System, method, and vehicle for controlling a vehicle to spin in place

Abstract

This invention discloses a system, method, and vehicle for controlling vehicle turning in place. The system includes: a spraying assembly for spraying a lubricating substance onto the ground; and a controller mounted on the vehicle. The controller is configured to: respond to a vehicle turning-in-place control command, control the spraying assembly to achieve a preset spraying volume; after a preset time, control the vehicle to turn in place; and during the vehicle turning in place, determine a target spraying volume of the spraying assembly and control the spraying assembly to spray the lubricating substance according to the target spraying volume. This system can reduce the friction and wheel-end torque between the vehicle and the ground, thereby reducing tire wear, lowering the requirements for the vehicle's transmission ratio and power source, and reducing vehicle costs. Simultaneously, during the vehicle turning in place, the spraying volume of the spraying assembly can be adjusted in real time to enable stable and safe turning in place.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a system, method, and vehicle for controlling vehicle steering in place. Background Technology

[0002] When a vehicle performs a stationary turn, all four wheels need to break through the traction of the ground. In some common stationary turn scenarios, a large wheel-end torque is required to make the vehicle slip. This large wheel-end torque means that the vehicle must be equipped with a powerful power source, which not only increases the design complexity but also the vehicle cost. In addition, when a vehicle performs a stationary turn on a high-traction surface, the tires and the road surface will slip relative to each other, resulting in a significant increase in tire wear and a reduction in tire life. Furthermore, when performing a stationary turn on dirt roads and asphalt roads, it will also generate dust and tire wear odors. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, the object of the present invention is to provide a system, method, and vehicle for controlling the in-situ steering of a vehicle.

[0004] This invention proposes a system for controlling vehicle turning in place. The system includes: a spraying assembly for spraying a lubricating substance onto the ground; and a controller mounted on the vehicle, the controller being configured to: respond to a control command for turning in place, control the spraying volume of the spraying assembly to reach a preset spraying volume, and after a preset time, control the vehicle to turn in place; and during the vehicle turning in place, determine a target spraying volume of the spraying assembly, and control the spraying assembly to spray the lubricating substance according to the target spraying volume.

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

[0006] Furthermore, the system for controlling the vehicle's stationary steering includes wheel speed sensors and yaw rate sensors. The wheel speed sensors are installed on each wheel to measure the actual wheel speed of the corresponding wheel, and the yaw rate sensors are installed on the vehicle to measure the yaw rate of the vehicle's center of gravity. When determining the target spray volume of the spraying assembly, the controller is specifically configured to: acquire the actual wheel speed of each wheel and the yaw rate of the vehicle's center of gravity; and determine the target spray volume for the corresponding wheel based on the actual wheel speed and the yaw rate.

[0007] Furthermore, when determining the target spray volume for the corresponding wheel based on the actual wheel speed and the yaw rate, the controller is specifically configured to: determine the slip ratio of the corresponding wheel based on the actual wheel speed and the yaw rate; and determine the target spray volume for the corresponding wheel based on the slip ratio.

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

[0009] Furthermore, when determining the first wheel speed of each wheel based on the yaw rate, the controller is specifically configured to execute the following calculation:

[0010]

[0011]

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

[0013] Furthermore, when determining the slip ratio of the corresponding wheel based on the first wheel speed and the actual wheel speed, the controller is specifically configured to execute the following calculation formula:

[0014]

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

[0016] Furthermore, when determining the target spray amount for the corresponding wheel based on the slip ratio, the controller is specifically configured to: determine an additional spray amount based on the slip ratio; and use the sum of the preset spray amount and the additional spray amount as the target spray amount.

[0017] Furthermore, when determining the additional spray volume based on the slip ratio, the controller is specifically configured to: determine the tire type and usage scenario of the wheel; determine the numerical relationship between the slip ratio and the additional spray volume based on the tire type and the usage scenario; and determine the additional spray volume based on the slip ratio and the numerical relationship.

