the vehicle turning in place, when the steering wheel return angle is greater than a preset return angle or the vehicle speed is greater than a preset speed, the vehicle control method also includes controlling the vehicle to stop turning.

[0029] Controlling the vehicle to stop steering refers to controlling the front drive motor and / or the rear drive motor to stop outputting torque, so that the yaw torque of the vehicle is reduced to zero.

[0030] Among them, the preset return angle can be understood as the angle allowed to return during the vehicle's in-situ turning process. When the return angle of the steering wheel operated by the user is less than or equal to the preset return angle, it can be understood that the user misoperates or expects to change the turning radius of the vehicle's in-situ turning by adjusting the steering of the two front wheels of the vehicle. At this time, the driving torque or braking torque output by the drive system and the braking system will not be affected by the change in the steering wheel angle. When the return angle of the steering wheel operated by the user is greater than the preset return angle, it can be understood that the user expects to terminate the vehicle's in-situ turning, and the vehicle needs to be controlled to stop turning. Even if the user misoperates so that the steering wheel's return angle is greater than the preset return angle, the vehicle needs to be controlled to stop turning for safety reasons.

[0031] The preset speed can be understood as the peak speed that the vehicle is allowed to reach during the on-the-spot steering process. When the vehicle speed is less than the preset speed, it can be understood that the longitudinal translation speed of the vehicle is within the controllable range, and the on-the-spot steering process of the vehicle can be completed according to the user's operation. When the vehicle speed is greater than the preset speed, it can be understood that the longitudinal translation speed of the vehicle exceeds the controllable range, and in order to ensure that the vehicle body posture is controllable, it is necessary to actively control the vehicle to stop steering.

[0032] According to the solution of the present application, during the process of vehicle turning on the spot, when the steering wheel return angle is too large or the vehicle speed is too high, the vehicle is actively controlled to stop turning on the spot, thereby further improving the safety and reliability of the vehicle's turning on the spot function.

[0033] In combination with the first aspect, in one implementation of the first aspect, during the process of the vehicle turning on the spot, when the user releases the accelerator pedal so that the opening of the accelerator pedal is reduced to zero, the vehicle control method also includes controlling the vehicle to stop turning.

[0034] It can be understood that when the opening of the accelerator pedal is less than the preset opening threshold, when controlling the vehicle to stop turning, the two front wheels and the right rear wheel can be controlled to stop turning first, and then the left rear wheel can be stopped and locked. Alternatively, the two front wheels and the left rear wheel can be controlled to stop turning first, and then the right rear wheel can be stopped and locked. Based on this, the longitudinal and lateral translation of the vehicle when stopping the in-situ turning can be suppressed, so that the vehicle can maintain grip and stationary during the entire process of in-situ turning, with high reliability.

[0035] According to the present application, the user can stop the vehicle from turning on the spot by releasing the accelerator pedal opening. The user has a low learning cost for the vehicle's on-the-spot turning function and the operation is simple.

[0036] In combination with the first aspect, in one embodiment of the first aspect, during the process of the vehicle turning on the spot, when the user operates the brake pedal of the vehicle to an opening greater than a preset brake pedal opening, the vehicle control method also includes controlling the vehicle to stop turning.

[0037] Among them, the preset brake pedal opening can be understood as a smaller opening value. When the user steps on the brake pedal and the brake pedal opening reaches the preset brake pedal opening, it indicates that the user terminates the vehicle's on-the-spot turning, thereby ensuring that even if the detection of the accelerator pedal opening fails, the user can control the vehicle to terminate on-the-spot turning.

[0038] According to the present application, during the process of the vehicle turning on the spot, the user can control the vehicle to stop turning on the spot by stepping on the brake pedal, thereby further improving the safety and reliability of the vehicle's turning on the spot function.

[0039] In the second aspect, the present application provides a vehicle controller for realizing on-the-spot steering of a vehicle. After the user activates the on-the-spot steering function of the vehicle, when the user turns the steering wheel of the vehicle to the left greater than a preset angle, the opening of the accelerator pedal operated by the user is greater than zero, and the gear position operated by the user is the forward gear, the vehicle controller is used to drive the right front wheel and the right rear wheel of the vehicle to rotate forward, drive the left rear wheel of the vehicle to rotate reversely, or lock the left rear wheel so that the vehicle can be turned on the spot. During the on-the-spot steering process, when the opening of the accelerator pedal operated by the user is greater than zero and less than a preset opening threshold, the vehicle controller is used to lock the left rear wheel, and when the opening of the accelerator pedal operated by the user is greater than or equal to the preset opening threshold, the left rear wheel of the vehicle is driven to rotate reversely.

[0040] It can be understood that the vehicle controller can be a single controller, such as a vehicle controller or a central controller in a braking system. When the vehicle controller is a central controller, the central controller can implement the driving torque control function of the vehicle controller. When the vehicle controller is a vehicle controller, the vehicle controller can implement the braking torque control function of the central controller. Alternatively, the vehicle controller can also be a controller cluster composed of multiple controllers, for example, the controller cluster includes but is not limited to a central controller and a vehicle controller.

[0041] According to the solution of the present application, after starting the on-the-spot steering function, the user can control the vehicle to perform on-the-spot steering movement by turning the steering wheel angle and operating the opening of the accelerator pedal. In addition, during the on-the-spot steering of the vehicle, the vehicle controller can control the rotation state of the inner rear wheel based on the relationship between the opening of the accelerator pedal and the preset opening threshold, so that the wheel is locked to reduce the turning radius when the opening of the accelerator pedal is less than the preset opening threshold, and rotates in the opposite direction to reduce the degree of tire wear when the opening of the accelerator pedal is greater than the preset opening threshold, thereby achieving on-the-spot steering with a small turning radius and low tire wear.

[0042] In combination with the second aspect, in one embodiment of the second aspect, during the process of locking the left rear wheel, the vehicle controller is specifically used to control the speed of the corresponding left rear drive motor of the left rear wheel to zero, or the vehicle controller is specifically used to control the braking system of the vehicle to brake the left rear wheel so that the speed of the left rear wheel is zero during the process of the vehicle turning in place.

[0043] According to the application scheme, during the process of turning the vehicle in place, the vehicle controller can control the speed of the inner rear wheel to 0 through the drive system, or output braking force to the inner rear wheel through the braking system. The control method is flexible and has a wider range of applications.

[0044] In combination with the second aspect, in one embodiment of the second aspect, during the process of driving the right rear wheel to rotate forward, the vehicle controller is also used to control the torque output by the corresponding right rear drive motor of the right rear wheel to increase as the opening of the accelerator pedal increases.

[0045] According to the solution of the present application, the vehicle controller can adjust the driving force output by the right rear-drive motor or the left rear-drive motor in response to the user's operation of the accelerator pedal opening, thereby controlling the vehicle's on-the-spot turning speed, with high safety and strong controllability.

[0046] In combination with the second aspect, in one implementation of the second aspect, during the process of the vehicle turning on the spot, the vehicle controller is also used to drive the left front wheel of the vehicle to rotate in the opposite direction.

[0047] According to the scheme of the present application, during the process of turning on the spot of the vehicle, the vehicle controller controls the front axle wheels to rotate in opposite directions respectively, so that the front axle wheels can also provide yaw torque for the vehicle, which can not only reduce the load of the rear drive motor, but also support the vehicle to turn at a faster speed.

[0048] In combination with the second aspect, in one implementation of the second aspect, during the process of the vehicle turning on the spot, when the user releases the accelerator pedal so that the opening of the accelerator pedal is reduced to zero, the vehicle controller is also used to control the vehicle to stop turning.

[0049] According to the present application, the user can stop the vehicle from turning on the spot by releasing the accelerator pedal opening. The user has a low learning cost for the vehicle's on-the-spot turning function and the operation is simple.

