Vehicle crab control method, electronic device, vehicle, and storage medium

Abstract

The application provides a vehicle crabbing control method, an electronic device, a vehicle and a storage medium, and applies to the technical field of vehicle control. The method comprises the following steps: when the circumferential crabbing movement function of the vehicle is in an activated state, a preset circumferential crabbing radius and a preset circumferential crabbing angular velocity are acquired; the target circumferential crabbing wheel speed of the wheel when the vehicle performs circumferential crabbing movement is determined according to the preset circumferential crabbing angular velocity and the preset circumferential crabbing radius; the target circumferential crabbing rotation angle of the wheel when the vehicle performs circumferential crabbing movement is determined according to the geometric parameters of the vehicle, the preset circumferential crabbing angular velocity and the preset circumferential crabbing radius; the steering angle of the wheel is controlled according to the target circumferential crabbing rotation angle, and the wheel speed of the wheel is controlled according to the target circumferential crabbing wheel speed, so that the vehicle performs circumferential crabbing movement. The application realizes position adjustment while keeping the direction of the vehicle body constant, improves movement flexibility, and enhances the maneuvering flexibility and technical performance of the vehicle in various scenes.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle crabbing control method, electronic equipment, vehicle, and storage medium. Background Technology

[0002] With the development of automotive electrification and intelligentization technologies, distributed drive vehicles, especially corner module vehicles with four-wheel independent steering and four-wheel independent drive, have brought a new technological path to vehicle motion control. These vehicles, through independent control of all four wheels, can achieve special maneuverability that traditional vehicles cannot, such as U-turns and crab-like maneuvers, thus improving the vehicle's maneuverability in confined spaces to a certain extent.

[0003] Currently, crab-like motion control for vehicles involves steering the two rear wheels in the same direction as the front wheels and applying differential torque control to the two rear wheels to achieve crab-like motion. However, this control method is limited to crab-like motion along a straight trajectory, lacking sufficient motion flexibility and making it difficult to adapt to complex scenarios. Summary of the Invention

[0004] This application provides a vehicle crabbing control method, electronic device, vehicle, and storage medium to solve the problem that current vehicle crabbing motion control is limited to straight-line trajectory crabbing motion, which has insufficient flexibility and is difficult to adapt to complex scenario requirements.

[0005] In a first aspect, this application provides a vehicle crabbing control method, comprising:

[0006] With the vehicle's circular crab motion function active, obtain the preset circular crab radius and preset circular crab angular velocity;

[0007] Based on the preset circumferential angular velocity and preset circumferential radius, determine the target circumferential wheel speed of the wheels when the vehicle is in circumferential angular motion;

[0008] Based on the vehicle's geometric parameters, preset circumferential angular velocity, and preset circumferential radius, determine the target circumferential angular rotation angle of the wheels during the vehicle's circumferential angular motion.

[0009] The steering angle of the wheels is controlled according to the target circumferential crab-like turning angle, and the wheel speed is controlled according to the target circumferential crab-like wheel speed, so that the vehicle can perform circumferential crab-like motion.

[0010] In one possible embodiment, determining the target circular crabging angle of the wheels during the vehicle's circular crabging motion, based on the vehicle's geometric parameters, a preset circular crabging angular velocity, and a preset circular crabging radius, includes:

[0011] Determine the target circular angular velocity of the crab based on the preset circular crab angular velocity;

[0012] Based on the integral of the target circular angular velocity over time, the real-time circular revolution angle is determined. The real-time circular revolution angle represents the real-time angle between the vehicle body direction and the tangent direction of the circular trajectory.

[0013] Based on the geometric constraint in Ackerman steering geometry that the perpendiculars of all wheel velocity directions intersect at the center of the revolution circle, the target circular crabging angle of the wheels is determined according to the real-time circular crabging revolution angle, geometric parameters, and preset circular crabging radius.

[0014] In one possible embodiment, determining the target circular crabging wheel speed of the wheels during the vehicle's circular crabging motion, based on a preset circular crabging angular velocity and a preset circular crabging radius, includes:

[0015] Based on the preset circumferential angular velocity of the crab, the target circumferential angular velocity of the crab is determined, and the target circumferential angular velocity of the crab changes with time with the preset circumferential angular velocity as the target value;

[0016] The real-time circular revolution angle of the crab is determined by integrating the target circular crab angular velocity over time.

[0017] Based on the real-time circular crab-like revolution angle, geometric parameters, and preset circular crab-like revolution radius, the instantaneous distance from the wheel center to the revolution center is determined;

[0018] Based on the geometric characteristic that the angular velocity of each wheel relative to the center of revolution is equal to the target circumferential angular velocity, the target circumferential angular velocity is multiplied by the instantaneous distance of each wheel to obtain the target circumferential angular velocity of the wheel during the vehicle's circumferential angular motion.

