System and method for controlling pivot steering of vehicle and vehicle

Abstract

The invention discloses a system and method for controlling in-situ steering of a vehicle and the vehicle, the system comprises a spraying assembly used for spraying lubricating substances to the ground and a controller arranged on the vehicle, and the controller is configured to respond to a control instruction of in-situ steering of the vehicle, control the spraying amount of the spraying assembly to reach a preset spraying amount, and control the spraying amount of the spraying assembly to reach the preset spraying amount. And after preset time, the vehicle is controlled to steer in situ, in the vehicle in-situ steering process, the target spraying amount of the spraying assembly is determined, the spraying assembly is controlled to spray the lubricating substance according to the target spraying amount, and by means of the system, the friction force and the wheel end torque between the vehicle and the ground can be reduced, and the service life of the vehicle is prolonged. Therefore, abrasion of tires is reduced, the requirements of the vehicle for the transmission ratio and the power source are lowered, and the cost of the vehicle is lowered. Meanwhile, in the in-situ steering process of the vehicle, the spraying amount of the spraying assembly can be adjusted in real time, and the vehicle can steer in situ stably and safely.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a system and method for controlling vehicle turning on the spot, and a vehicle. Background Art

[0002] When a vehicle is turning on the spot, the four wheels need to break through the adhesion of the ground. In some common turning-on-the-spot scenarios, a large wheel-end torque is required to make the vehicle slip, and a large wheel-end torque means that the vehicle must be matched with a strong power source, which not only increases the design difficulty but also increases the cost of the vehicle. In addition, when a vehicle is turning on the spot on a high-adhesion road surface, the tires and the road surface will slide relative to each other, causing a significant increase in tire wear and reducing the service life of the tires; and when turning on the spot on dirt roads and asphalt roads, dust and the smell of tire wear will also be generated. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a system, method and vehicle for controlling vehicle turning in situ.

[0004] The present invention proposes a system for controlling vehicle turning on the spot, the system comprising: a spraying component for spraying a lubricating substance onto the ground; a controller, arranged on the vehicle, the controller being configured to: in response to a control instruction for turning the vehicle on the spot, control the spraying amount of the spraying component to reach a preset spraying amount, and control the vehicle to turn on the spot after a preset time; and during the process of turning the vehicle on the spot, determine a target spraying amount of the spraying component, and control the spraying component to spray the lubricating substance according to the target spraying amount.

[0005] In addition, the system for controlling vehicle turning in situ according to the embodiment of the present invention may also have the following additional technical features:

[0006] Furthermore, the system for controlling the vehicle to turn on the spot includes a wheel speed sensor and a yaw rate sensor, the wheel speed sensor is arranged on each wheel to measure the actual wheel speed of the corresponding wheel, and the yaw rate sensor is arranged on the vehicle to measure the yaw angular velocity of the vehicle's center of mass; when determining the target spraying amount of the spraying assembly, the controller is specifically configured to: obtain the actual wheel speed of each of the wheels and the yaw angular velocity of the vehicle's center of mass; and determine the target spraying amount of the corresponding wheel according to the actual wheel speed and the yaw angular velocity.

[0007] Furthermore, when determining the target spraying amount of the corresponding wheel according to the actual wheel speed and the yaw angular velocity, the controller is specifically configured to: determine the slip rate of the corresponding wheel according to the actual wheel speed and the yaw angular velocity; and determine the target spraying amount of the corresponding wheel according to the slip rate.

[0008] Furthermore, when determining the slip rate of the corresponding wheel according to the actual wheel speed and the yaw angular velocity, the controller is specifically configured to: determine the first wheel speed of each of the wheels according to the yaw angular velocity; and determine the slip rate of the corresponding wheel according to the first wheel speed and the actual wheel speed.

[0009] Further, when determining the first wheel speed of each wheel according to the yaw angular velocity, the controller is specifically configured to execute the following calculation formula:

[0010]

[0011]

[0012] Wherein, v_yaw is the first wheel speed, ωr is the yaw angular velocity, a is the distance from the vehicle center of mass to the wheel rotation center along the vehicle transverse direction, and b is the distance from the vehicle center of mass to the wheel rotation center along the vehicle longitudinal direction.

[0013] Further, when determining the slip rate of the corresponding wheel according to the first wheel speed and the actual wheel speed, the controller is specifically configured to execute the following calculation formula:

[0014]

[0015] Wherein, μ is the slip rate, v_wheel is the actual wheel speed, and v_yaw is the first wheel speed.

[0016] Further, when determining the target spraying amount of the corresponding wheel according to the slip rate, the controller is specifically configured to: determine an additional spraying amount according to the slip rate; and take the sum of the preset spraying amount and the additional spraying amount as the target spraying amount.