[0050] In a third aspect, the present application provides a vehicle comprising a vehicle controller for executing the vehicle control method in any embodiment of the first aspect, or comprising a vehicle controller in any embodiment of the second aspect.

[0051] As for the supplementary and technical effects of the solutions provided in the second and third aspects above, please refer to the corresponding description of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of a vehicle 01 provided in an embodiment of the present application;

[0053] Figure 2 is a schematic diagram of the vehicle 01 architecture provided in an embodiment of the present application;

[0054] Figure 3 is a control mode schematic diagram of a motor controller provided in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of a vehicle control method according to an embodiment of the present application;

[0056] Figure 5 It is a schematic diagram of a turning process on the spot of the vehicle 01 provided in an embodiment of the present application;

[0057] Figure 6 is a schematic diagram of the output torque of the rear drive motor of the vehicle 01 during the on-the-spot turning process provided by the embodiment of the present application;

[0058] Figure 7 is a schematic diagram of limiting the output torque of the front drive motor during the on-the-spot steering process of the vehicle provided in an embodiment of the present application;

[0059] Figure 8 It is a schematic diagram of another on-the-spot turning process of the vehicle 01 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0061] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0062] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.

[0063] References to "some embodiments" and the like described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment" and the like that appear at different places in this specification do not necessarily all refer to the same embodiment, but rather mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0064] The steering ability of a vehicle is one of its basic properties. The minimum turning radius of a vehicle is usually used as an important parameter to evaluate the steering performance of a vehicle. The smaller the minimum turning radius, the stronger the vehicle's ability to pass through narrow curved areas or bypass insurmountable obstacles. Turning on the spot is also called a tank U-turn, because the tracks on the left and right sides of the tank can rotate in opposite directions, which can help the tank complete a U-turn on the spot in a narrow space.

[0065] For passenger cars, one implementation method is to lock the inner turning rear wheel or lock the inner turning rear wheel and the opposite front wheel at the same time through the hydraulic brake system, and drive the remaining wheels to rotate, so as to achieve a small turning radius on the spot. However, this implementation method causes serious wear on the tire of the inner turning rear wheel and has low practicality.

[0066] Another implementation method is to use four drive motors to independently control the four wheels, and apply drive torques in opposite directions to the left and right wheels to achieve on-the-spot turning. This implementation method can reduce tire wear, but the turning radius is large and its practicality is limited.

[0067] In view of this, the present application proposes a method, a vehicle controller and a vehicle for realizing vehicle turning on the spot. By controlling the locking or reverse rotation of the inner rear wheel according to the opening of the vehicle's accelerator pedal during the vehicle turning on the spot, it is possible to reduce the degree of wear on the tire while ensuring a small turning radius, thereby improving the practicality of the vehicle's turning on the spot function.

[0068] See also Figure 1 , Figure 1 Schematic diagram of vehicle 01 provided in an embodiment of the present application. Figure 1 As shown, the vehicle 01 includes a drive system 10 and a power battery 20 connected to the drive system 10. The drive system 10 is used to drive the vehicle 01. The power battery 20 is used to provide electrical energy to the drive system 10. The drive system 10 is used to receive power from the power battery 20 and provide power to the vehicle 01. The vehicle 01 also includes a braking system 30, which is used to provide braking force to the vehicle 01 when the vehicle 01 is in a braking state. The drive system 10 can also be called a powertrain.

[0069] It can be understood that the vehicle 01 in the embodiment of the present application can be any one of different types of vehicles such as a car, a truck, a passenger bus, etc., and can also be a transport device for carrying people or goods such as a tricycle, a two-wheeled vehicle, a train, or other types of vehicles driven by power batteries, and the embodiment of the present application does not limit this. Among them, the vehicle includes but is not limited to pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / batteryEV), hybrid electric vehicles (hybrid electric vehicle, HEV), range extended electric vehicles (range extended electric vehicle, REEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), new energy vehicles (new energy vehicle, NEV), etc.

[0070] It is understood that the specific type of the powertrain is not limited in the embodiments of the present application. As an example and not a limitation, the powertrain can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. Among them, the hub motor powertrain is to directly set the motor and the reducer in the wheel rim, eliminating the transmission components such as the half shaft, universal joint, differential, and transmission; the wheel-side motor powertrain is to set the motor on the subframe.

[0071] It is understood that the power battery 20 in the embodiment of the present application can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-hydrogen battery, a lithium-sulfur battery, a lithium-air battery or a sodium-ion battery, etc., and the present application does not limit this. In terms of scale, the power battery 20 in the embodiment of the present application can be a single cell, or a battery module or a battery pack, and the present application does not limit this. The power battery 20 can also power other electrical devices in the vehicle, such as the air conditioner in the vehicle, the car player, etc.

[0072] Figure 2 A schematic diagram of the vehicle 01 architecture provided in an embodiment of the present application is shown.

[0073] See also Figure 2 (a) Vehicle 01 is a three-motor architecture four-wheel drive vehicle, the drive system 10 includes three motors and three motor controllers, and the brake system 30 includes a central controller and four wheel-end brake devices. The three motor controllers include a motor controller 21, a motor controller 23, and a motor controller 24. The three motors include a motor 11, a motor 13, and a motor 14. The motor controller 21 controls the motor 11 to drive wheels 41 and 42, the motor controller 23 controls the motor 13 to drive the wheel 43, and the motor controller 24 controls the motor 14 to drive the wheel 44.

[0074] In the embodiment of the present application, the motion state of the wheel of vehicle 01 includes forward rotation, reverse rotation and stationary state. Among them, the counterclockwise rotation of the wheel is forward rotation, and the clockwise rotation of the wheel is reverse rotation. According to the position of the wheel, the four wheels can be divided into a left front wheel 41, a right front wheel 42, a left rear wheel 43, and a right rear wheel 44. According to the axle division, the left front wheel 41 and the right front wheel 42 of the four wheels are coaxial and connected by the front axle, and the left rear wheel 43 and the right rear wheel 44 are coaxial and connected by the rear axle. According to the position division, among the four wheels of vehicle 01, the left front wheel 41 and the right front wheel 42 are coaxial wheels, and the left rear wheel 43 and the right rear wheel 44 are coaxial wheels; the left front wheel 41 and the left rear wheel 43 are wheels on the same side, and the right front wheel 42 and the right rear wheel 44 are wheels on the same side; the left front wheel 41 and the right rear wheel 44 are diagonal wheels, and the right front wheel 42 and the left rear wheel 43 are diagonal wheels.

[0075] In an embodiment of the present application, the motor controller can control the motor to output positive torque or negative torque. Taking the motor 11 and the motor controller 21 as an example, the motor 11 includes a stator winding and a rotor (not shown in the figure). The motor controller 21 can change the stator magnetic field strength and direction by adjusting the magnitude of the stator winding current and the phase of the three-phase current, thereby changing the interaction force between the stator and the rotor, that is, the motor torque. Among them, when the motor 11 outputs a positive torque, the wheels connected to the motor 11 rotate forward so that the vehicle 01 obtains a speed of moving forward in the direction of the front of the vehicle or a trend of moving forward in the direction of the front of the vehicle. When the motor 11 outputs a negative torque, the wheels connected to the motor 11 rotate in the opposite direction so that the vehicle 01 obtains a speed of moving backward in the direction of the rear of the vehicle or a trend of moving backward in the direction of the rear of the vehicle.

[0076] Continue to refer Figure 2 In (a), the braking system 30 includes a central controller 31 and four independent braking units 32. Each braking unit is mainly composed of a wheel-end controller and a brake actuator (not shown in the figure). During the braking process of the vehicle 01, the central controller 31 can generate a braking signal based on the travel of the brake pedal, and output the braking signal to the wheel-end controller of one or more braking units, so that the brake actuator can output the braking force indicated by the braking signal to the corresponding wheel, thereby preventing the wheel from rotating or preventing the tendency of the wheel to rotate.