[0019] In one possible embodiment, controlling the wheel speed based on the target circumferential crab-like wheel speed includes:

[0020] Obtain the actual circumferential speed of the wheel during crab-like motion;

[0021] Determine the wheel speed error between the actual circumferential crab-like wheel speed and the target circumferential crab-like wheel speed;

[0022] Based on the proportional-integral-derivative (PID) control algorithm, the target circumferential crab-walking motor torque corresponding to the wheel is determined according to the wheel speed error;

[0023] The drive motor of the wheel is controlled based on the target circumference crab-like motor torque.

[0024] In one possible embodiment, prior to the vehicle's circular crabbing motion function being activated, the method further includes:

[0025] The vehicle's circular crab motion function is set to standby mode, and each wheel is controlled to turn to the corresponding initial circular crab motion angle. The initial circular crab motion angle represents the wheel angle at the start of the circular crab motion and is determined based on the preset circular crab motion radius.

[0026] In one possible embodiment, it is determined whether the vehicle's circular crab-like motion function is in standby mode by:

[0027] When the vehicle meets the preset standby conditions for the circular crab-like motion function, the circular crab-like motion function is determined to be in standby mode; wherein, the standby conditions for the circular crab-like motion function include:

[0028] The vehicle is stationary;

[0029] The circumferential crab-walking function switch is in the on position;

[0030] The preset circular crab movement radius and preset circular crab movement angular velocity have been set.

[0031] And, the vehicle's brake pedal was pressed.

[0032] In one possible embodiment, whether the vehicle's circular crabbing motion function is active is determined by the following method:

[0033] When the vehicle meets the preset transition conditions for circular crabging angular velocity or steady-state circular crabging motion conditions, the circular crabging motion function is determined to be activated.

[0034] In one possible embodiment, the transition condition for the circumferential crab-like angular velocity includes:

[0035] The vehicle is stationary;

[0036] The circumferential crab-walking function switch remains on.

[0037] The preset circular crab-movement radius and preset circular crab-movement angular velocity remain unchanged;

[0038] The actual rotation angle of the wheel is equal to the initial circumferential crab rotation angle;

[0039] And, the vehicle's brake pedal was not pressed.

[0040] In one possible embodiment, the steady-state circular crab motion conditions include:

[0041] The circumferential crab-walking function switch remains on.

[0042] The preset circular crab-movement radius and preset circular crab-movement angular velocity remain unchanged;

[0043] The vehicle's actual circumferential crabging angular velocity is equal to the preset circumferential crabging angular velocity, and the duration is greater than or equal to the preset duration threshold.

[0044] And, the vehicle's brake pedal was not pressed.

[0045] In one possible embodiment, the state of the circumferential crab-walking motion function further includes: a closed state and a ready state;

[0046] The vehicle crabbing control method also includes:

[0047] When the function is off, the circular crab-like motion is not controlled.

[0048] In standby mode, the output torque of the drive motor corresponding to the wheel is zero; in response to the detection of the circular crab motion function exit command, the actual rotation angle of the wheel is controlled to return to the center.

[0049] In the ready state, the actual rotation angle of the control wheel remains unchanged, and the output torque of the drive motor corresponding to the wheel is controlled to be zero.

[0050] Secondly, this application provides a vehicle crabbing control device, comprising:

[0051] The acquisition module is used to acquire the preset circular crab motion radius and preset circular crab motion angular velocity when the vehicle's circular crab motion function is activated.

[0052] The determination module is used to determine the target circular crabging wheel speed of the wheels when the vehicle is in circular crabging motion, based on the preset circular crabging angular velocity and the preset circular crabging radius.

[0053] The determination module is also used to determine the target circumferential gyration angle of the wheels when the vehicle is in circumferential gyration motion, based on the vehicle's geometric parameters, preset circumferential gyration angular velocity, and preset circumferential gyration radius.

[0054] The control module is used to control the steering angle of the wheels according to the target circumferential crab-like turning angle, and to control the wheel speed according to the target circumferential crab-like wheel speed, so that the vehicle can perform circumferential crab-like motion.

[0055] In one possible embodiment, the determining module is specifically used to: determine a target circular angular velocity based on a preset circular angular velocity; determine a real-time circular revolution angle based on the integral of the target circular angular velocity over time, wherein the real-time circular revolution angle represents the real-time angle between the vehicle's body direction and the tangent direction of the circular angular trajectory; and determine the target circular angular angle of the wheels during the vehicle's circular angular motion based on the geometric constraint that the perpendiculars of all wheel velocity directions intersect at the center of the revolution circle in the Ackerman steering geometry, according to the real-time circular revolution angle, geometric parameters, and a preset circular radius.

[0056] In one possible embodiment, the determining module is further configured to: determine a target circular angular velocity based on a preset circular angular velocity, wherein the target circular angular velocity varies with time with the preset circular angular velocity as the target value; determine the real-time circular revolution angle based on the integral of the target circular angular velocity over time; determine the instantaneous distance from the wheel center to the revolution center based on the real-time circular revolution angle, geometric parameters, and the preset circular radius; and, based on the geometric characteristic that the angular velocity of each wheel relative to the revolution center is equal to the target circular angular velocity, multiply the target circular angular velocity by the instantaneous distance corresponding to each wheel to obtain the target circular wheel speed of the wheels during the vehicle's circular angular motion.