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

[0019] Furthermore, when determining the target rotational speed of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels, the controller is specifically configured to: determine the target flow rate of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels; and determine the target rotational speed of the corresponding water pump based on the target flow rate.

[0020] Furthermore, when determining the target flow rate of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels, the controller is specifically configured to: take the product of the maximum target spray volume among the target spray volumes 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 spraying assembly includes at least one nozzle, the pitch angle of the nozzle being greater than a first preset angle, and the horizontal spray angle of the nozzle being greater than a second preset angle.

[0022] Furthermore, in the system for controlling vehicle steering in place, the lubricant is a liquid.

[0023] A system for controlling vehicle steering in place according to an embodiment of the present invention includes a spraying assembly and a controller. The spraying assembly sprays a lubricating substance onto the ground. The controller is mounted on the vehicle and configured to: respond to a steering control command, control the spraying volume of the spraying assembly to reach a preset spraying volume, and after a preset time, control the vehicle to turn in place; and during the vehicle's steering in place, determine a target spraying volume of the spraying assembly and control the spraying assembly to spray the lubricating substance according to the target spraying volume. This system can reduce the friction and wheel-end torque between the vehicle and the ground, thereby reducing tire wear, lowering the requirements for the vehicle's transmission ratio and power source, and reducing vehicle costs. Simultaneously, during the vehicle's steering in place, the spraying volume of the spraying assembly can be adjusted in real time to enable stable and safe steering in place.

[0024] To address the aforementioned problems, the present invention also proposes a method for controlling vehicle turning in place, used in a system for controlling vehicle turning in place as described in any of the above embodiments. The system includes a spraying assembly, and the method includes the following steps: in response to a control command for vehicle turning in place, controlling the spraying amount of the spraying assembly to reach a preset spraying amount; after a preset time, controlling the vehicle to turn in place; during the process of vehicle turning in place, determining a target spraying amount of the spraying assembly, and controlling the spraying assembly to spray a lubricating substance according to the target spraying amount.

[0025] According to an embodiment of the present invention, a method for controlling vehicle steering in place involves controlling the spraying volume of a spraying assembly to reach a preset spraying volume in response to a vehicle steering control command, and then controlling the vehicle to turn in place after a preset time. During the vehicle steering process, a target spraying volume of the spraying assembly is determined, and the spraying assembly is controlled to spray a lubricating substance based on the target spraying volume. This method can reduce the friction and wheel-end torque between the vehicle and the ground, thereby reducing tire wear, lowering the requirements for the vehicle's transmission ratio and power source, and reducing vehicle costs. Simultaneously, the spraying volume of the spraying assembly can be adjusted in real time during the vehicle steering process, enabling stable and safe in-place steering. Furthermore, when the lubricating substance is liquid, it can reduce dust or tire wear odors generated during vehicle steering on dirt roads and asphalt surfaces.

[0026] To address the aforementioned problems, the present invention also proposes a vehicle, including: a system for controlling the vehicle to turn in place as described in any of the above embodiments.

[0027] According to an embodiment of the present invention, a vehicle can perform stationary turning via a system that controls the vehicle's stationary turning. This system includes a spraying assembly and a controller. The spraying assembly sprays a lubricating substance onto the ground. The controller, mounted on the vehicle, is configured to: respond to a control command for stationary turning, control the spraying volume of the spraying assembly to reach a preset spraying volume, and after a preset time, control the vehicle to turn in place. During the stationary turning process, the system determines a target spraying volume of the spraying assembly and controls the spraying of the lubricating substance based on the target spraying volume. This system can reduce the friction and wheel-end torque between the vehicle and the ground, thereby reducing tire wear, lowering the vehicle's requirements for transmission ratio and power source, and reducing vehicle costs. Simultaneously, during stationary turning, the spraying volume of the spraying assembly can be adjusted in real time to ensure stable and safe stationary turning. Furthermore, when the lubricating substance is liquid, it can reduce dust or tire wear odors generated during vehicle turning on dirt roads and asphalt surfaces.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

[0030] Figure 1 This is a schematic diagram of a system for controlling vehicle steering in place according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of a stationary steering sprinkler system according to an embodiment of the present invention;

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

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

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

[0035] Figure 6 This is a flowchart of a method for controlling a vehicle to turn in place according to an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] The following is for reference. Figures 1-6 A system, method, and vehicle for controlling vehicle steering in place according to embodiments of the present invention are described.