[0077] It can be understood that during the braking process of the vehicle 01 , the greater the travel of the brake pedal, the greater the braking force indicated by the brake signal, the greater the braking force output by the brake, and the faster the speed of the vehicle 01 decreases.

[0078] It can be understood that the brake in the braking system in the embodiment of the present application can be an electronic hydraulic brake (Electronic hydraulic brake, EHB) or an electronic mechanical brake (Electronic mechanical brake, EMB) or other types of brakes without limitation.

[0079] Continue to refer Figure 2 In (a), the vehicle 01 further includes a vehicle controller 40. The function of the vehicle controller 40 is described below in conjunction with the running state of the vehicle 01.

[0080] When the vehicle 01 is in a driving state, the motor in the drive system 10 is used to provide driving force for the vehicle 01. Specifically, when the vehicle 01 is in a driving state, the vehicle controller 40 calculates the torque demand of the vehicle according to the accelerator pedal movement state indicated by the accelerator pedal signal and outputs a torque signal to the motor controller, and the motor controller receives the electric energy from the power battery 20 and controls the motor to output the torque value indicated by the torque signal.

[0081] When the vehicle 01 is in a braking state, the drive system 10 stops driving the wheels to rotate, and the braking system 30 is used to provide braking force to the wheels so that the vehicle 01 reduces its speed under the action of the braking force. In the braking state of the vehicle 01, the motor in the vehicle 01 with the energy recovery function can also be used to provide braking force for the vehicle 01. Specifically, when the vehicle 01 is in a braking state, the vehicle controller 40 receives a braking signal and sends an energy recovery instruction to the motor controller. The motor controller controls the motor to operate in a power generation state in response to the energy recovery instruction. The motor converts the kinetic energy of the vehicle's wheels into electrical energy and outputs a counter-torque to the wheels of the vehicle 01 to provide braking force to the vehicle 01.

[0082] It can be understood that the motor controller in the drive system 10, the central controller 31 in the brake system 30, and the vehicle controller 40 are communicatively connected via a CAN network, and the embodiments of the present application do not limit the specific communication connection method. For example, the motor controller in the drive system 10 and the vehicle controller 40 can communicate through a private CAN network, the central controller 31 in the brake system 30 and the vehicle controller 40 can communicate through a public CAN network, and the central controller 31 in the brake system 30 and the brake controller of each wheel end can communicate through another private CAN network. For another example, the vehicle controller 40 can communicate with the motor controller in the drive system 10 and the central controller 31 in the brake system 30 through the same CAN network.

[0083] In some embodiments, the central controller 31 can also obtain a driving mode signal through the CAN network, where the driving mode signal is used to indicate the current driving mode of the vehicle 01. For example, the driving mode may include one or more of a sports mode, a comfort mode, and an intelligent mode.

[0084] In some embodiments, the central controller 31 can also obtain a vehicle gear position signal through the CAN network. The vehicle gear position signal is used to indicate the current gear position of the vehicle 01. For example, the gear position may include a forward gear, a reverse gear, etc.

[0085] See also Figure 2(b) Vehicle 01 in FIG. 1 is a four-motor four-wheel drive vehicle, and the drive system 10 includes four motors and four motor controllers. The four motor controllers include motor controller 21, motor controller 22, motor controller 23 and motor controller 24. The four motors include motor 11, motor 12, motor 13 and motor 14. Motor controller 21 controls motor 11 to drive wheel 41, motor controller 22 controls motor 12 to drive wheel 42, motor controller 23 controls motor 13 to drive wheel 43, and motor controller 24 controls motor 14 to drive wheel 44. Among them, the magnitude and / or direction of the driving force output by the two motors to the wheels on both sides of the coaxial axis may be different, and the magnitude and / or direction of the driving force output by motor 11 and motor 12 to the front axle wheels may be different from the magnitude and / or direction of the driving force output by motor 13 and motor 14 to the rear axle wheels. Exemplarily, motor 11 and motor 12 can drive the left front wheel 41 and the right front wheel 42 to rotate in opposite directions respectively.

[0086] It should be emphasized that Figure 2 The motor controller 21, the motor controller 22, the motor controller 23 and the motor controller 24 in the embodiment all have the same structure and function. The operation modes of the four motor controllers are described below by taking the motor controller 21 as an example.

[0087] The operation modes of the motor controller provided in the embodiment of the present application include a torque control mode and a speed control mode. Figure 3 (a) and Figure 3 (b) in FIG. 1 shows schematic diagrams of the motor controller 21 operating in the torque control mode and the speed control mode respectively.

[0088] The torque control mode refers to an operation mode in which the motor controller 21 takes the torque output by the motor 11 as the control target. Figure 3 As shown in (a), the motor controller 21 operates in the torque control mode. The motor controller 21 uses the torque value indicated by the torque signal from the vehicle controller 40 as the target torque, and calculates the actual torque of the motor 11 according to the three-phase current of the motor 11 from the current sensor to achieve closed-loop control of the torque of the motor 11. Specifically, the motor controller 21 calculates the target direct-axis current and target quadrature-axis current required by the motor 11 according to the target torque. At the same time, the motor controller 21 obtains the three-phase current value of the motor 11 monitored by the current sensor to calculate the corresponding actual direct-axis current, and then calculates the target drive voltage according to the comparison result between the target direct-axis current and the actual direct-axis current and the comparison result between the target quadrature-axis current and the actual quadrature-axis current. Finally, a drive signal is generated according to the target drive voltage to drive the midpoint of the three-phase bridge arm to generate a target drive voltage. The target drive voltage generates a drive current on the winding of the motor 11 to control the motor 11 to output the target torque, thereby achieving closed-loop control of the output torque of the corresponding motor 11.

[0089] The speed control mode refers to an operation mode in which the motor controller 21 takes the speed of the motor 11 as the control target. Figure 3 As shown in (b), the motor controller 21 calculates the target torque based on the comparison result between the target speed and the actual speed of the motor 11, and then controls the motor 11 to output the target torque so that the motor 11 outputs the target speed. The motor controller 21 receives the motor 11 speed signal from the rotary sensor to obtain the actual speed of the motor 11 to achieve closed-loop control of the motor 11 speed.

[0090] In the embodiment of the present application, the central controller 31 and any motor controller can communicate with each other about the current operation mode of the motor controller, and the central controller 31 can instruct the motor controller to switch the operation mode through a signal. As an example but not a limitation, the central controller 31 can instruct the motor controller to switch from the torque control mode to the speed control mode through an operation mode signal.

[0091] The specific method of the on-the-spot steering function provided in the embodiment of the present application is introduced below.

[0092] It should be noted that the vehicle control method provided in the embodiment of the present application is used to control the vehicle's drive system, or coordinately control the vehicle's drive system and braking system, to achieve on-the-spot steering of the vehicle after the user starts the on-the-spot steering function when the vehicle operation meets the vehicle's on-the-spot steering operation conditions.

[0093] Specifically, in one embodiment, the vehicle control method includes:

[0094] When the user turns the steering wheel of the vehicle 01 to the left by a greater than preset angle, the opening degree of the accelerator pedal of the vehicle 01 operated by the user is greater than zero, and the gear position of the vehicle 01 operated by the user is the forward gear, the right front wheel 42 and the right rear wheel 44 of the vehicle 01 are driven to rotate forward, the left rear wheel 43 of the vehicle 01 is driven to rotate reversely, or the left rear wheel 43 is locked to make the vehicle turn in place;

[0095] During the process of turning on the spot, when the opening degree of the accelerator pedal of the vehicle 01 operated by the user is greater than zero and less than the preset opening threshold, the left rear wheel 43 is locked. When the opening degree of the accelerator pedal of the vehicle 01 operated by the user is greater than or equal to the preset opening threshold, the left rear wheel 43 of the vehicle 01 is driven to rotate in the opposite direction.