[0057] In one possible embodiment, the control module is specifically used to: acquire the actual circumferential crab-like wheel speed of the wheel; determine the wheel speed error between the actual circumferential crab-like wheel speed and the target circumferential crab-like wheel speed; determine the target circumferential crab-like motor torque corresponding to the wheel based on the wheel speed error using a PID control algorithm; and control the drive motor of the wheel based on the target circumferential crab-like motor torque.

[0058] In one possible embodiment, the vehicle crabbing control device further includes a processing module for determining that the vehicle's circular crabbing motion function is in standby mode and controlling each wheel to turn to the corresponding initial circular crabbing angle. The initial circular crabbing angle represents the wheel angle of the vehicle at the start of the circular crabbing motion and is determined based on a preset circular crabbing radius.

[0059] In one possible embodiment, it is determined whether the vehicle's circular crab motion function is in standby mode by: when the vehicle meets preset standby conditions for the circular crab motion function, it is determined that the circular crab motion function is in standby mode; wherein, the standby conditions for the circular crab motion function include: the vehicle is stationary; the circular crab motion function switch is on; the preset circular crab motion radius and preset circular crab motion angular velocity have been set; and the vehicle's brake pedal is depressed.

[0060] In one possible embodiment, the activation of the vehicle's circular crab motion function is determined by the following method: when the vehicle meets the preset circular crab motion angular velocity transition condition or steady-state circular crab motion condition, the circular crab motion function is determined to be activated.

[0061] In one possible embodiment, the transition conditions for the circumferential crabging angular velocity include: the vehicle is stationary; the circumferential crabging function switch remains on; the preset circumferential crabging radius and the preset circumferential crabging angular velocity remain unchanged; the actual rotation angle of the wheel is equal to the initial circumferential crabging rotation angle; and the vehicle's brake pedal is not depressed.

[0062] In one possible embodiment, the steady-state circular crabging motion conditions include: the circular crabging function switch remains on; the preset circular crabging radius and preset circular crabging angular velocity remain unchanged; the vehicle's actual circular crabging angular velocity is equal to the preset circular crabging angular velocity, and the duration is greater than or equal to a preset duration threshold; and the vehicle's brake pedal is not depressed.

[0063] In one possible embodiment, the state of the circular crab-like motion function further includes: a closed state and a ready state; the control module is also used to: in the closed state, not execute the control of the circular crab-like motion function; in the standby state, control the output torque of the drive motor corresponding to the wheel to be zero; in response to detecting the exit command of the circular crab-like motion function, control the actual rotation angle of the wheel to return to the center; in the ready state, control the actual rotation angle of the wheel to remain unchanged, and control the output torque of the drive motor corresponding to the wheel to be zero.

[0064] Thirdly, this application provides an electronic device, including: a memory and a processor;

[0065] The memory stores instructions that the computer executes;

[0066] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0067] Fourthly, this application provides a vehicle, including a vehicle body and electronic equipment of the third aspect.

[0068] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible embodiments of the first aspect.

[0069] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0070] The vehicle crabbing control method, electronic device, vehicle, and storage medium provided in this application include: when the vehicle's circular crabbing motion function is activated, acquiring a preset circular crabbing radius and a preset circular crabbing angular velocity; determining a target circular crabbing wheel speed of the wheels during the vehicle's circular crabbing motion based on the preset circular crabbing angular velocity and preset circular crabbing radius; determining a target circular crabbing turning angle of the wheels during the vehicle's circular crabbing motion based on the vehicle's geometric parameters, the preset circular crabbing angular velocity, and the preset circular crabbing radius; controlling the steering angle of the wheels based on the target circular crabbing turning angle, and controlling the wheel speed of the wheels based on the target circular crabbing wheel speed, so that the vehicle performs circular crabbing motion. This application, when the circular crab-like motion function is activated, utilizes the constraint that the revolution angular velocity and rotation angular velocity are equal in magnitude and opposite in direction in the geometric characteristics of circular crab-like motion to determine the target circular crab-like rotation angle and target circular crab-like wheel speed for each wheel. This ensures that the wheel speed of each wheel can match its instantaneous position change in real time during the vehicle's movement around the center of revolution, ensuring that each wheel always meets the pure rolling condition. Thus, while changing the vehicle's position, the vehicle's orientation remains constant, extending the traditional straight-line crab-like motion to a circular-track crab-like motion. On the one hand, this allows the vehicle to maintain a stable posture when adjusting its position in restricted scenarios such as narrow passages and automatic parking, completing the coordinated adjustment of position and orientation without additional operation, thus improving the flexibility of movement. On the other hand, this composite motion trajectory also possesses a unique motion form and visual expressiveness, meeting the higher requirements for the innovation and aesthetic appeal of motion forms in vehicle technology demonstrations. Attached Figure Description

[0071] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0072] Figure 1 A schematic flowchart of a vehicle crabbing control method provided in an embodiment of this application;

[0073] Figure 2 This is a schematic diagram of the rotation angle of the circumferential crab-shaped wheel provided in an embodiment of this application;

[0074] Figure 3 A schematic diagram showing the curve change of the target circular crab-like angular velocity when the circular crab-like motion function is activated, provided in an embodiment of this application.