[0017] Furthermore, when determining the additional spraying amount according to the slip rate, the controller is specifically configured to: determine the tire type and usage scenario of the wheel; determine the numerical relationship between the slip rate and the additional spraying amount according to the tire type and the usage scenario; determine the additional spraying amount according to the slip rate and the numerical relationship.

[0018] Furthermore, the spray assembly includes at least one water pump. When the spray assembly is controlled to spray the lubricating substance according to the target spraying amount, the controller is specifically configured as follows: if each of the wheels corresponds to one water pump, the target speed of the corresponding water pump is determined according to the target spraying amount corresponding to each wheel, so as to control the speed of the water pump to reach the target speed; if multiple wheels correspond to one water pump, the target speed of the corresponding water pump is determined according to the target spraying amount corresponding to each of the multiple wheels, so as to control the speed of the water pump to reach the target speed.

[0019] Furthermore, when determining the target speed of the corresponding water pump according to the target spraying amounts corresponding to each of the multiple wheels, the controller is specifically configured to: determine the target flow rate of the corresponding water pump according to the target spraying amounts corresponding to each of the multiple wheels; determine the target speed of the corresponding water pump according to the target flow rate.

[0020] Furthermore, when determining the target flow rate of the corresponding water pump according to the target spraying amounts corresponding to each of the multiple wheels, the controller is specifically configured to take the product of the maximum target spraying amount among the target spraying amounts corresponding to each of the multiple wheels and the number of wheels corresponding to the water pump as the target flow rate of the water pump.

[0021] Furthermore, the spray assembly includes at least one spray head, a pitch spray angle of the spray head is greater than a first preset angle, and a horizontal spray angle of the spray head is greater than a second preset angle.

[0022] Furthermore, in the system for controlling the on-the-spot steering of a vehicle, the lubricating substance is liquid.

[0023] According to an embodiment of the present invention, a system for controlling a vehicle to turn in place comprises: a spraying assembly and a controller. The spraying assembly is used to spray lubricating substances onto the ground; the controller is arranged on the vehicle, and the controller is configured to: in response to a control instruction for turning in place of the vehicle, control the spraying amount of the spraying assembly to reach a preset spraying amount, and control the vehicle to turn in place after a preset time; and during the process of turning in place of the vehicle, determine the target spraying amount of the spraying assembly, and control the spraying assembly to spray lubricating substances according to the target spraying amount. The system can reduce the friction and wheel end torque between the vehicle and the ground, thereby reducing tire wear, and reducing the vehicle's requirements for transmission ratio and power source, as well as reducing the cost of the vehicle. At the same time, during the process of turning in place of the vehicle, the spraying amount of the spraying assembly can be adjusted in real time, so that the vehicle can turn in place stably and safely.

[0024] In response to the above-mentioned problems, the present invention also proposes a method for controlling vehicle turning on the spot, which is used in a system for controlling vehicle turning on the spot as described in any of the above-mentioned embodiments, wherein the system includes a spraying assembly, and the method includes the following steps: in response to a control instruction for turning the vehicle on the spot, controlling the spraying amount of the spraying assembly to reach a preset spraying amount, and after a preset time, controlling the vehicle to turn on the spot; during the process of turning the vehicle on the spot, determining a target spraying amount of the spraying assembly, and controlling the spraying assembly to spray lubricating material according to the target spraying amount.

[0025] According to the method for controlling the on-the-spot steering of a vehicle according to an embodiment of the present invention, by responding to the control instruction of the on-the-spot steering of the vehicle, the spraying amount of the spray assembly is controlled to reach a preset spraying amount, and after a preset time, the vehicle is controlled to turn on the spot; during the on-the-spot steering of the vehicle, the target spraying amount of the spray assembly is determined, and the spray assembly is controlled to spray lubricating substances according to the target spraying amount. This method can reduce the friction between the vehicle and the ground and the wheel end torque, thereby reducing the wear of the tires, and reducing the requirements of the vehicle on the transmission ratio and power source, as well as reducing the cost of the vehicle. At the same time, during the on-the-spot steering of the vehicle, the spraying amount of the spray assembly can be adjusted in real time, so that the vehicle can perform stable and safe on-the-spot steering. Furthermore, when the lubricating substance is a liquid, when the vehicle turns on the spot on dirt roads and asphalt roads, the dust generated when the vehicle rotates or the smell of tire wear can be reduced.

[0026] In view of the above-mentioned problems, the present invention further proposes a vehicle, comprising: a system for controlling vehicle turning on the spot as described in any of the above-mentioned embodiments.