[0096] It can be understood that the above embodiments are only examples. In another embodiment, the vehicle control method further includes:

[0097] When the user turns the steering wheel of the vehicle 01 to the right by a greater than preset angle, the opening degree of the accelerator pedal of the vehicle 01 operated by the user is greater than zero, and the gear position of the vehicle 01 operated by the user is the forward gear, the left front wheel 41 and the left rear wheel 43 of the vehicle 01 are driven to rotate forward, the right rear wheel 44 of the vehicle 01 is driven to rotate reversely, or the right rear wheel 44 is locked to make the vehicle turn in place;

[0098] During the process of turning on the spot, when the opening degree of the accelerator pedal of the vehicle 01 operated by the user is greater than zero and less than the preset opening threshold, the right rear wheel 44 is locked; when the opening degree of the accelerator pedal of the vehicle 01 operated by the user is greater than or equal to the preset opening threshold, the right rear wheel 44 of the vehicle 01 is driven to rotate in the opposite direction.

[0099] In other words, when the user turns the steering wheel of vehicle 01 greater than a preset angle, the opening of the accelerator pedal of vehicle 01 operated by the user is greater than zero, and the gear of vehicle 01 operated by the user is the forward gear, one front wheel and one rear wheel of vehicle 01 on the side opposite to the steering direction are driven to rotate forward, and the other rear wheel of vehicle 01 on the side with the same rotation direction is driven to rotate reversely or the other rear wheel is locked so that the vehicle rotates in place.

[0100] The vehicle control method provided in the embodiment of the present application can support the vehicle 01 to turn left and turn right on the spot, and the user can control the specific on-the-spot steering method of the vehicle by turning the steering wheel and operating the opening of the accelerator pedal, which has high flexibility and a wide range of applications.

[0101] It can be understood that the specific value of the preset opening threshold is not limited in the embodiment of the present application. The preset opening threshold can be understood as a smaller throttle opening value. When the throttle pedal opening is less than the preset opening threshold, it can be understood that the user expects the vehicle to slowly turn in place. At this time, the vehicle can reduce the turning radius of the vehicle by locking the rear wheels on the same side of the steering direction. Since the slow turning of the vehicle causes less wear on the tires, turning in place with a small turning radius and low tire wear can be achieved.

[0102] Furthermore, during the on-the-spot steering process, when the opening of the accelerator pedal is greater than or equal to the preset opening threshold, it can be understood that the user expects the vehicle to achieve on-the-spot steering at a faster speed. At this time, the vehicle 01 controls the rear wheels on the same side of the steering direction through the drive system to rotate in the opposite direction, accelerate the on-the-spot steering speed of the vehicle, and the friction form between the rear wheels and the ground is switched from sliding friction with a higher degree of tire wear to rolling friction with a lower degree of tire wear, which is conducive to reducing tire wear during the on-the-spot steering process.

[0103] It can be understood that the vehicle control method provided in the above embodiment only requires that the rear axle wheels of vehicle 01 are driven by two motors respectively, and does not limit the driving method of the front axle wheels. That is, both the four-wheel drive models with three-motor architecture and the four-wheel drive models with four-motor architecture can achieve on-the-spot turning through the above method, which is highly practical.

[0104] According to the embodiment of the present application, after starting the on-the-spot steering function, the user can control the vehicle to perform on-the-spot steering movement by turning the steering wheel angle and operating the opening of the accelerator pedal. In addition, during the on-the-spot steering of the vehicle, the vehicle control method provided by the present application controls the rotation state of the inner rear wheel based on the relationship between the opening of the accelerator pedal and the preset opening threshold, so that the wheel is locked to reduce the turning radius when the opening of the accelerator pedal is less than the preset opening threshold, and rotates in the opposite direction to reduce the degree of tire wear when the opening of the accelerator pedal is greater than the preset opening threshold, thereby achieving on-the-spot steering with a small turning radius and low tire wear, and improving the practicality of the on-the-spot steering function.

[0105] The vehicle control method for realizing vehicle on-the-spot steering provided in the embodiment of the present application mainly includes two steps. First, the user needs to activate the vehicle's on-the-spot steering function. Second, the user can realize the vehicle's on-the-spot steering by operating the vehicle's steering wheel and accelerator pedal.

[0106] Figure 4 This is a flow chart of the vehicle control method provided in the embodiment of the present application. Figure 4 , the vehicle control method specifically comprises the following steps:

[0107] S1 user starts the vehicle's on-the-spot steering function. At this time, vehicle 01 switches from the normal driving mode to the on-the-spot steering mode.

[0108] In one embodiment, the user starts the on-the-spot steering function including: the user clicks the on-the-spot steering function button of the vehicle on the central control screen of the vehicle. Alternatively, the user clicks the physical on-the-spot steering function button in the vehicle cabin. In these embodiments, the user can activate the on-the-spot steering function of the vehicle through the shortcut button, which is easy to operate.

[0109] In one embodiment, the user starts the vehicle's on-the-spot steering function by turning the steering wheel of the vehicle to the right or left at an angle greater than a preset angle and operating the vehicle's brake pedal at an opening greater than a preset opening. In other words, the user does not need to operate the central control screen or press an activation button, but only needs to turn the steering wheel to a certain angle and step on the brake pedal to start the vehicle's on-the-spot steering function.

[0110] Further, after the vehicle's on-the-spot steering function is enabled, the subsequent step S2 is executed.

[0111] S2 determines whether the vehicle meets the on-site turning condition.

[0112] After the user starts the vehicle's on-the-spot turning function through the operations in the above embodiment, it is necessary to obtain information such as obstacle information around the vehicle, vehicle fault conditions, and vehicle status to determine whether the on-the-spot turning conditions are met, and execute subsequent step S3 when ensuring that the vehicle can safely achieve on-the-spot turning. Otherwise, the vehicle will not be controlled to start on-the-spot turning.

[0113] In one embodiment, the pivoting condition includes the vehicle running in the forward gear, that is, the vehicle will start pivoting only when the vehicle is running in the forward gear. When the vehicle is running in other gears (such as reverse gear or parking gear), the pivoting function will not be enabled even if the user manually activates it.

[0114] In one embodiment, the on-the-spot steering condition includes that the vehicle steering angle is greater than a preset angle, that is, the vehicle will only start on-the-spot steering when the vehicle steering angle is greater than the preset angle. When the vehicle steering angle is less than or equal to the preset angle, the on-the-spot steering function will not be enabled even if the user manually activates it.

[0115] Among them, the above-mentioned preset angle can be understood as a larger angle value within the steering angle range supported by the vehicle, and the embodiment of the present application does not limit the specific value of the preset angle.

[0116] It can be understood that the user can determine the steering direction and steering angle of the vehicle by turning the steering wheel, or manually operate the steering direction and steering angle of the vehicle on the vehicle's central control screen. This embodiment of the present application is not limited to this.

[0117] In one embodiment, the condition for turning on the spot includes that the vehicle speed is less than a preset speed, that is, the vehicle will only start turning on the spot when the vehicle speed is less than the preset speed, and when the vehicle speed is greater than or equal to the preset speed, even if the user manually activates the turning on the spot function, the function will not be enabled.

[0118] It can be understood that in the above step S2, before implementing the vehicle's on-the-spot turning, the environmental information, vehicle fault information and vehicle status will be actively detected to see whether they meet the on-the-spot turning conditions, and subsequent steps will only be executed after the on-the-spot turning conditions are met, thereby further improving the safety and practicality of the vehicle's on-the-spot turning function.

[0119] S3 The user operates the accelerator pedal of the vehicle to an opening greater than zero, and controls the driving system of the vehicle or controls the driving system and the braking system of the vehicle to cooperate with each other to achieve on-the-spot steering of the vehicle.