[0075] Figure 4 This is a schematic diagram of the initial rotation angle of the circumferential crab-shaped wheel provided in an embodiment of this application;

[0076] Figure 5 A schematic diagram of the interactive interface for setting vehicle circumferential crab-like movement parameters provided in an embodiment of this application;

[0077] Figure 6This is a schematic diagram of a circumferential crab-like state machine provided in an embodiment of this application;

[0078] Figure 7 A schematic diagram illustrating the curve variation of the target circumferential crab angular velocity provided in an embodiment of this application;

[0079] Figure 8 A schematic flowchart of a vehicle crabbing control method provided in another embodiment of this application;

[0080] Figure 9 This is a schematic diagram of the structure of a vehicle crabbing control device provided in an embodiment of this application;

[0081] Figure 10 A schematic diagram of the structure of a vehicle crabbing control device provided in another embodiment of this application;

[0082] Figure 11 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application;

[0083] Figure 12 This is a schematic diagram of the vehicle structure provided in an embodiment of this application.

[0084] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0085] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0086] The terms “first,” “second,” etc., used in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, products, or apparatus.

[0087] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0088] Vehicle vector motion control technology is widely used in intelligent driving vehicles, new energy logistics vehicles, agricultural machinery, and factory handling vehicles. In these applications, vehicles typically rely on the coordinated operation of steering actuators, drive motors, and the overall vehicle control system to complete tasks such as navigating narrow spaces, moving around obstacles, working close to edges, and precise path tracking.

[0089] In related technologies, crab-like motion control of vehicles involves controlling the two rear wheels to steer in the same direction as the front wheels and applying differential torque control to the two rear wheels to achieve point-to-point diagonal movement with almost no yaw. However, this control method is usually limited to a straight-line trajectory, meaning the vehicle translates along a straight line while maintaining its orientation. While this straight-line crab-like motion can achieve lateral or diagonal movement, the vehicle's trajectory can only extend in a single direction and cannot be flexibly adjusted according to the needs of the actual scenario. When a vehicle needs to navigate around obstacles in narrow alleys or adjust its relative position to a target point, straight-line crab-like motion, unable to provide a curved trajectory, often requires repeated adjustments to complete the maneuver, resulting in low freedom of path planning.

[0090] Currently, there is a lack of systematic solutions that can simultaneously ensure constant vehicle direction, pure wheel rolling, and controllable trajectory by coordinating the wheel speeds and turning angles in real time as a vehicle moves along a curved trajectory. Therefore, there is an urgent need for a control method capable of achieving circular crab-like movement to overcome the limitation of linear crab-like movement trajectories and improve the vehicle's flexibility and trajectory planning freedom in complex scenarios (such as obstacle avoidance, circling operations, or circular transport close to targets). Furthermore, linear crab-like movement is relatively simple and has limited visual appeal, failing to meet the higher requirements for innovative and visually appealing movement forms in vehicle technology demonstrations.

[0091] The inventors discovered in their research that in compound motion, when the angular velocities of a vehicle's revolution and rotation are equal and opposite, the vehicle's compound yaw rate is zero, and the vehicle's orientation remains unchanged. Based on this, they proposed a circular crab-like motion control scheme. Utilizing the constraint that the revolution and rotation angular velocities are equal and opposite in the geometric characteristics of circular crab-like motion, they determined the target circular crab-like rotation angle and target circular crab-like wheel speed for each wheel. This allows the wheel speed of each wheel to match its instantaneous position change in real time during the vehicle's motion around the center of revolution, ensuring that each wheel always meets the pure rolling condition. Thus, while changing the vehicle's position, the vehicle's orientation remains constant. This expands the traditional straight-line crab-like motion into a circular crab-like motion, significantly improving the vehicle's flexibility and adaptability to different scenarios, and meeting the higher requirements for innovative and visually appealing motion forms in vehicle technology demonstrations.

[0092] First, the application scenarios of this application will be introduced.