[0027] According to the vehicle of the embodiment of the present invention, the system for controlling the vehicle to turn in place enables the vehicle to turn in place, and the system includes: a spraying component and a controller. Among them, the spraying component is used to spray lubricating substances on the ground; the controller is arranged on the vehicle, and the controller is configured to: in response to the control instruction of the vehicle turning in place, control the spraying amount of the spraying component to reach a preset spraying amount, and control the vehicle to turn in place after a preset time; and in the process of turning in place of the vehicle, determine the target spraying amount of the spraying component, and control the spraying component to spray lubricating substances according to the target spraying amount. The system can reduce the friction and wheel end torque between the vehicle and the ground, thereby reducing tire wear, and reducing the vehicle's requirements for transmission ratio and power source, as well as reducing the cost of the vehicle. At the same time, in the process of turning in place of the vehicle, the spraying amount of the spraying component can be adjusted in real time, so that the vehicle can turn in place stably and safely. Further, when the lubricating substance is liquid, the dust or tire wear smell generated when the vehicle rotates can be reduced when the vehicle turns in place on dirt roads and asphalt roads.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 is a schematic structural diagram of a system for controlling vehicle turning in situ according to an embodiment of the present invention;

[0031] Figure 2 is a structural schematic diagram of an in-situ diverting sprinkler system according to an embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of calculating a first wheel speed according to an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of a functional relationship between a slip ratio and a target water injection amount according to an embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of the arrangement of nozzles of a system for controlling vehicle turning in situ according to an embodiment of the present invention;

[0035] Figure 6 The figure is a flow chart of a method for controlling a vehicle to turn in place according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Reference below Figure 1-Figure 6 A system, method and vehicle for controlling vehicle pivoting according to an embodiment of the present invention are described.

[0038] Figure 1 FIG. 1 is a schematic diagram of a system for controlling vehicle turning in situ according to an embodiment of the present invention. Figure 1As shown, a system for controlling vehicle turning in place comprises: a spraying assembly 11 and a controller 12. The spraying assembly 11 is used to spray lubricating substances on the ground; the controller 12 is arranged on the vehicle, and the controller is configured to: in response to the control instruction of the vehicle turning in place, control the spraying amount of the spraying assembly 11 to reach a preset spraying amount, and control the vehicle to turn in place after a preset time; and during the process of the vehicle turning in place, determine the target spraying amount of the spraying assembly 11, and control the spraying assembly 11 to spray the lubricating substances according to the target spraying amount. Specifically, the lubricating substance is liquid.

[0039] Specifically, when the controller 12 receives a control instruction for the vehicle to turn in place, the controller 12 controls the spraying amount of the spraying component 11 to reach a preset spraying amount and lasts for a preset time, so as to reduce the friction between the vehicle and the ground and the wheel end torque when the vehicle turns in place, thereby reducing tire wear, and reducing the vehicle's requirements for transmission ratio and power source, as well as reducing the cost of the vehicle. During the process of turning in place, the spraying component 11 is controlled to spray lubricating substances according to the target spraying amount, and the spraying amount of the spraying component 11 can be adjusted in real time, so that the vehicle can turn in place stably and safely. Furthermore, the lubricating substance is a liquid, so that when the vehicle turns in place on dirt roads and asphalt roads, the dust generated when the vehicle rotates or the smell of tire wear is reduced. It can be understood that the vehicle's on-the-spot steering function is achieved by applying a reverse driving torque to the inner wheel and a positive driving torque to the outer wheel at the same time. In this way, the differential torque between the inner wheel and the outer wheel will generate a yaw moment at the center of mass of the vehicle. When the yaw moment is large enough, the vehicle breaks through the adhesion of the road and starts to rotate, thereby achieving the on-the-spot steering function.

[0040] It should be noted that the preset spraying amount is determined according to the use scenario of the vehicle, the number of nozzles, the arrangement position, the pitch spray angle of the nozzle, and the horizontal spray angle. The preset time is a pre-set time interval stored in the controller 12, and the preset time is determined according to the use scenario, the preset water spraying amount, the number of nozzles, the arrangement position of the nozzles, the pitch spray angle of the nozzle, and the horizontal spray angle. In a specific embodiment, the preset water spraying amount and the preset time need to be determined through experimental calibration together with the nozzle parameters.

[0041] In a specific embodiment, the spray assembly 11 includes at least one sprinkler head, a water pump and a water tank. The lubricating substance is, for example, water. Figure 2As shown in the figure, it includes independently driven wheels, wheel speed sensors that can measure tire rotation speed, yaw rate sensors that can measure the yaw angular velocity of the center of mass, sprinkler heads that can sprinkle water, water pumps that can provide a certain water flow rate for the sprinkler heads, water tanks that can provide water sources for the water pumps, and a controller ECU (Engine Electronic Control Unit) that executes control algorithms. In order to achieve a U-turn on the spot, it is also equipped with independently controllable four-wheel side motor assemblies and tires connected to each assembly.

[0042] In one embodiment of the present invention, a system for controlling vehicle steering on the spot includes a wheel speed sensor and a yaw rate sensor, wherein the wheel speed sensor is arranged on each wheel to measure the actual wheel speed of the corresponding wheel, and the yaw rate sensor is arranged on the vehicle to measure the yaw angular velocity of the center of mass of the vehicle; when determining the target spraying amount of the spraying assembly, the controller is specifically configured to: obtain the actual wheel speed of each wheel and the yaw angular velocity of the center of mass of the vehicle; and determine the target spraying amount of the corresponding wheel according to the actual wheel speed and the yaw angular velocity.