[0120] Specifically, when the vehicle is turning to the left, the drive system 10 can be controlled or the drive system 10 and the brake system 30 can be controlled in a coordinated manner so that the vehicle can be turned counterclockwise in place. When the vehicle is turning to the right, the drive system 10 can be controlled or the drive system 10 and the brake system 30 can be controlled in a coordinated manner so that the vehicle can be turned clockwise in place. In addition, during the vehicle turning process, the vehicle control method proposed in the present application also controls the turning state of the inner rear wheel with reference to the opening of the accelerator pedal.

[0121] Figure 5 A schematic diagram of an on-the-spot turning process of the vehicle 01 provided in an embodiment of the present application is shown.

[0122] like Figure 5 As shown in (a) in FIG. 1 , the steering wheel turns to the left, and under the control of the motor controller 21 and the motor controller 24, the motor 11 and the motor 14 output torque in the same direction to drive the two front axle wheels and the right rear wheel to rotate forward, so that the vehicle 01 turns counterclockwise on the spot. Figure 5 As shown in the left figure of (a) in FIG. 1 , when the accelerator pedal opening is greater than zero and less than a preset opening threshold, the motor controller 23 controls the speed of the motor 13 to be 0 based on the speed control mode, or the brake unit 32 corresponding to the right rear wheel 44 outputs a braking force to lock the left rear wheel 43, so that the left rear wheel 43 is in a stationary state. Figure 5 As shown in the right figure in (a), when the accelerator pedal opening is greater than or equal to the preset opening threshold, the motor controller 23 controls the motor 13 to output reverse torque based on the torque control mode to drive the left rear wheel 43 to rotate backward, thereby increasing the counterclockwise rotation speed of the vehicle 01.

[0123] like Figure 5 As shown in (b) in FIG. 1 , the steering wheel turns rightward, and under the control of the motor controller 21 and the motor controller 23, the motor 11 and the motor 13 output torque in the same direction to drive the two front axle wheels and the left rear wheel to rotate forward, so that the vehicle 01 turns clockwise on the spot. Figure 5 As shown in the left figure of (b) in FIG. 1 , when the accelerator pedal opening is less than the preset opening threshold, the motor controller 24 controls the speed of the motor 14 to be 0 based on the speed mode, or the brake unit 32 corresponding to the right rear wheel 44 outputs a braking force to lock the right rear wheel 44, so that the right rear wheel 44 is in a stationary state. Figure 5 As shown in the right figure in (b), when the accelerator pedal opening is greater than or equal to the preset opening threshold, the motor controller 24 controls the motor 14 to output reverse torque based on the torque control mode to drive the right rear wheel 44 to rotate backward, thereby increasing the clockwise rotation speed of the vehicle 01.

[0124] It is to be understood that the embodiment of the present application does not limit the duration of the inner rear wheel of the vehicle 01 being stationary and in the reverse rotation state during the on-the-spot turning process. For example, the user can control the accelerator pedal opening to be greater than zero and less than a preset opening threshold throughout the process, so that the inner rear wheel of the vehicle 01 is stationary throughout the process of turning in place. For another example, the user can step on the accelerator deeply when starting to turn in place so that the accelerator pedal opening reaches the preset opening threshold, so that the inner rear wheel of the vehicle 01 is in the reverse rotation state throughout the process of turning in place.

[0125] It is understandable that the above preset opening thresholds may be different for different driving modes of the vehicle, thereby providing users with differentiated on-the-spot steering experiences in different driving modes. For example, the preset opening threshold in the comfort mode may be greater than the preset opening threshold in the sports mode, that is, in the sports mode, the user can operate the opening of the accelerator pedal to more accurately adjust the speed of the vehicle's on-the-spot steering, and the controllability is stronger.

[0126] Through the above step S3, in response to the user operating the accelerator pedal opening greater than zero, the drive system 10 can be controlled to output driving force or the drive system 10 and the brake system 30 can be controlled to coordinately output driving force and braking force, so that the vehicle can turn on the spot.

[0127] When the S4 user releases the accelerator pedal, the on-the-spot steering function is exited and the vehicle enters normal driving mode.

[0128] Specifically, the user releasing the accelerator pedal means that the opening of the accelerator pedal operated by the user is reduced to zero, at which time the driving system is controlled to stop outputting driving force and the braking system is controlled to stop outputting braking force, so that the vehicle stops turning in place. In addition, the vehicle 01 will switch from the turning in place mode to the normal driving mode, which will not affect the driver's subsequent operations.

[0129] In one embodiment, locking the left rear wheel specifically includes: controlling the speed of the left rear drive motor 13 corresponding to the left rear wheel 43 to be zero, or controlling the vehicle's braking system 30 to brake the left rear wheel 43 so that the speed of the left rear wheel 43 is zero during the vehicle 01 turning in place.

[0130] It can be understood that when the opening of the accelerator pedal is less than the preset opening threshold, the motor controller 23 can control the left rear drive motor 13 with a target speed of 0 based on the speed control mode, and continuously adjust the driving torque driven by the left rear drive motor 13 so that the actual speed of the motor is 0. At this time, the left rear wheel 43 driven by the left rear drive motor 13 also has a speed of 0, that is, the left rear wheel 43 is in a stationary state. In other words, the vehicle can independently achieve on-site steering of the vehicle by controlling the drive system, and the object to be controlled is single and the complexity is low.

[0131] It can be understood that when the opening of the accelerator pedal is less than the preset opening threshold, the central controller 31 in the braking system 30 can control the brake unit 32 corresponding to the left rear wheel 43 to output the braking torque, so that the left rear wheel 43 can keep gripping and stationary under the action of the braking force and the friction force, that is, the left rear wheel 43 is in a stationary state. In other words, the vehicle can achieve on-site steering of the vehicle by cooperatively controlling the drive system and the brake system, with low performance requirements for the drive system, and can reduce the operating load of the drive system to reduce the heat generation of the drive motor.

[0132] It can be understood that the specific method of locking the left rear wheel can be selected according to the specific implementation, and the embodiment of the present application does not limit this.

[0133] Similarly, when the vehicle 01 is turning clockwise on the spot, locking the right rear wheel 44 specifically includes: controlling the speed of the right rear drive motor 14 corresponding to the right rear wheel 44 to be zero, or controlling the braking system 30 of the vehicle 01 to brake the right rear wheel 44 so that the speed of the right rear wheel 44 is zero during the vehicle 01 turning on the spot.

[0134] According to the embodiments of the present application, during the process of turning the vehicle in place, the driving system can be used to control the speed of the inner rear wheel to be 0, or the braking system can be used to output braking force to the inner rear wheel. The control method is flexible and has a wider range of applications.

[0135] In one embodiment, the vehicle control method further includes: during the on-site turning process of the vehicle 01, when the opening degree of the accelerator pedal operated by the user for the vehicle 01 is greater than zero and less than a preset opening degree threshold and the vehicle speed of the vehicle 01 is less than the vehicle speed threshold, locking the left rear wheel. When the opening degree of the accelerator pedal operated by the user for the vehicle 01 is greater than or equal to the preset opening degree threshold or the vehicle speed of the vehicle 01 is greater than or equal to the vehicle speed threshold, driving the left rear wheel of the vehicle to rotate in the opposite direction.

[0136] It can be understood that the above speed threshold can be understood as a minimum speed value, for example, the speed threshold can be 5 kilometers per hour (kph). When the speed of the electric vehicle 01 is less than the speed threshold, controlling the other rear wheel to remain stationary during the steering process will reduce the wear on the tire.

[0137] It is understandable that during the process of turning on the spot of vehicle 01, there is a scenario where the speed of vehicle 01 is greater than the speed threshold and the opening of the accelerator pedal operated by the user is less than the preset opening threshold. In this scenario, if the left rear wheel or the right rear wheel of vehicle 01 is controlled to be locked, it will cause serious wear on the tire. Therefore, the embodiment of the present application proposes to control the rotation state of the left rear wheel or the right rear wheel in combination with the opening of the accelerator pedal and the vehicle speed, which can avoid controlling the reverse rotation of the inner rear wheel when the accelerator pedal opening is small but the vehicle speed is high, and further reduce the wear degree of the tire caused by turning on the spot.