[0093] This application is applicable to intelligent driving and motion control scenarios for corner module vehicles, and has significant advantages, especially in scenarios where the vehicle needs to adjust its position while maintaining its orientation. In automatic parking scenarios, when a vehicle parks in a narrow space, it often needs to adjust its lateral position while keeping its orientation consistent with the parking space. Traditional parking trajectories typically require multiple forward and backward adjustments. This application, however, controls the vehicle to move along a circular trajectory, completing the position adjustment and maintaining the orientation in a single movement, effectively shortening the parking path length and reducing the number of adjustments. In narrow passages or complex road conditions, vehicles need to navigate around obstacles or adjust their relative position to a target point within a limited space. Traditional straight-line crabbing, due to its single trajectory, is difficult to meet spatial constraints. This application's circular crabbing can flexibly select the radius of the circular trajectory according to the actual scenario, allowing the vehicle to adapt to path requirements with different curvatures, improving the flexibility and passability of trajectory planning. In exhibition scenarios, vehicles can move along a circular trajectory around the booth while maintaining their orientation towards the audience. For example, a vehicle can rotate around the center point of the booth with a preset circular crab-like radius, dynamically adjusting the turning angle and wheel speed of each wheel to ensure that the vehicle's direction is consistent with the audience's line of sight. Compared to movement where the vehicle deflects along a trajectory, circular crab-like movement provides a better viewing angle and a more prominent visual impact. Furthermore, in docking scenarios requiring lateral adjustment of the vehicle's position while maintaining a constant orientation, such as automatic charging docking or automatic car washing, circular crab-like movement also provides more precise attitude maintenance, facilitating rapid alignment with the target.

[0094] It should be noted that this application is not limited to corner module vehicles with four-wheel independent steering and four-wheel independent drive; it is also applicable to vehicles with more wheels. For example, in a corner module vehicle with six-wheel independent steering and independent drive, each wheel can undergo independent angle calculation and wheel speed control based on the vehicle crabging control method of this application, thereby achieving circular crabging motion of the vehicle. In other words, the technical solution of this application is applicable to any vehicle with independent steering and independent drive capabilities, and the number of wheels should not constitute a limitation on the scope of protection of this application.

[0095] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0096] Figure 1 This is a flowchart illustrating a vehicle crabbing control method according to an embodiment of this application. The execution entity in this embodiment is an electronic device in the vehicle, such as a chassis domain controller, a vehicle controller, or an independent motion control unit. This electronic device is communicatively connected to the steering actuators, drive motors, and sensors (such as wheel speed sensors, inertial measurement units, etc.) of each wheel. For example, by receiving vehicle status information (including actual wheel speed, actual steering angle, yaw rate, etc.) collected by sensors and vehicle circular crabbing parameters input by the user through a human-machine interface, it executes the vehicle crabbing control method described in this embodiment, generates corresponding control commands, and sends them to the steering actuators and drive motors of each wheel to achieve circular crabbing motion of the vehicle.

[0097] It should be noted that circular crab motion is a special case of planetary U-turn motion for vehicles. It possesses the characteristics of planetary U-turn motion, meaning that while the vehicle rotates around its own center of rotation (such as its center of mass), that center of rotation also revolves around its center of revolution. Circular crab motion also possesses the characteristics of crab motion, meaning the vehicle's orientation remains unchanged. When a vehicle performs a planetary U-turn, its yaw rate is the vector sum of its orbital angular velocity and its rotational angular velocity. When the orbital angular velocity and the rotational angular velocity are equal in magnitude and opposite in direction, the yaw rate is 0. At this point, the vehicle's orientation does not change, and the vehicle's center of mass continues to move in a circle, thus achieving the circular crab motion function.

[0098] like Figure 1 As shown, the vehicle crabbing control method includes:

[0099] S101. With the vehicle's circular crab motion function activated, obtain the preset circular crab radius and preset circular crab angular velocity.

[0100] In this embodiment, when the vehicle's circular crab-like motion function is activated, the circular crab-like motion control process is executed. The vehicle's current position can be determined by a reference point in the vehicle coordinate system. This reference point can be the midpoint of the line connecting the vehicle's geometric center, center of mass, and the midpoints of the front and rear axles, or a pre-calibrated control reference point.

[0101] The preset circular crab-walking radius is used to define the scale of the vehicle's overall orbital trajectory. Specifically, this parameter represents the radius of the circular trajectory of the vehicle's center of mass revolving around the center of revolution during circular crab-walking. Its value can be input by the driver, provided by the upper-level module, or generated by the operation control system. The center of revolution serves as the center point of the vehicle's circular crab-walking motion. In this embodiment, it is a fixed point determined based on the vehicle's current position and the preset circular crab-walking radius. During the current round of circular crab-walking control, this point remains unchanged in the ground coordinate system and serves as a common reference for all wheel geometry calculations.

[0102] The larger the pre-set radius of the circular crab-like motion, the farther the center of the revolution is from the initial position of the vehicle, the smaller the curvature of the revolution trajectory formed by the vehicle, and the smaller the degree of the vehicle's oblique movement.

[0103] The preset circular crabging angular velocity is a parameter used to represent the speed of the vehicle's circular crabging motion. It can be given by driving operation commands, path planning output speed commands, or preset orbital action parameters of the operating system. Specifically, this preset circular crabging angular velocity represents the angular velocity of the vehicle's center of mass during circular crabging, measured in ° / s. This parameter can be positive or negative, with the sign indicating the direction of the angular velocity. A positive value indicates a requested counter-clockwise circular crabging angular velocity, meaning the vehicle is crabging to the left; a negative value indicates a requested clockwise circular crabging angular velocity, meaning the vehicle is crabging to the right.

[0104] For example, an electronic device (such as a controller) obtains the preset circumferential crab-like radius and preset circumferential crab-like angular velocity from a preset storage area, a user interface, or an upper-level control module, and uses them as inputs for subsequent kinematic calculations.