[0043] Specifically, the actual wheel speed is the speed of the wheel during the on-the-spot turning process, which is obtained through the wheel speed sensor. The yaw rate of the vehicle's center of mass is the angular velocity of the vehicle when it rotates on the horizontal plane around the vertical axis where the center of mass is located, which is obtained through the yaw rate sensor. After obtaining the actual wheel speed of each wheel and the yaw rate of the vehicle's center of mass, the controller determines the target spraying amount of the corresponding wheel based on the actual wheel speed of each wheel and the yaw rate of the vehicle's center of mass, and controls the spray assembly to spray the lubricant based on the target spraying amount, thereby achieving real-time adjustment of the spraying amount of the spray assembly, allowing the vehicle to perform stable and safe on-the-spot turning.

[0044] In one embodiment of the present invention, when determining the target spraying amount of the corresponding wheel according to the actual wheel speed and yaw angular velocity, the controller is specifically configured to: determine the slip rate of the corresponding wheel according to the actual wheel speed and yaw angular velocity; determine the target spraying amount of the corresponding wheel according to the slip rate.

[0045] Specifically, the slip rate is used to indicate the degree of tire slip and is an indicator of the friction between the wheel and the ground. To ensure that the friction between the wheel and the ground is within an appropriate range and that the vehicle can perform stable and safe on-the-spot turning, the embodiment of the present invention controls the target spraying volume by the size of the slip rate. In a specific embodiment, the embodiment of the present invention determines the slip rate of the corresponding wheel based on the actual wheel speed of each wheel and the yaw angular velocity of the vehicle's center of mass. That is: the first wheel speed of each wheel is determined based on the yaw angular velocity; the slip rate of the corresponding wheel is determined based on the first wheel speed and the actual wheel speed. The first wheel speed is the wheel speed of the wheel in a pure rolling state, such as Figure 3As shown, the first wheel speed is, for example, recorded as v_yaw. Specifically, when determining the first wheel speed of each wheel according to the yaw angular velocity, the controller is specifically configured to execute the following calculation formula:

[0046]

[0047]

[0048] Among them, v_yaw is the first wheel speed, ωr is the yaw angular velocity, a is the distance from the vehicle center of mass to the wheel rotation center along the vehicle lateral direction, and b is the distance from the vehicle center of mass to the wheel rotation center along the vehicle longitudinal direction.

[0049] When determining the slip rate of the corresponding wheel according to the first wheel speed and the actual wheel speed, the controller is specifically configured to execute the following calculation formula:

[0050]

[0051] Among them, μ is the slip rate, v_wheel is the actual wheel speed, and v_yaw is the first wheel speed.

[0052] In one embodiment of the present invention, when determining the target spraying amount of the corresponding wheel according to the slip rate, the controller is specifically configured to: determine the additional spraying amount according to the slip rate; and take the sum of the preset spraying amount and the additional spraying amount as the target spraying amount.

[0053] Specifically, during the process of turning on the spot of the vehicle, in order to ensure that the friction between the wheels and the ground is within an appropriate range and enable the vehicle to turn on the spot stably and safely, the embodiment of the present invention determines the additional spraying amount according to the slip rate, and determines the target spraying amount according to the additional spraying amount and the preset spraying amount, so as to adjust the spraying amount of the spraying component in real time according to the slip rate, which helps to optimize the vehicle's turning performance on the spot, improve the vehicle's handling performance and driving safety, and reduce tire wear and heat generated, thereby providing the driver with a better driving experience.

[0054] In one embodiment of the present invention, when determining the additional spraying amount based on the slip rate, the controller is specifically configured to: determine the tire type and usage scenario of the wheel; determine the numerical relationship between the slip rate and the additional spraying amount based on the tire type and the usage scenario; determine the additional spraying amount based on the slip rate and the numerical relationship.