[0038] Figure 1 This is a schematic diagram of a system for controlling vehicle steering in place according to an embodiment of the present invention. Figure 1As shown, a system for controlling vehicle turning in place includes a spraying assembly 11 and a controller 12. The spraying assembly 11 sprays a lubricating substance onto the ground. The controller 12 is mounted on the vehicle and is configured to: respond to a vehicle turning-in-place control command, control the spraying volume of the spraying assembly 11 to reach a preset spraying volume, and after a preset time, control the vehicle to turn in place; and during the vehicle turning in place, determine the target spraying volume of the spraying assembly 11 and control the spraying assembly 11 to spray the lubricating substance according to the target spraying volume. Specifically, the lubricating substance is a liquid.

[0039] Specifically, when the controller 12 receives a control command for the vehicle to turn in place, the controller 12 controls the spraying component 11 to spray at a preset amount and maintain it for a preset time. This reduces the friction between the vehicle and the ground and the wheel-end torque during the vehicle's turn, thereby reducing tire wear, lowering the vehicle's requirements for transmission ratio and power source, and reducing vehicle costs. During the vehicle's turn, the spraying component 11 sprays a lubricating substance according to the target spraying amount, allowing for real-time adjustment of the spraying amount to ensure stable and safe turning. Furthermore, the lubricating substance is liquid, which reduces dust or tire wear odors generated during vehicle turning on dirt roads and asphalt surfaces. It is understandable that a vehicle's stationary steering function is achieved by applying a reverse driving torque to the inner wheel and a positive driving torque to the outer wheel. In this way, the differential torque between the inner and outer wheels will generate a yaw moment at the vehicle's center of gravity. When the yaw moment is large enough, the vehicle breaks through the road surface adhesion and begins to turn, thus achieving the stationary steering function.

[0040] It should be noted that the preset spray volume is determined based on the vehicle's usage scenario, the number of nozzles, their arrangement, and the nozzle's pitch and horizontal spray angles. The preset time is a pre-set time interval stored in the controller 12, determined based on the usage scenario, preset water volume, number of nozzles, nozzle arrangement, and nozzle pitch and horizontal spray angles. In a specific embodiment, the preset water volume and preset time need to be determined experimentally along with the nozzle parameters.

[0041] In a specific embodiment, the spraying assembly 11 includes at least one spray nozzle, a water pump, and a water tank, and the lubricant is, for example, water. Figure 2As shown in the diagram, the system includes independently driveable wheels, wheel speed sensors that measure tire rotation speed, yaw rate sensors that measure the yaw rate of the center of gravity, spray nozzles, a water pump that provides a certain water flow to the spray nozzles, a water tank that provides water to the water pump, and an ECU (Engine Electronic Control Unit) that executes control algorithms. To enable U-turns, 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, the system for controlling the vehicle's stationary steering includes wheel speed sensors and yaw rate sensors. The wheel speed sensors are disposed on each wheel to measure the actual wheel speed of the corresponding wheel, and the yaw rate sensors are disposed on the vehicle to measure the yaw rate of the vehicle's center of gravity. When determining the target spray volume of the spraying assembly, the controller is specifically configured to: acquire the actual wheel speed of each wheel and the yaw rate of the vehicle's center of gravity; and determine the target spray volume of the corresponding wheel based on the actual wheel speed and yaw rate.