[0105] S102: Determine the target circular crabging wheel speed of the wheels when the vehicle is in circular crabging motion, based on the preset circular crabging angular velocity and preset circular crabging radius.

[0106] Specifically, by utilizing the geometric characteristics of circular crab-like motion, the target circular crab-like wheel speed is determined based on the preset circular crab-like angular velocity and preset circular crab-like radius.

[0107] Among them, the circular crab motion geometric characteristics are used to describe the kinematic geometric relationship satisfied by the motion of each wheel when the vehicle is in a circular crab motion. Its core constraint is that the angular velocity of each wheel relative to the same center of revolution is equal to the target circular crab motion angular velocity, and there is a corresponding relationship between the target circular crab motion angular velocity and the preset circular crab motion angular velocity.

[0108] Based on the kinematic principle of a rigid body rotating around a fixed point, the linear velocity of each wheel is equal to the product of its angular velocity and its radius of rotation. Therefore, wheels farther from the center of the revolution have larger linear velocities, while those closer to the center have smaller linear velocities. The wheel speed is proportional to the instantaneous distance from its wheel center to the center of the revolution, satisfying the geometric relationship of rotating at the same angular velocity. Simultaneously, in the circular crab-like motion, the vehicle's revolution angular velocity and rotation angular velocity are equal in magnitude and opposite in direction. This constraint is manifested at the target setting level as follows: revolution is achieved through wheel speed distribution, while rotation is achieved through dynamic changes in wheel angles. Both are accomplished collaboratively through wheel speed control and angle control, respectively, ensuring the vehicle maintains its orientation during its motion around the center of the revolution. At the wheel speed calculation level, the target circular crab-like wheel speed formula only needs to describe the speed distribution relationship of the revolution; the rotational reverse component is implicit in the angle control and does not need to be explicitly superimposed on the wheel speed calculation.

[0109] The target circular crab-like wheel speed is used as the target value for controlling the wheel speed of each wheel. Its value can be determined by the instantaneous distance of each wheel and the preset circular crab-like angular velocity. Since the center of revolution is the common center of rotation for all wheels, the target linear velocity of the wheel farther from the center of revolution is greater than that of the wheel closer to the center of revolution, so as to satisfy the geometric relationship of rotating at the same angular velocity.

[0110] For example, in one implementation, the vehicle controller calculates the instantaneous distance of each wheel in each control cycle. This instantaneous distance can be determined based on the target circumferential crabging angular velocity and the preset circumferential crabging radius. The controller calculates the target circumferential crabging wheel speed for each wheel based on the velocity relationship of circular motion v=r×ω, where v represents the target linear velocity of the corresponding wheel center along the circumference tangentially, r represents the instantaneous distance from the wheel center to the center of the revolution circle, and ω represents the preset circumferential crabging angular velocity. When the vehicle performs counterclockwise circumferential crabging, the angular velocity is positive; when clockwise, it is negative, and the direction of the target circumferential crabging wheel speed is determined accordingly. If the drive system uses speed control, the controller further converts the target linear velocity into a target wheel angular velocity value based on the effective rolling radius of the tire.

[0111] Based on the above analysis, in one possible embodiment, the target circular crab-like wheel speed can be determined by the product of a preset circular crab-like angular velocity and the corresponding instantaneous distance, so that different wheels obtain wheel speeds matching their instantaneous distances during the circular crab-like motion. Thus, under the constraint of the same revolution angular velocity, each wheel obtains its corresponding wheel speed based on its distance from the center of the revolution circle, and the vehicle as a whole forms a continuous tangential motion around a fixed point, with the wheel speed distribution consistent with the trajectory geometry.

[0112] S103: Based on the vehicle's geometric parameters, preset circumferential angular velocity, and preset circumferential radius, determine the target circumferential angular rotation angle of the wheels during the vehicle's circumferential angular motion.

[0113] In this step, the vehicle's geometric parameters are used to describe the vehicle's structural dimensions and participate in the calculation of circular crabbing control. These parameters include at least the wheelbase and track width, and may also include the longitudinal offset of the front and rear axles to the vehicle body reference point, the lateral offset of the left and right wheels to the vehicle body centerline, and the installation reference angle of each steering knuckle.

[0114] The target circumferential crabging angle is used as the target angle for wheel steering control. Its physical meaning is the angle between the plane direction of the wheel and the longitudinal axis of the vehicle body during the circumferential crabging motion of each wheel. This angle ensures that the rolling direction of each wheel satisfies the geometric constraints of the motion around the center of revolution, and that the velocity direction of the wheel under pure rolling conditions is consistent with the tangent direction of its circumferential trajectory, so as to ensure pure rolling of the wheel and reduce tire wear.