[0055] Specifically, the numerical relationship between the slip rate and the additional spraying amount includes but is not limited to a constant control rate, a linear control law, and an exponential control law. Among them, the constant control rate means that the additional spraying amount does not change with the change of the slip rate, the linear control law means that the additional spraying amount is in a certain proportion to the slip rate, and the exponential control law means that the additional spraying amount is in an exponential change law with the slip rate. The embodiment of the present invention determines the numerical relationship between the slip rate and the additional spraying amount according to the tire type and the usage scenario. Specifically, Figure 4 As shown, in different usage scenarios and different tire types, the additional water spraying amount of the spray assembly is calculated according to different control rates based on the slip rate, and then the sum of the preset spraying amount and the additional spraying amount is used as the target spraying amount. Specifically, when the numerical relationship between the slip rate and the additional spraying amount is a constant control rate, the target spraying amount of the spray assembly does not change with the wheel slip rate, and the target spraying amount is consistent with the preset spraying amount stage; when the numerical relationship between the slip rate and the additional spraying amount is a linear control law, the target spraying amount is based on the preset spraying amount plus the additional water spraying amount, and the additional water spraying amount is in a certain proportion to the slip rate; exponential control law, the spray assembly flow is based on the preset spraying amount plus the additional water spraying amount, and the additional water spraying amount is in an exponential variation law with the slip rate. It should be noted that the usage scenarios include but are not limited to dirt roads, asphalt roads and cement roads. The tire type has been preset in the controller in advance, so that the appropriate control rate can be matched according to different models of tires and usage scenarios.

[0056] In a specific embodiment, for example, when a car turns in place on a dirt road, there is a linear relationship between the slip rate and the additional spraying amount, that is, as the slip rate increases, the additional spraying amount increases linearly to provide better traction and stability; when a car turns in place on an asphalt road, there is a constant relationship between the slip rate and the additional spraying amount, and when the slip rate changes, the same additional spraying amount is maintained, and the degree of slip is small at this time; when a car turns in place on a cement road, due to the characteristics of the road surface and the friction coefficient, there is an exponential relationship between the slip rate and the additional spraying amount, and a small change in the slip rate may cause a large change in the additional spraying amount to ensure the stability and safety of the vehicle on a slippery cement road.

[0057] In one embodiment of the present invention, the spray assembly includes at least one water pump. When the spray assembly is controlled to spray the lubricating material according to a target spraying amount, the controller is specifically configured as follows: if each wheel corresponds to a water pump, the target speed of the corresponding water pump is determined according to the target spraying amount corresponding to each wheel, so as to control the speed of the water pump to reach the target speed; if multiple wheels correspond to one water pump, the target speed of the corresponding water pump is determined according to the target spraying amount corresponding to each of the multiple wheels, so as to control the speed of the water pump to reach the target speed.

[0058] Specifically, the target speed is the speed of the water pump in the spraying assembly. By controlling the speed of the water pump, the amount of the lubricating substance sprayed can reach the required target spraying amount. In a specific embodiment, the target speed of the water pump can be obtained based on the target spraying amount and speed relationship curve, wherein the target spraying amount and speed relationship curve can be pre-calibrated through experiments and stored in the controller, which will not be described in detail here.

[0059] In a specific embodiment, if each wheel corresponds to a water pump, the spraying amount required by each wheel is 1000ml, 1500ml, 2000ml and 2500ml respectively, and by looking up the relationship curve between the target spraying amount and the speed, it can be known that the corresponding water pump speeds are 1500r / min, 2250r / min, 3000r / min and 3750r / min respectively. If multiple wheels correspond to one water pump, for example, the left front wheel and the right front wheel correspond to one water pump, and the spraying amount of the left front wheel and the right front wheel corresponds to 1500ml and 2000ml respectively, then the water pump controls the water pump speed according to the target spraying amount corresponding to the left front wheel and the right front wheel.

[0060] In one embodiment of the present invention, when determining the target speed of the corresponding water pump according to the target spraying amount corresponding to each of the multiple wheels, the controller is specifically configured to: determine the target flow rate of the corresponding water pump according to the target spraying amount corresponding to each of the multiple wheels; determine the target speed of the corresponding water pump according to the target flow rate. Specifically, when determining the target flow rate of the corresponding water pump according to the target spraying amount corresponding to each of the multiple wheels, the controller is specifically configured to: take the product of the maximum target spraying amount among the target spraying amounts corresponding to each of the multiple wheels and the number of wheels corresponding to the water pump as the target flow rate of the water pump.

[0061] In a specific embodiment, for example, the left front wheel and the right front wheel correspond to a water pump, that is, the spraying amount of the left front wheel and the right front wheel is controlled by a water pump, and the target spraying amount corresponding to the left front wheel and the right front wheel is, for example, 2000ml and 2500ml respectively, then the target flow rate of the water pump is: 2×max{2000ml, 2500ml}=5000ml. Then, the target speed of the water pump can be obtained based on the target flow rate and speed relationship curve. Among them, the target flow rate and speed relationship curve can be pre-calibrated by experiment and stored in the controller, which will not be repeated here.

[0062] In one embodiment of the present invention, the spray assembly includes at least one spray head, the pitch spray angle of the spray head is greater than a first preset angle, and the horizontal spray angle of the spray head is greater than a second preset angle.