[0138] According to the embodiment of the present application, by combining the accelerator pedal opening and the vehicle speed to control the rotation state of the steering inner rear wheel during the vehicle's on-the-spot turning process, the degree of wear on the tire is further reduced, and the practicality of the on-the-spot turning function is enhanced.

[0139] In one embodiment, the vehicle control method further includes: in the process of driving the right rear wheel to rotate in the forward direction, controlling the torque output by the corresponding right rear drive motor 14 of the right rear wheel to increase as the opening of the accelerator pedal increases.

[0140] It is understood that the functional relationship between the torque output by the drive motor and the accelerator pedal opening is not limited in the embodiment of the present application. For example, the output torque may be linearly related to the accelerator pedal opening, that is, the torque output by the right rear drive motor 14 to the rear wheel increases linearly with the increase of the accelerator pedal opening until the peak torque is reached. The peak torque may be the maximum torque that can be output under the capacity limitation of the right rear drive motor 14, or may be a larger preset torque that can be output by the right rear drive motor 14, and the embodiment of the present application does not limit this.

[0141] According to the embodiment of the present application, the user can adjust the driving force output by the right rear-drive motor or the left rear-drive motor by controlling the accelerator pedal opening, thereby controlling the vehicle's on-the-spot turning speed, which has high safety and strong controllability.

[0142] In one embodiment, the vehicle control method also includes: during the process of vehicle 01 turning on the spot, when the user operates the accelerator pedal of vehicle 01 to an opening degree greater than or equal to a preset opening degree threshold, the torques output by the left rear drive motor 13 corresponding to the left rear wheel 43 and the right rear drive motor 14 corresponding to the right rear wheel 44 are controlled to be equal in magnitude and opposite in direction.

[0143] In these embodiments, taking the vehicle 01 turning left in situ as an example, when the accelerator pedal opening is greater than or equal to the preset opening threshold, the longitudinal forces on the two rear wheels are as follows:

[0144]

[0145] Among them, F x,rl is the longitudinal force on the left rear wheel, F x,rr is the longitudinal force on the right rear wheel, wheelBase is the track width of the two driving wheels on the rear axle, M z In the embodiment of the present application, the driver can adjust M by the accelerator pedal. z Size, usually M z Counterclockwise is positive, M z Counterclockwise is a negative value. z The absolute value of will increase with the increase of accelerator pedal opening.

[0146] Based on formula (1) and formula (2), the torque outputted by the left rear drive motor 13 and the right rear drive motor 14 to the two rear wheels is as follows:

[0147]

[0148] Among them, T em,rl is the torque value output by the left rear drive motor 13 indicated by the torque command, T em,rr is the torque value output by the right rear drive motor 14 indicated by the torque command, R d,tire is the tire radius, i g It is easy to understand that when the tire radius and the speed ratio of the two rear axle wheels are the same, the torques output by the left rear drive motor 13 and the right rear drive motor 14 to the two rear wheels are equal in magnitude and opposite in direction.

[0149] Figure 6 A schematic diagram showing the output torque of the rear-drive motor of the vehicle 01 provided in an embodiment of the present application during on-the-spot turning.

[0150] like Figure 6 As shown, during the process of vehicle 01 turning left in situ, the torque output by the right rear drive motor 14 to the right rear wheel 44 will increase as the accelerator pedal opening increases. At the same time, when the accelerator pedal opening is greater than zero and less than the preset opening threshold, the torque output by the left rear drive motor 13 to the left rear wheel 43 fluctuates around 0 to control the speed of the left rear wheel 43 to be 0. When the accelerator pedal opening reaches the preset opening threshold, the torque output by the left rear drive motor 13 to the left rear wheel 43 begins to increase as the accelerator pedal opening increases. Moreover, when the accelerator pedal opening reaches the preset opening threshold, the torque output by the left rear drive motor 13 to the left rear wheel 43 is -R1, and the torque output by the right rear drive motor 14 to the right rear wheel 44 is R1, that is, the torques received by the two wheels on the rear axle of the vehicle 01 are equal in magnitude and opposite in direction.

[0151] According to the embodiment of the present application, during the process of turning on the spot of the vehicle, the torque output by the rear-drive motor to the two rear axle wheels is controlled to be equal in magnitude and opposite in direction, so that the vehicle obtains a stable yaw torque. The control method is simple and the reliability is high.

[0152] In one embodiment, during the driving process of the vehicle 01, in response to the accelerator pedal opening of the vehicle 01 being a first preset opening, the front drive motor 11 is controlled to output a first torque to the two front wheels, and the difference between the first preset opening and the maximum accelerator pedal opening of the vehicle 01 is less than another preset opening threshold. During the on-site turning process of the vehicle 01, in response to the accelerator pedal opening of the vehicle 01 being the first preset opening, the front drive motor 11 is controlled to output a second torque to the two front wheels, and the second torque is less than the first torque.

[0153] The first torque and the second torque can be understood as the peak torque output by the front drive motor 11. The first preset opening can be understood as a maximum opening value, and when the accelerator pedal opening reaches the first preset opening, the motor outputs the peak torque. In other words, the embodiment of the present application can limit the torque output by the front drive motor 11 to the front axle wheels during the on-site steering process of the vehicle 01.

[0154] It is understood that the embodiment of the present application does not limit the specific values ​​of the first torque and the second torque. For example, the second torque may be 40% of the first torque. For another example, the second torque may be 80% of the first torque.

[0155] It can be understood that the embodiment of the present application does not limit the specific strategy for limiting the torque of the front drive motor. Figure 7 A schematic diagram of limiting the output torque of the front-drive motor during the on-the-spot steering process of the vehicle provided in an embodiment of the present application is shown.

[0156] like Figure 7 As shown in (a), during the driving process of the vehicle 01, the front drive motor 11 outputs a first torque to the front axle wheel when the accelerator pedal opening reaches a first preset opening. During the on-the-spot turning process of the vehicle 01, the front drive motor 11 outputs a second torque to the front axle wheel when the accelerator pedal opening reaches a first preset opening. In other words, the rate of change of the torque with the accelerator pedal opening during the on-the-spot turning process of the vehicle is less than the rate of change of the torque with the accelerator pedal opening during the driving process of the vehicle.

[0157] like Figure 7 As shown in (b), during the driving process of the vehicle 01, the front drive motor 11 outputs a first torque to the front axle wheel when the accelerator pedal opening reaches a first preset opening. During the on-the-spot turning process of the vehicle 01, the front drive motor 11 outputs a second torque to the front axle wheel when the accelerator pedal opening reaches a second preset opening, and maintains the output of a fixed second torque as the accelerator pedal opening continues to increase, wherein the second preset opening is less than the first preset opening. At this time, the rate of change of the torque with the accelerator pedal opening during the on-the-spot turning process of the vehicle is equal to the rate of change of the torque with the accelerator pedal opening during the driving process of the vehicle, and the accelerator pedal opening corresponding to the peak torque output by the front drive motor 11 to the front axle wheel is smaller.

[0158] According to the embodiment of the present application, by limiting the torque of the front-drive motor during the vehicle's on-the-spot steering process, the risk of longitudinal or lateral translation of the vehicle can be reduced, the vehicle's body posture can be made more controllable, and the practicality of the vehicle's on-the-spot steering function can be further improved.

[0159] In one embodiment, the vehicle control method further includes: while the vehicle 01 is turning on the spot, driving the left front wheel 41 of the vehicle to rotate in the opposite direction.