[0115] It should be understood that when determining the target circular crabging angle, the preset circular crabging radius and the vehicle's geometric parameters jointly determine the geometric positional relationship between the revolution center and the centers of each wheel: the preset circular crabging radius determines the distance from the revolution center to the vehicle's center of mass, and the vehicle's geometric parameters determine the installation position of each wheel center in the vehicle coordinate system. The preset circular crabging angular velocity is then used to determine the current circular crabging revolution angle through time integration. This circular crabging revolution angle characterizes the angular displacement of the vehicle's center of mass around the revolution center and determines the azimuth angle of the revolution center relative to the vehicle's current attitude. These three factors are used together as input to determine the target circular crabging angle for each wheel through the Ackerman steering geometry.

[0116] In one possible implementation, the vehicle's geometric parameters include at least the wheelbase L and track width B. When the vehicle reference point is located at the vehicle's center of gravity, the positions of each wheel in the vehicle coordinate system can be represented as follows: left front wheel (L / 2, B / 2), right front wheel (L / 2, -B / 2), left rear wheel (-L / 2, B / 2), and right rear wheel (-L / 2, -B / 2). Within each control cycle, the vehicle controller determines the relative position of the revolution center in the vehicle coordinate system based on the current vehicle position and the preset circumferential crabging radius. Then, for each wheel, a radius vector is constructed pointing from the center of the revolution circle to the wheel's center. This radius vector is then rotated 90 degrees to obtain the theoretical velocity direction of the wheel. The angle between this theoretical velocity direction and the vehicle's longitudinal axis is then used as the target circular crabbing angle for that wheel. This ensures that the turning angles of each wheel satisfy the Ackerman steering geometry constraint (Ackerman steering geometry is a geometric model used to constrain the steering angle relationship between the wheels of a vehicle. In the circular crabbing scenario, its application is not simply the inner and outer wheel steering angle relationship of conventional front wheel steering, but requires that the perpendicular lines of the velocity directions of all wheels involved in the steering intersect at the same center of the revolution circle). That is, the perpendicular lines of the velocity directions of each wheel intersect at the center of the revolution circle. This method is directly based on the principle of geometric construction, has clear physical meaning, and is simple to implement.

[0117] In another possible implementation, the target circular crabbing angle can also be obtained by analytically solving the Ackermann steering geometry equations. Specifically, based on the position of the revolution center in each wheel's coordinate system, a geometric equation is established using the tangent relationship between each wheel's angle and its position, as well as the position of the revolution center. Taking the left front wheel as an example, assume the position vector of the revolution center relative to the left front wheel is ( , Then the target circumference crab-like turning angle of the wheel. satisfy Thus, the solution can be obtained directly using the arctangent function. This method is computationally efficient, suitable for real-time operation in onboard controllers, and easily expandable to multi-axle vehicles.

[0118] In addition, other possible implementations include using lookup tables or curve fitting to determine the target circumferential crabging angle. For example, a mapping table is pre-established using offline simulation or real-vehicle calibration, relating the relative position of the revolution center with respect to a vehicle reference point to the target circumferential crabging angle of each wheel. During actual vehicle operation, the target circumferential crabging angle of each wheel is obtained by looking up the table based on the current relative position of the revolution center, and an interpolation algorithm is used to ensure the continuity and smoothness of the angle values. This method requires less computing power from the controller, making it suitable for embedded platforms with limited computing resources, and with proper calibration, it can still guarantee good angular accuracy and smooth motion.

[0119] It should be noted that in circular crabging motion, the preset circular crabging angular velocity indirectly determines the rate of change of the target circular crabging angle of each wheel over time by affecting the speed of the vehicle's movement along the circular trajectory. Specifically, when the preset circular crabging angular velocity changes, the rate of change of the angular position of the vehicle's center of gravity along the circular trajectory changes accordingly, resulting in different values ​​of the actual circular crabging revolution angle at different times. This revolution angle, as a key input parameter of the Ackermann steering geometry equation, directly affects the real-time calculation results of the target circular crabging angle of each wheel, thus indirectly affecting wheel steering control. Therefore, the determination of the target circular crabging angle essentially depends on the setting of the preset circular crabging angular velocity.

[0120] By using the intersection of the perpendicular lines of all wheel speed directions with the center of the revolution circle as a unified constraint, the wheel speed distribution and steering direction can be made to point to the same trajectory geometry, making the vehicle's attitude change more continuous when moving around a fixed point.

[0121] S104: Control the steering angle of the wheels according to the target circular crab-like turning angle, and control the wheel speed of the wheels according to the target circular crab-like wheel speed, so that the vehicle can perform circular crab-like motion.

[0122] In this process, the wheel steering angle is the actual steering parameter used to adjust the vehicle's direction. The target circular crabbing steering angle is converted into the actual steering angle of each wheel after closed-loop tracking by the steering actuator. The wheel speed represents the actual rotational speed of the wheel and is controlled to achieve the target trajectory. The target circular crabbing wheel speed is executed by the drive motor or drive axle to form the actual circular crabbing wheel speed of each wheel. In this step, steering control and drive control are carried out collaboratively under the same control framework. The controller continuously compares the target value with the feedback value and corrects the execution amount within continuous control cycles, enabling the vehicle to enter and maintain a circular crabbing state.