[0043] Specifically, the actual wheel speed is the speed of the wheel during a stationary turn, obtained through wheel speed sensors. The yaw rate of the vehicle's center of gravity is the angular velocity of the vehicle rotating around its vertical axis in a horizontal plane, obtained through a yaw rate sensor. After acquiring the actual wheel speed of each wheel and the yaw rate of the vehicle's center of gravity, the controller determines the target spray volume for each wheel based on these parameters. It then controls the spraying assembly to spray lubricating material according to the target spray volume, thereby achieving real-time adjustment of the spray volume and enabling the vehicle to perform stable and safe stationary turns.

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

[0045] Specifically, slip ratio is used to represent the degree of tire slippage 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, enabling the vehicle to perform stable and safe turning in place, this embodiment of the invention controls the target spray volume by the magnitude of the slip ratio. In a specific embodiment, this embodiment of the invention determines the slip ratio of the corresponding wheel based on the actual wheel speed of each wheel and the yaw rate of the vehicle's center of gravity. That is: the first wheel speed of each wheel is determined based on the yaw rate; the slip ratio 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 when the wheel is in a pure rolling state, such as... Figure 3As shown, the first wheel speed is denoted as v_yaw, for example. Specifically, when determining the first wheel speed of each wheel based on the yaw rate, the controller is specifically configured to execute the following calculation:

[0046]

[0047]

[0048] Where v_yaw is the first wheel speed, ωr is the yaw rate, a is the distance from the vehicle's center of mass to the wheel's rotation center along the vehicle's lateral direction, and b is the distance from the vehicle's center of mass to the wheel's rotation center along the vehicle's longitudinal direction.

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

[0050]

[0051] Where μ is the slip ratio, 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 for the corresponding wheel based on the slip ratio, the controller is specifically configured to: determine an additional spraying amount based on the slip ratio; and use the sum of the preset spraying amount and the additional spraying amount as the target spraying amount.

[0053] Specifically, during a vehicle's stationary turn, to ensure that the friction between the wheels and the ground is within an appropriate range, enabling the vehicle to turn stably and safely, this embodiment of the invention determines an additional spray volume based on the slip ratio, and determines a target spray volume based on the additional spray volume and a preset spray volume. This allows for real-time adjustment of the spray volume of the spraying components according to the slip ratio, which helps optimize the vehicle's stationary turn performance, improves the vehicle's handling performance and driving safety, while reducing tire wear and heat generation, 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 ratio, the controller is specifically configured to: determine the tire type and usage scenario of the wheel; determine the numerical relationship between the slip ratio and the additional spraying amount based on the tire type and usage scenario; and determine the additional spraying amount based on the slip ratio and the numerical relationship.

[0055] Specifically, the numerical relationship between slip ratio and additional spray volume includes, but is not limited to, constant control rate, linear control law, and exponential control law. A constant control rate means the additional spray volume does not change with slip ratio; a linear control law means the additional spray volume is proportional to slip ratio; and an exponential control law means the additional spray volume changes exponentially with slip ratio. This invention determines the numerical relationship between slip ratio and additional spray volume based on tire type and usage scenario. Specifically, for example… Figure 4 As shown, under different usage scenarios and tire types, the additional water spray volume of the spraying component is calculated according to different control rates based on the slip ratio. The sum of the preset spray volume and the additional spray volume is then used as the target spray volume. Specifically, when the numerical relationship between the slip ratio and the additional spray volume is a constant control rate, the target spray volume of the spraying component does not change with the wheel slip ratio, and the target spray volume remains consistent with the preset spray volume. When the numerical relationship between the slip ratio and the additional spray volume is a linear control law, the target spray volume is the preset spray volume plus the additional water spray volume, and this additional water spray volume is proportional to the slip ratio. For exponential control laws, the spraying component flow rate is the preset spray volume plus the additional water spray volume, and this additional water spray volume changes exponentially with the slip ratio. It should be noted that usage scenarios include, but are not limited to, dirt roads, asphalt roads, and cement roads. The tire type is preset in the controller, allowing for the matching of appropriate control rates based on different tire models and usage scenarios.