[0160] Specifically, when the vehicle 01 turns left in situ, the right front wheel 42 is driven to rotate forward and the left front wheel 41 is driven to rotate reversely. When the vehicle turns right in situ, the left front wheel 41 is driven to rotate forward and the right front wheel 42 is driven to rotate reversely.

[0161] Figure 8 FIG. 2 is a schematic diagram showing another on-site turning process of the vehicle 01 provided in an embodiment of the present application. Figure 8 As shown in (a) of FIG. 1 , when the vehicle 01 turns left, the left front wheel 41 is driven to rotate in the reverse direction by the left front drive motor 11, and the right front wheel 42 is driven to rotate in the forward direction by the right front drive motor 12. Figure 8 As shown in (b) in FIG. 1 , when the vehicle 01 turns right in situ, the left front drive motor 11 drives the left front wheel 41 to rotate in the forward direction, and drives the right front wheel 42 to rotate in the reverse direction through the right front drive motor 12 .

[0162] It can be understood that for the four-motor architecture four-wheel drive vehicle 01, the two front drive motors can drive the two front wheels to rotate in opposite directions respectively, so that the front axle wheels can also provide yaw torque for the vehicle 01. At this time, the yaw torque M of the whole vehicle z The yaw torque M provided to the front axle wheels z，frn□ The rear axle wheel provides a yaw torque M z，rear Compared with a four-wheel drive vehicle with a three-motor architecture, when the yaw torque of the entire vehicle is the same, the rear-wheel drive motor needs to output a smaller torque value, with a smaller load and lower heat generation.

[0163] It is understood that the user can control the magnitude of the yaw torque by operating the accelerator pedal opening, and the front axle motor and the rear axle motor can output the yaw torque in a certain ratio. The specific ratio value is not limited in the present embodiment. For example, M z，frnt and M z，rear The ratio of can be 1:1. For another example, M z，frnt and M z，rear The ratio can be 3:7.

[0164] Optionally, during the on-site steering process of the vehicle 01, the ratio of the yaw torque corresponding to the front axle motor and the rear axle motor can be dynamically adjusted. For example, before a certain moment when the front axle motor outputs torque, the ratio can be 1:1, and after a certain moment, the ratio can be reduced to 3:7, thereby reducing the operating load of the front axle motor and reducing the heat generation of the front axle motor.

[0165] According to the embodiment of the present application, during the process of turning on the spot of the vehicle, by controlling the front axle wheels to rotate in opposite directions, the front axle wheels can also provide yaw torque for the vehicle, which can not only reduce the load on the rear drive motor, but also support the vehicle to turn at a faster speed, further improving the practicality of the turning on the spot function.

[0166] In one embodiment, the vehicle control method further includes: during the process of the vehicle 01 turning on the spot, controlling the torque output by the left front drive motor 11 corresponding to the left front wheel 41 and the right front drive motor 12 corresponding to the right front wheel 42 to be equal in magnitude and opposite in direction.

[0167] In these embodiments, taking the vehicle 01 turning left in situ as an example, when the accelerator pedal opening is greater than or equal to the preset opening threshold, the longitudinal forces on the four wheels are as follows:

[0168]

[0169] Among them, F x,fl is the longitudinal force on the left front wheel, F x,fr is the longitudinal force on the right front wheel. Based on the above formulas (3) and (4), the torques output by the left front drive motor 11 and the right front drive motor 12 to the two front wheels are as follows:

[0170]

[0171] Among them, T em,fl is the torque value output by the left front drive motor 11 indicated by the torque command, T em,fr is the torque value output by the right front drive motor 12 indicated by the torque command. It is easy to understand that when the tire radius and the speed ratio of the two front axle wheels are the same, the torque output by the left front drive motor 11 and the right front drive motor 12 to the two front wheels is equal in magnitude and opposite in direction.

[0172] According to the embodiment of the present application, during the process of turning on the spot of the vehicle, the front drive motor is controlled to output torques of equal magnitude and opposite directions to the two front axle wheels, so that the vehicle obtains a stable yaw torque. The control method is simple and the reliability is high.

[0173] In one embodiment, the vehicle control method further includes: when the user presses the accelerator pedal to reduce the opening of the accelerator pedal to zero during the process of the vehicle 01 turning on the spot, the vehicle 01 is controlled to stop turning.

[0174] Controlling the vehicle to stop steering refers to controlling the front drive motor and / or the rear drive motor to stop outputting torque, so that the yaw torque of the vehicle is reduced to zero.

[0175] In one embodiment, when the time duration for the user to operate the accelerator pedal opening from greater than a preset opening threshold to zero is greater than a preset time duration, the motor corresponding to the left rear wheel or the right rear wheel may be controlled to stop outputting torque and lock the wheel when the accelerator pedal opening is reduced to less than the preset opening threshold, and the wheel may be stopped from being locked when the accelerator pedal opening is reduced to 0. When the time duration for the user to operate the accelerator pedal opening from greater than a preset opening threshold to zero is less than a preset time duration, only the motor corresponding to the left rear wheel or the right rear wheel may be controlled to stop outputting torque.

[0176] Among them, the time for the accelerator pedal opening to decrease from greater than the preset opening threshold to zero is less than the preset time, which can be understood as the user completely releases the accelerator pedal instantly. At this time, the left rear wheel or the right rear wheel may no longer be locked, thereby reducing the control delay of the vehicle stopping and turning on the spot.

[0177] Furthermore, when the opening of the accelerator pedal is less than the preset opening threshold, when the vehicle is controlled to stop turning, the two front wheels and the right rear wheel can be controlled to stop turning first, and then the left rear wheel can be stopped and locked. Alternatively, the two front wheels and the left rear wheel can be controlled to stop turning first, and then the right rear wheel can be stopped and locked. Based on this, the longitudinal and lateral translation of the vehicle when stopping and turning in place can be suppressed, so that the vehicle can maintain grip and stationary during the whole process of turning in place, with high reliability.

[0178] The motor or brake unit corresponding to the brake wheel may stop outputting torque or braking force after the driving force output by the front-drive motor is reduced to zero. Alternatively, the motor or brake unit corresponding to the brake wheel may reduce the output torque or braking force after the front-drive motor starts to reduce the output driving force for a period of time, and in the process of reducing the output torque or braking force, the torque or braking force actually output by the motor or brake unit corresponding to the brake wheel is always greater than or equal to the torque or braking force required to maintain dynamic balance with the driving force output by the front-drive motor, so as to ensure that the vehicle grips the ground and stops.

[0179] According to the embodiment of the present application, the user can stop the vehicle from turning in place by releasing the accelerator pedal opening, and the user has a low learning cost for the vehicle turning in place function and is easy to operate. In addition, the timing of controlling the stop and lock steering of the inner rear wheel is flexible and more practical.

[0180] In one embodiment, the vehicle control method further includes: during the process of the vehicle 01 turning on the spot, when the user increases the brake pedal opening from zero to a preset brake pedal opening, controlling the vehicle 01 to stop turning.

[0181] Among them, the preset brake pedal opening can be understood as a smaller opening value. When the user steps on the brake pedal and the brake pedal opening reaches the preset brake pedal opening, it indicates that the user terminates the vehicle's on-the-spot turning, thereby ensuring that even if the detection of the accelerator pedal opening fails, the user can control the vehicle to terminate on-the-spot turning.

[0182] According to an embodiment of the present application, during the process of vehicle turning on the spot, the user can control the vehicle to stop turning on the spot by pressing the brake pedal, thereby further improving the safety and reliability of the vehicle's turning on the spot function.

[0183] In one embodiment, the vehicle control method further includes: during the process of vehicle 01 turning in place, when the steering wheel return angle is greater than a preset return angle or the vehicle speed of vehicle 01 is greater than a preset speed, controlling the vehicle to stop turning.