[0063] Specifically, the values ​​of the pitch spray angle and the horizontal spray angle are related to the tire diameter, width, the distance between the nozzle and the ground, and the distance between the nozzle and the tire surface. Figure 5As shown, when the pitch spray angle of the nozzle is greater than the first preset angle, such as α, the width of the overlapping coverage of the water area sprayed by the nozzle on the ground is greater than a certain value a, so that the water can cover the front and rear road surfaces where the wheels are located. When the pitch spray angle of the nozzle is greater than the second preset angle, such as β, the width of the overlapping coverage of the water area sprayed by the nozzle on the ground is greater than a certain value b, so that the water can cover the left and right road surfaces where the wheels are located.

[0064] According to an embodiment of the present invention, a system for controlling vehicle turning in place includes: a spraying component and a controller. The spraying component is used to spray lubricating substances on the ground; the controller is arranged on the vehicle, and the controller is configured to: in response to the control instruction of the vehicle turning in place, control the spraying amount of the spraying component to reach a preset spraying amount, and control the vehicle to turn in place after a preset time; and in the process of turning in place of the vehicle, determine the target spraying amount of the spraying component, and control the spraying component to spray lubricating substances according to the target spraying amount. The system can reduce the friction and wheel end torque between the vehicle and the ground, thereby reducing tire wear, and reducing the vehicle's requirements for transmission ratio and power source, as well as reducing the cost of the vehicle. At the same time, in the process of turning in place of the vehicle, the spraying amount of the spraying component can be adjusted in real time, so that the vehicle can turn in place stably and safely. Further, when the lubricating substance is liquid, the dust or tire wear smell generated when the vehicle rotates can be reduced when the vehicle turns in place on dirt roads and asphalt roads.

[0065] A further embodiment of the present invention also discloses a method for controlling a vehicle to turn in place, and a system for controlling a vehicle to turn in place, such as Figure 6 As shown, the method comprises the following steps:

[0066] Step S1: in response to a control instruction for turning the vehicle on the spot, controlling the spraying amount of the spraying assembly to reach a preset spraying amount, and after a preset time, controlling the vehicle to turn on the spot.

[0067] Step S2: during the process of the vehicle turning in place, determining a target spraying amount of the spraying assembly, and controlling the spraying assembly to spray the lubricating substance according to the target spraying amount.

[0068] In one embodiment of the present invention, a system for controlling vehicle steering on the spot includes a wheel speed sensor and a yaw rate sensor, wherein the wheel speed sensor is arranged on each wheel to measure the actual wheel speed of the corresponding wheel, and the yaw rate sensor is arranged on the vehicle to measure the yaw angular velocity of the center of mass of the vehicle; determining a target spraying amount of a spraying assembly includes: obtaining the actual wheel speed of each wheel and the yaw angular velocity of the center of mass of the vehicle; and determining the target spraying amount of the corresponding wheel according to the actual wheel speed and the yaw angular velocity.

[0069] In one embodiment of the present invention, determining the target spraying amount of the corresponding wheel according to the actual wheel speed and yaw angular velocity includes: determining the slip rate of the corresponding wheel according to the actual wheel speed and yaw angular velocity; and determining the target spraying amount of the corresponding wheel according to the slip rate.

[0070] In one embodiment of the present invention, determining the slip rate of the corresponding wheel according to the actual wheel speed and the yaw angular velocity includes: determining a first wheel speed of each wheel according to the yaw angular velocity; and determining the slip rate of the corresponding wheel according to the first wheel speed and the actual wheel speed.

[0071] In one embodiment of the present invention, determining the first wheel speed of each wheel according to the yaw angular velocity includes:

[0072]

[0073]

[0074] Among them, v_yaw is the first wheel speed, ωr is the yaw angular velocity, a is the distance from the vehicle center of mass to the wheel rotation center along the vehicle lateral direction, and b is the distance from the vehicle center of mass to the wheel rotation center along the vehicle longitudinal direction.

[0075] In one embodiment of the present invention, determining the slip rate of the corresponding wheel according to the first wheel speed and the actual wheel speed includes:

[0076]

[0077] Among them, μ is the slip rate, v_wheel is the actual wheel speed, and v_yaw is the first wheel speed.

[0078] In one embodiment of the present invention, determining the target spraying amount of the corresponding wheel according to the slip rate includes: determining the additional spraying amount according to the slip rate; and taking the sum of the preset spraying amount and the additional spraying amount as the target spraying amount.

[0079] In one embodiment of the present invention, determining the additional spraying amount according to the slip rate includes: determining the tire type and usage scenario of the wheel; determining the numerical relationship between the slip rate and the additional spraying amount according to the tire type and the usage scenario; and determining the additional spraying amount according to the slip rate and the numerical relationship.

[0080] In one embodiment of the present invention, the spray assembly includes at least one water pump, and the spray assembly is controlled to spray the lubricating substance according to a target spraying amount, including: if each wheel corresponds to a water pump, the target speed of the corresponding water pump is determined according to the target spraying amount corresponding to each wheel, so as to control the speed of the water pump to reach the target speed; if multiple wheels correspond to one water pump, the target speed of the corresponding water pump is determined according to the target spraying amount corresponding to each of the multiple wheels, so as to control the speed of the water pump to reach the target speed.