[0056] In specific embodiments, for example, when a car makes a stationary turn on a dirt road, there is a linear relationship between the slip ratio and the additional spray volume. That is, as the slip ratio increases, the additional spray volume increases linearly to provide better traction and stability. When a car makes a stationary turn on an asphalt road, there is a constant relationship between the slip ratio and the additional spray volume. When the slip ratio changes, the same additional spray volume is maintained, and the degree of slippage is small. When a car makes a stationary turn on a cement road, due to the characteristics of the road surface and the coefficient of friction, there is an exponential relationship between the slip ratio and the additional spray volume. A small change in the slip ratio may lead to a large change in the additional spray volume to ensure the stability and safety of the vehicle on the wet and slippery cement road surface.

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

[0058] Specifically, the target rotational speed is the rotational speed of the water pump in the spraying assembly. By controlling the rotational speed of the water pump, the amount of lubricating material sprayed can reach the required target spray volume. In a specific embodiment, the target rotational speed of the water pump can be obtained based on the curve showing the relationship between the target spray volume and the rotational speed. The curve showing the relationship between the target spray volume and the rotational speed can be pre-calibrated experimentally and stored in the controller, which will not be elaborated here.

[0059] In a specific embodiment, if each wheel corresponds to a separate water pump, and the required spray volume for each wheel is 1000ml, 1500ml, 2000ml, and 2500ml respectively, the corresponding water pump speeds can be determined by consulting the target spray volume versus speed curve: 1500r / min, 2250r / min, 3000r / min, and 3750r / min respectively. If multiple wheels correspond to a single water pump, for example, the left front wheel and the right front wheel each correspond to a single water pump, and the spray volumes for the left and right front wheels are 1500ml and 2000ml respectively, then the water pump speed is controlled according to the respective target spray volumes for the left and right front wheels.

[0060] In one embodiment of the present invention, when determining the target rotational speed of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels, the controller is specifically configured to: determine the target flow rate of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels; and determine the target rotational speed of the corresponding water pump based on the target flow rate. Specifically, when determining the target flow rate of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels, the controller is specifically configured to: use the product of the maximum target spray volume among the target spray volumes 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, one water pump corresponds to each of the left and right front wheels. That is, one water pump controls the spray volume of the left and right front wheels. The target spray volumes for the left and right front wheels are, for example, 2000ml and 2500ml respectively. Therefore, 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 versus speed curve. The target flow rate versus speed curve can be pre-calibrated experimentally and stored in the controller, which will not be elaborated here.

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

[0063] Specifically, the values ​​of the pitch and horizontal spray angles are related to the tire diameter, width, distance of the nozzle from the ground, and distance of the nozzle from the tire tread. For example... Figure 5As shown, when the pitch angle of the nozzle is greater than a first preset angle, such as α, the width of the sprayed water on the ground overlaps with a certain value 'a', thus allowing water to cover the road surface in front of and behind the wheel positions. When the pitch angle of the nozzle is greater than a second preset angle, such as β, the width of the sprayed water on the ground overlaps with a certain value 'b', thus allowing water to cover the road surface to the left and right of the wheel positions.

[0064] A system for controlling vehicle steering in place according to an embodiment of the present invention includes a spraying assembly and a controller. The spraying assembly sprays a lubricating substance onto the ground. The controller is mounted on the vehicle and configured to: respond to a vehicle steering control command, control the spraying amount of the spraying assembly to reach a preset spraying amount, and after a preset time, control the vehicle to turn in place; during the vehicle steering in place, determine the target spraying amount of the spraying assembly, and control the spraying assembly to spray the lubricating substance according to the target spraying amount. This system can reduce the friction and wheel-end torque between the vehicle and the ground, thereby reducing tire wear, lowering the requirements for the vehicle's transmission ratio and power source, and reducing vehicle costs. Simultaneously, during the vehicle steering in place, the spraying amount of the spraying assembly can be adjusted in real time to enable stable and safe steering. Furthermore, when the lubricating substance is liquid, it can reduce dust or tire wear odors generated during vehicle steering on dirt roads and asphalt surfaces.