[0184] Among them, the preset return angle can be understood as the angle allowed to return during the vehicle's in-situ steering process. When the return angle of the steering wheel operated by the user is less than or equal to the preset return angle, it can be understood that the user misoperates or expects to change the turning radius of the vehicle's in-situ steering by adjusting the steering of the two front wheels of the vehicle. At this time, the driving torque or braking torque output by the drive system 10 and the braking system 30 will not be affected by the change in the steering wheel angle. When the return angle of the steering wheel operated by the user is greater than the preset return angle, it can be understood that the user expects to terminate the vehicle's in-situ steering, and the vehicle needs to be controlled to stop steering. Even if the user misoperates so that the return angle of the steering wheel is greater than the preset return angle, the vehicle needs to be controlled to stop steering for safety reasons.

[0185] It is to be understood that the specific value of the preset return angle is not limited in the present embodiment. For example, the preset return angle may be 20°.

[0186] The preset speed can be understood as the peak speed that the vehicle is allowed to reach during the on-the-spot steering process. When the vehicle speed is less than the preset speed, it can be understood that the longitudinal translation speed of the vehicle is within the controllable range, and the on-the-spot steering process of the vehicle can be completed according to the user's operation. When the vehicle speed is greater than the preset speed, it can be understood that the longitudinal translation speed of the vehicle exceeds the controllable range, and in order to ensure that the vehicle body posture is controllable, it is necessary to actively control the vehicle to stop steering.

[0187] It is understood that the embodiment of the present application does not limit the specific value of the preset vehicle speed. For example, the preset vehicle speed may be 10 kph.

[0188] According to an embodiment of the present application, during the process of vehicle turning on the spot, when the steering wheel return angle is too large or the vehicle speed is too high, the vehicle is actively controlled to stop turning on the spot, further improving the safety and reliability of the vehicle's turning on the spot function.

[0189] An embodiment of the present application also provides a vehicle controller, which is used to execute the vehicle control method in the above embodiment.

[0190] It can be understood that the vehicle controller can be a single controller, such as a central controller 31 or a vehicle controller 40. When the vehicle controller is a central controller 31, the central controller 31 can implement the driving torque control function of the vehicle controller 40. When the vehicle controller is a vehicle controller 40, the vehicle controller 40 can implement the braking torque control function of the central controller 31. Alternatively, the vehicle controller can also be a controller cluster composed of multiple controllers, for example, the controller cluster includes but is not limited to the central controller 31 and the vehicle controller 40.

[0191] It can be understood that after the above conditions for starting on-the-spot turning are met, the vehicle controller will calculate the additional yaw torque value according to the accelerator pedal opening to determine the driving torque set value, and then control the drive system to instruct each motor to output the driving torque set value through the torque command, so that the vehicle starts to turn on the spot.

[0192] In addition, during the process of the vehicle turning on the spot, when the vehicle controller detects that the vehicle has a malfunction or the user manually stops the turning on the spot function, the vehicle returns to the normal driving mode and the turning on the spot function stops.

[0193] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method for realizing on-site steering of a vehicle, characterized in that: The vehicle control method is used to realize the on-site steering of the vehicle after the user starts the on-site steering function, and the vehicle control method includes: When the user turns the steering wheel of the vehicle to the left by a greater than preset angle, the opening degree of the accelerator pedal of the vehicle operated by the user is greater than zero, and the gear position of the vehicle operated by the user is the forward gear, the right front wheel and the right rear wheel of the vehicle are driven to rotate forward, the left rear wheel of the vehicle is driven to rotate reversely, or the left rear wheel is locked to make the vehicle turn in place; During the process of the vehicle turning on the spot, when the opening degree of the accelerator pedal operated by the user is greater than zero and less than a preset opening threshold, the left rear wheel is locked; when the opening degree of the accelerator pedal operated by the user is greater than or equal to the preset opening threshold, the left rear wheel of the vehicle is driven to rotate in the opposite direction.

2. The vehicle control method according to claim 1, characterized in that: Locking the left rear wheel specifically includes: The rotation speed of the left rear drive motor corresponding to the left rear wheel is controlled to be zero, or the braking system of the vehicle is controlled to brake the left rear wheel so that the rotation speed of the left rear wheel is zero during the on-site turning process of the vehicle.

3. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: In the process of driving the right rear wheel to rotate in the forward direction, the torque output by the corresponding right rear drive motor controlling the right rear wheel increases as the opening degree of the accelerator pedal increases.

4. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: During the process of the vehicle turning on the spot, when the user operates the accelerator pedal of the vehicle to an opening degree greater than or equal to a preset opening degree threshold, the torques output by the left rear drive motor corresponding to the left rear wheel and the right rear drive motor corresponding to the right rear wheel are equal in magnitude and opposite in direction.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The vehicle control method further includes: During the process of the vehicle turning in place, the left front wheel of the vehicle is driven to rotate in the opposite direction.

6. The vehicle control method according to claim 5, characterized in that: The vehicle control method further includes: During the process of the vehicle turning in place, the torques output by the left front drive motor corresponding to the left front wheel and the right front drive motor corresponding to the right front wheel are controlled to be equal in magnitude and opposite in direction.

7. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: During the process of the vehicle turning in place, when the return angle of the steering wheel is greater than a preset return angle or the vehicle speed is greater than a preset speed, the vehicle is controlled to stop turning.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that: The vehicle control method further includes: During the process of the vehicle turning on the spot, when the user releases the accelerator pedal so that the opening of the accelerator pedal decreases to zero, the vehicle is controlled to stop turning.

9. The vehicle control method according to any one of claims 1 to 8, characterized in that: The vehicle control method further includes: During the process of the vehicle turning in place, when the user operates the brake pedal of the vehicle to an opening degree greater than a preset brake pedal opening degree, the vehicle is controlled to stop turning.

10. A vehicle controller for realizing on-site steering of a vehicle, characterized in that: After the user activates the on-the-spot steering function of the vehicle, the vehicle controller is used to: When the user turns the steering wheel of the vehicle to the left by a greater than preset angle, the opening degree of the accelerator pedal of the vehicle operated by the user is greater than zero, and the gear position of the vehicle operated by the user is the forward gear, the right front wheel and the right rear wheel of the vehicle are driven to rotate forward, the left rear wheel of the vehicle is driven to rotate reversely, or the left rear wheel is locked to make the vehicle turn in place; During the process of the vehicle turning on the spot, when the opening degree of the accelerator pedal operated by the user is greater than zero and less than a preset opening threshold, the left rear wheel is locked; when the opening degree of the accelerator pedal operated by the user is greater than or equal to the preset opening threshold, the left rear wheel of the vehicle is driven to rotate in the opposite direction.

11. The vehicle controller according to claim 10, characterized in that: During the process of locking the left rear wheel, the vehicle controller is specifically used to: The rotation speed of the left rear drive motor corresponding to the left rear wheel is controlled to be zero, or the braking system of the vehicle is controlled to brake the left rear wheel so that the rotation speed of the left rear wheel is zero during the on-site turning process of the vehicle.

12. The vehicle controller according to claim 10, characterized in that: The vehicle controller is also used for: In the process of driving the right rear wheel to rotate in the forward direction, the torque output by the corresponding right rear drive motor controlling the right rear wheel increases as the opening degree of the accelerator pedal increases.

13. The vehicle controller according to claim 10, characterized in that: The vehicle controller is also used for: During the process of the vehicle turning in place, the left front wheel of the vehicle is driven to rotate in the opposite direction.

14. The vehicle controller according to any one of claims 10 to 13, characterized in that: The vehicle controller is also used for: During the process of the vehicle turning on the spot, when the user releases the accelerator pedal so that the opening of the accelerator pedal decreases to zero, the vehicle is controlled to stop turning.

15. A vehicle, characterized in that: The vehicle includes a vehicle controller for executing the vehicle control method according to any one of claims 1 to 9, or a vehicle controller according to any one of claims 10 to 14.

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