[0081] In one embodiment of the present invention, the target rotation speed of the corresponding water pump is determined according to the target spraying amount corresponding to each of the multiple wheels, including: determining the target flow rate of the corresponding water pump according to the target spraying amount corresponding to each of the multiple wheels; determining the target rotation speed of the corresponding water pump according to the target flow rate.

[0082] In one embodiment of the present invention, the target flow rate of the corresponding water pump is determined according to the target spraying amounts corresponding to each of the multiple wheels, including: taking the product of the maximum target spraying amount among the target spraying amounts corresponding to each of the multiple wheels and the number of wheels corresponding to the water pump as the target flow rate of the water pump.

[0083] In one embodiment of the present invention, the spray assembly includes at least one spray head, the pitch spray angle of the spray head is greater than a first preset angle, and the horizontal spray angle of the spray head is greater than a second preset angle.

[0084] In one embodiment of the present invention, the lubricating substance is a liquid.

[0085] It should be noted that the specific implementation method of the method for controlling vehicle turning on the spot in an embodiment of the present invention is similar to the specific implementation method of the system for controlling vehicle turning on the spot in an embodiment of the present invention. Please refer to the description of the system part for details. In order to reduce redundancy, it will not be repeated here.

[0086] According to the method for controlling the on-the-spot steering of a vehicle according to an embodiment of the present invention, by responding to the control instruction of the on-the-spot steering of the vehicle, the spraying amount of the spray assembly is controlled to reach a preset spraying amount, and after a preset time, the vehicle is controlled to turn on the spot; during the on-the-spot steering of the vehicle, the target spraying amount of the spray assembly is determined, and the spray assembly is controlled to spray lubricating substances according to the target spraying amount. This method can reduce the friction between the vehicle and the ground and the wheel end torque, thereby reducing the wear of the tires, and reducing the requirements of the vehicle on the transmission ratio and power source, as well as reducing the cost of the vehicle. At the same time, during the on-the-spot steering of the vehicle, the spraying amount of the spray assembly can be adjusted in real time, so that the vehicle can perform stable and safe on-the-spot steering. Furthermore, when the lubricating substance is a liquid, when the vehicle turns on the spot on dirt roads and asphalt roads, the dust generated when the vehicle rotates or the smell of tire wear can be reduced.

[0087] A further embodiment of the present invention also discloses a vehicle, which includes: a system for controlling vehicle turning on the spot as described in any of the above embodiments.

[0088] It should be noted that when the vehicle in the embodiment of the present invention controls the vehicle to turn on the spot, its specific implementation method is similar to the specific implementation method of the system for controlling the vehicle to turn on the spot in the embodiment of the present invention. Please refer to the description of the system part for details. In order to reduce redundancy, it will not be repeated here.

[0089] According to the vehicle of the embodiment of the present invention, through the system for controlling the vehicle to turn in place, the system includes: a spraying component for spraying lubricating substances on the ground, a controller, which is arranged on the vehicle, and the controller is configured to: in response to the control instruction of the vehicle turning in place, control the spraying amount of the spraying component to reach a preset spraying amount, control the vehicle to turn in place after a preset time, and during the process of the vehicle turning in place, determine the target spraying amount of the spraying component, and control the spraying component to spray lubricating substances according to the target spraying amount. The method can reduce the friction and wheel end torque between the vehicle and the ground, thereby reducing the wear of the tires, and reduce the requirements of the vehicle on the transmission ratio and power source, and reduce the cost of the vehicle. At the same time, during the process of the vehicle turning in place, the spraying amount of the spraying component can be adjusted in real time, so that the vehicle can turn in place stably and safely. Further, when the lubricating substance is a liquid, the dust or tire wear smell generated when the vehicle rotates can be reduced when the vehicle turns in place on dirt roads and asphalt roads.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0091] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A system for controlling a vehicle to turn in situ, characterized in that: include: A spraying assembly, used for spraying lubricating substances onto the ground; A controller is disposed on the vehicle, and the controller is configured to: in response to a control instruction for turning the vehicle on the spot, control the spraying amount of the spray assembly to reach a preset spraying amount, and control the vehicle to turn on the spot after a preset time; and during the process of turning the vehicle on the spot, determine the target spraying amount of the spray assembly, and control the spray assembly to spray the lubricating substance according to the target spraying amount.

2. The system for controlling vehicle turning in place according to claim 1, characterized in that: The system for controlling the vehicle to turn in situ comprises a wheel speed sensor and a yaw rate sensor, wherein the wheel speed sensor is arranged on each wheel and is used to measure the actual wheel speed of the corresponding wheel, and the yaw rate sensor is arranged on the vehicle and is used to measure the yaw angular velocity of the center of mass of the vehicle; when determining the target spraying amount of the spraying assembly, the controller is specifically configured as follows: Obtaining the actual wheel speed of each wheel and the yaw angular velocity of the center of mass of the vehicle; A target spraying amount corresponding to the wheel is determined according to the actual wheel speed and the yaw angular velocity.