[0065] Further embodiments of the present invention disclose a method for controlling vehicle steering in place, and a system for controlling vehicle steering in place, such as... Figure 6 As shown, the method includes the following steps:

[0066] Step S1: In response to the control command of turning the vehicle in place, control the spraying volume of the spraying component to reach the preset spraying volume, and after a preset time, control the vehicle to turn in place.

[0067] Step S2: During the vehicle's stationary turning process, determine the target spray volume of the spraying component, and control the spraying component to spray lubricating material according to the target spray volume.

[0068] In one embodiment of the present invention, the system for controlling the vehicle's stationary steering includes a wheel speed sensor and a yaw rate sensor. The wheel speed sensor is disposed on each wheel to measure the actual wheel speed of the corresponding wheel, and the yaw rate sensor is disposed on the vehicle to measure the yaw rate of the vehicle's center of gravity. Determining the target spray volume of the spraying assembly includes: acquiring the actual wheel speed of each wheel and the yaw rate of the vehicle's center of gravity; and determining the target spray volume of the corresponding wheel based on the actual wheel speed and the yaw rate.

[0069] In one embodiment of the present invention, determining the target spraying amount for the corresponding wheel based on the actual wheel speed and yaw rate includes: determining the slip ratio of the corresponding wheel based on the actual wheel speed and yaw rate; and determining the target spraying amount for the corresponding wheel based on the slip ratio.

[0070] In one embodiment of the present invention, determining the slip ratio of the corresponding wheel based on the actual wheel speed and yaw rate includes: determining a first wheel speed of each wheel based on the yaw rate; and determining the slip ratio of the corresponding wheel based on 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 based on the yaw rate includes:

[0072]

[0073]

[0074] Where v_yaw is the first wheel speed, ωr is the yaw rate, a is the distance from the vehicle's center of mass to the wheel's rotation center along the vehicle's lateral direction, and b is the distance from the vehicle's center of mass to the wheel's rotation center along the vehicle's longitudinal direction.

[0075] In one embodiment of the present invention, determining the slip ratio of the corresponding wheel based on the first wheel speed and the actual wheel speed includes:

[0076]

[0077] Where μ is the slip ratio, 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 for the corresponding wheel based on the slip ratio includes: determining an additional spraying amount based on the slip ratio; and using 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 based on the slip ratio includes: determining the tire type and usage scenario of the wheel; determining the numerical relationship between the slip ratio and the additional spraying amount based on the tire type and usage scenario; and determining the additional spraying amount based on the slip ratio and the numerical relationship.

[0080] In one embodiment of the present invention, the spraying assembly includes at least one water pump. Controlling the spraying assembly to spray lubricating material according to a target spraying amount includes: if each wheel corresponds to one water pump, then determining the target rotational speed of the corresponding water pump according to the target spraying amount corresponding to each wheel, so as to control the rotational speed of the water pump to reach the target rotational speed; if multiple wheels correspond to one water pump, then determining the target rotational speed of the corresponding water pump according to the target spraying amount corresponding to each of the multiple wheels, so as to control the rotational speed of the water pump to reach the target rotational speed.

[0081] In one embodiment of the present invention, determining the target rotation speed of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels includes: determining the target flow rate of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels; and determining the target rotation speed of the corresponding water pump based on the target flow rate.

[0082] In one embodiment of the present invention, determining the target flow rate of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels includes: taking the product of the maximum target spray volume among the target spray volumes 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 spraying assembly includes at least one nozzle, wherein the pitch spray angle of the nozzle is greater than a first preset angle, and the horizontal spray angle of the nozzle is greater than a second preset angle.

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

[0085] It should be noted that the method for controlling vehicle steering in place in this embodiment of the invention is similar in its specific implementation to the system for controlling vehicle steering in place in this embodiment of the invention. For details, please refer to the description in the system section. To reduce redundancy, it will not be repeated here.

[0086] According to an embodiment of the present invention, a method for controlling vehicle steering in place involves controlling the spraying volume of a spraying assembly to reach a preset spraying volume in response to a vehicle steering control command, and then controlling the vehicle to turn in place after a preset time. During the vehicle steering process, a target spraying volume of the spraying assembly is determined, and the spraying assembly is controlled to spray a lubricating substance based on the target spraying volume. This method can reduce the friction and wheel-end torque between the vehicle and the ground, thereby reducing tire wear, lowering the requirements for the vehicle's transmission ratio and power source, and reducing vehicle costs. Simultaneously, the spraying volume of the spraying assembly can be adjusted in real time during the vehicle steering process, enabling stable and safe in-place steering. Furthermore, when the lubricating substance is liquid, it can reduce dust or tire wear odors generated during vehicle steering on dirt roads and asphalt surfaces.

[0087] Further embodiments of the present invention disclose a vehicle comprising: a system for controlling the vehicle to turn in place as described in any of the above embodiments.

[0088] It should be noted that the specific implementation method of controlling the vehicle to turn in place in the embodiment of the present invention is similar to the specific implementation method of the system for controlling the vehicle to turn in place in the embodiment of the present invention. For details, please refer to the description in the system section. In order to reduce redundancy, it will not be repeated here.

[0089] According to an embodiment of the present invention, a system for controlling vehicle steering in place includes: a spraying assembly for spraying a lubricating substance onto the ground; and a controller disposed on the vehicle, configured to: respond to a control command for vehicle steering in place, control the spraying amount of the spraying assembly to reach a preset spraying amount, control the vehicle to turn in place after a preset time, and determine a target spraying amount of the spraying assembly during the vehicle steering process, and control the spraying assembly to spray the lubricating substance according to the target spraying amount. This method can reduce the friction and wheel-end torque between the vehicle and the ground, thereby reducing tire wear, reducing the requirements of the vehicle's transmission ratio and power source, and reducing vehicle costs. Simultaneously, during the vehicle steering in place, the spraying amount of the spraying assembly can be adjusted in real time to enable stable and safe vehicle steering. Furthermore, when the lubricating substance is liquid, it can reduce dust or tire wear odors generated during vehicle steering on dirt roads and asphalt surfaces.

[0090] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

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

Claims

1. A system for controlling the in-situ steering of a vehicle, characterized in that, include: Spraying assembly for spraying lubricating substances onto the ground; A controller, installed on a vehicle, is configured to: respond to a control command for turning the vehicle in place, control the spraying amount of the spraying assembly to reach a preset spraying amount, and after a preset time, control the vehicle to turn in place; and during the turning of the vehicle in place, determine the target spraying amount of the spraying assembly, and control the spraying assembly to spray the lubricating substance according to the target spraying amount; The system for controlling the vehicle's stationary steering includes wheel speed sensors and yaw rate sensors. The wheel speed sensors are installed on each wheel to measure the actual wheel speed of the corresponding wheel. The yaw rate sensor is installed on the vehicle to measure the yaw rate of the vehicle's center of gravity. When determining the target spray volume of the spraying assembly, the controller is specifically configured as follows: Obtain the actual wheel speed of each wheel and the yaw rate of the vehicle's center of gravity; The slip ratio of the corresponding wheel is determined based on the actual wheel speed and the yaw rate. The target spray volume for the corresponding wheel is determined based on the slip ratio.