3. The system for controlling vehicle turning in place according to claim 2, characterized in that: When determining the target spraying amount of the corresponding wheel according to the actual wheel speed and the yaw angular velocity, the controller is specifically configured as follows: determining a slip rate of a corresponding wheel according to the actual wheel speed and the yaw angular velocity; The target spraying amount of the corresponding wheel is determined according to the slip rate.

4. The system for controlling vehicle turning in place according to claim 3, characterized in that: When determining the slip rate of the corresponding wheel according to the actual wheel speed and the yaw angular velocity, the controller is specifically configured as follows: determining a first wheel speed of each of the wheels according to the yaw angular velocity; The slip rate of the corresponding wheel is determined according to the first wheel speed and the actual wheel speed.

5. The system for controlling vehicle turning in place according to claim 4, characterized in that: When determining the first wheel speed of each wheel according to the yaw angular velocity, the controller is specifically configured to execute the following calculation formula: Wherein, v_yaw is the first wheel speed, ωr is the yaw angular velocity, a is the distance from the vehicle center of mass to the wheel rotation center along the vehicle transverse direction, and b is the distance from the vehicle center of mass to the wheel rotation center along the vehicle longitudinal direction.

6. The system for controlling vehicle turning in place according to claim 4, characterized in that: When determining the slip rate of the corresponding wheel according to the first wheel speed and the actual wheel speed, the controller is specifically configured to execute the following calculation formula: Wherein, μ is the slip rate, v_wheel is the actual wheel speed, and v_yaw is the first wheel speed.

7. The system for controlling vehicle turning in place according to claim 3, characterized in that: When determining the target spraying amount of the corresponding wheel according to the slip rate, the controller is specifically configured as follows: determining an additional spraying amount according to the slip rate; The sum of the preset spraying amount and the additional spraying amount is taken as the target spraying amount.

8. The system for controlling vehicle turning in place according to claim 7, characterized in that: When determining the additional spraying amount according to the slip rate, the controller is specifically configured as follows: Determining the tire type and usage scenario of the wheel; Determining a numerical relationship between the slip rate and the additional spraying amount according to the tire type and the usage scenario; The additional spraying amount is determined according to the slip ratio and the numerical relationship.

9. The system for controlling vehicle turning in place according to claim 2, characterized in that: The spray assembly includes at least one water pump. When the spray assembly is controlled to spray the lubricating substance according to the target spraying amount, the controller is specifically configured as follows: If each of the wheels corresponds to a water pump, a target rotation speed of the corresponding water pump is determined according to the target spraying amount corresponding to each wheel, so as to control the rotation speed of the water pump to reach the target rotation speed; If a plurality of wheels correspond to one water pump, the target rotation speed of the corresponding water pump is determined according to the target spraying amounts corresponding to the plurality of wheels, so as to control the rotation speed of the water pump to reach the target rotation speed.

10. The system for controlling vehicle turning in place according to claim 9, characterized in that: When determining the target rotation speed of the corresponding water pump according to the target spraying amount corresponding to each of the plurality of wheels, the controller is specifically configured as follows: Determining a target flow rate of a corresponding water pump according to a target spraying amount corresponding to each of the plurality of wheels; The target rotation speed of the corresponding water pump is determined according to the target flow rate.

11. The system for controlling vehicle turning in place according to claim 10, characterized in that: When determining the target flow rate of the corresponding water pump according to the target spraying amount corresponding to each of the plurality of wheels, the controller is specifically configured as follows: The product of the maximum target spraying amount among the target spraying amounts corresponding to the plurality of wheels and the number of wheels corresponding to the water pump is used as the target flow rate of the water pump.

12. The system for controlling vehicle turning in place according to claim 1, characterized in that: The spray assembly includes at least one spray head, a pitch spray angle of the spray head is greater than a first preset angle, and a horizontal spray angle of the spray head is greater than a second preset angle.

13. The system for controlling vehicle turning in place according to claim 1, characterized in that: The lubricating substance is liquid.

14. A method for controlling a vehicle to turn in situ, characterized in that: A system for controlling vehicle turning in situ according to any one of claims 1 to 13, the system comprising a spray assembly, the method comprising the following steps: In response to a control instruction for turning the vehicle on the spot, controlling the spraying amount of the spraying assembly to reach a preset spraying amount, and after a preset time, controlling the vehicle to turn on the spot; During the process of the vehicle turning in place, a target spraying amount of the spraying assembly is determined, and the spraying assembly is controlled to spray lubricating material according to the target spraying amount.

15. A vehicle, characterized in that: include: A system for controlling vehicle turning on the spot as described in any one of claims 1 to 13.

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