2. The system for controlling vehicle steering in place according to claim 1, characterized in that, When determining the slip ratio of the corresponding wheel based on the actual wheel speed and the yaw rate, the controller is specifically configured as follows: The first wheel speed of each wheel is determined based on the yaw rate. The slip ratio of the corresponding wheel is determined based on the first wheel speed and the actual wheel speed.

3. The system for controlling vehicle steering in place according to claim 2, characterized in that, When determining the first wheel speed of each wheel based on the yaw rate, the controller is specifically configured to perform the following calculation: ； ； in, The first wheel speed, The yaw rate is... The distance from the vehicle's center of mass to the wheel's center of rotation along the vehicle's lateral direction. The distance from the vehicle's center of mass to the wheel's rotation center along the vehicle's longitudinal direction.

4. The system for controlling vehicle steering in place according to claim 2, characterized in that, When determining the slip ratio of the corresponding wheel based on the first wheel speed and the actual wheel speed, the controller is specifically configured to execute the following calculation: ； in, The slip ratio, The actual wheel speed, This is the first wheel speed.

5. The system for controlling vehicle steering in place according to claim 1, characterized in that, When determining the target spray volume for the corresponding wheel based on the slip ratio, the controller is specifically configured as follows: The additional spraying amount is determined based on the slip ratio; The sum of the preset spraying amount and the additional spraying amount is taken as the target spraying amount.

6. The system for controlling vehicle steering in place according to claim 5, characterized in that, When determining the additional spray volume based on the slip ratio, the controller is specifically configured as follows: Determine the tire type and usage scenario of the wheels; Determine the numerical relationship between the slip ratio and the additional spray volume based on the tire type and the usage scenario; The additional spraying amount is determined based on the slip ratio and the numerical relationship.

7. The system for controlling vehicle steering in place according to claim 1, characterized in that, The spraying assembly includes at least one water pump, and when the spraying assembly is controlled to spray the lubricating substance according to the target spraying volume, the controller is specifically configured to: If each wheel corresponds to a water pump, the target rotation speed of the corresponding water pump is determined according to the target spray volume corresponding to each wheel, so as to control the rotation speed of the water pump to reach the target rotation speed; If multiple wheels correspond to one water pump, the target rotation speed of the corresponding water pump is determined according to the target spray volume corresponding to each of the multiple wheels, so as to control the rotation speed of the water pump to reach the target rotation speed.

8. The system for controlling vehicle steering in place according to claim 7, characterized in that, When determining the target rotational speed of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels, the controller is specifically configured as follows: The target flow rate of the corresponding water pump is determined based on the target spray volume corresponding to each of the multiple wheels; The target speed of the corresponding water pump is determined based on the target flow rate.

9. The system for controlling vehicle steering in place according to claim 8, characterized in that, When determining the target flow rate of the corresponding water pump based on the target spray volume corresponding to each of the multiple wheels, the controller is specifically configured as follows: The target flow rate of the water pump is the product of the maximum target spray volume among the target spray volumes corresponding to each of the multiple wheels and the number of wheels corresponding to the water pump.

10. The system for controlling vehicle steering in place according to claim 1, characterized in that, The spraying assembly includes at least one nozzle, wherein the pitch angle of the nozzle is greater than a first preset angle, and the horizontal angle of the nozzle is greater than a second preset angle.

11. The system for controlling vehicle steering in place according to claim 1, characterized in that, The lubricating substance is a liquid.

12. A method for controlling a vehicle to turn in place, characterized in that, A system for controlling vehicle in-situ steering as described in any one of claims 1-11, the system comprising a spraying assembly, the method comprising the steps of: In response to a control command to turn the vehicle in place, the spraying volume of the spraying assembly is controlled to reach a preset spraying volume, and after a preset time, the vehicle is controlled to turn in place. During the vehicle's stationary turning process, the target spray volume of the spraying assembly is determined, and the spraying assembly is controlled to spray lubricating substances according to the target spray volume.

13. A vehicle, characterized in that, include: The system for controlling vehicle turning in place as described in any one of claims 1-11.

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