[0123] For example, in specific implementation, the vehicle controller sends the target circumferential crabging angle of each wheel obtained in S103 to the corresponding steering motor control unit, and sends the target circumferential crabging wheel speed of each wheel obtained in S102 to the corresponding drive motor control unit. The steering side can use a position closed-loop control method, reading the actual steering angle fed back by the steering angle sensor, calculating the angular deviation between the actual and target circumferential crabging angles, and outputting motor current commands or actuator displacement commands to gradually bring the actual steering angle closer to the target value. The drive side can use a speed closed-loop control method, reading the actual circumferential crabging wheel speed fed back by the wheel speed sensor, calculating the speed deviation between the actual and target circumferential crabging wheel speeds, and outputting drive torque commands to gradually bring the actual circumferential crabging wheel speed closer to the target value.

[0124] Optionally, when the vehicle enters from a non-circular crab-like state, the controller can also set a transition phase, during which the rate of change of steering angle and the rate of change of wheel speed are simultaneously limited, so that the wheels first turn in the target direction and at the same time establish a wheel speed that matches that direction; when the steering angle of each wheel enters the allowable error zone, the transition limit on wheel speed is released, so that the vehicle smoothly enters a stable circling state.

[0125] During continuous control, the controller repeatedly executes S101 to S104 according to a fixed sampling period. Since the vehicle's position constantly changes during movement, the instantaneous distance from the wheel center to the center of the revolution circle, the target circular crabging wheel speed, and the target circular crabging angle are all updated synchronously. Therefore, this application can maintain circular crabging by combining real-time rolling calculation with closed-loop control. In one possible implementation, if the tracking error of a wheel angle exceeds the limit, the wheel speed deviation exceeds the limit, or the sensor data is invalid, the controller can reduce the target circular crabging wheel speed to a safe value and maintain the current geometric consistency until the anomaly is resolved or the circular crabging mode is exited.

[0126] Based on the above analysis, in one possible embodiment, controlling the wheel steering angle can gradually bring the actual wheel steering angle closer to the target circumferential crabging angle, and controlling the wheel speed can gradually bring the actual circumferential crabging wheel speed closer to the target circumferential crabging wheel speed, thereby enabling the vehicle to enter and maintain a circumferential crabging motion state. In another possible embodiment, controlling the wheel steering angle based on the target circumferential crabging angle and controlling the wheel speed based on the target circumferential crabging wheel speed can be performed synchronously, so that the vehicle can achieve coordinated control of steering angle and wheel speed during circumferential crabging motion. Furthermore, performing the above acquisition, determination, and control process while the vehicle's circumferential crabging motion function is active can ensure that the vehicle continuously maintains circumferential crabging motion during the function's activation period and maintains the coordination relationship between wheel steering angle and wheel speed.

[0127] In circular crab-like motion, the Ackermann steering geometry requires that the perpendiculars to the velocity directions of all wheels intersect at the center of the revolution circle, while the circular crab-like geometry requires that the angular velocities of each wheel's revolution and rotation are equal in magnitude and opposite in direction. By combining these two geometric characteristics, as the vehicle's center of mass rotates around the revolution circle, the steering angle and wheel speed of each wheel are dynamically adjusted, ensuring that the vehicle's orientation remains consistent with its initial orientation. This principle ensures that the vehicle maintains attitude stability while adjusting its position, thereby achieving coordinated adjustment of position and orientation in scenarios such as narrow passages and automatic parking, significantly improving maneuverability.

[0128] In this embodiment, when the circular crab-like motion function is activated, the instantaneous distance from the center of each wheel to the center of the revolution circle is acquired. Utilizing the constraint that the revolution angular velocity and rotation angular velocity are equal in magnitude and opposite in direction in the geometric characteristics of circular crab-like motion, the target circular crab-like turning angle and target circular crab-like wheel speed of each wheel are determined. This ensures that the wheel speed of each wheel matches its instantaneous position change in real time during the vehicle's movement around the revolution center, guaranteeing that each wheel always meets the pure rolling condition. Thus, while changing the vehicle's position, the vehicle's orientation remains constant, extending the traditional straight-line crab-like motion to a circular trajectory crab-like motion. On one hand, this allows the vehicle to maintain a stable posture when adjusting its position in restricted scenarios such as narrow passages and automatic parking, completing coordinated adjustments of position and orientation without additional operation, thus improving motion flexibility. On the other hand, this composite motion trajectory also possesses a unique motion form and visual expressiveness, meeting the higher requirements for innovative and visually appealing motion forms in vehicle technology demonstrations.

[0129] Furthermore, based on the vehicle's geometric parameters, the preset circular crabging angular velocity, and the preset circular crabging radius, the target circular crabging angle of the wheels during the vehicle's circular crabging motion is determined, which may specifically include:

[0130] S1031. Determine the target circular crab angular velocity based on the preset circular crab angular velocity;

[0131] S1032. Based on the integral of the target circular crab-like angular velocity over time, determine the real-time circular crab-like revolution angle. The real-time circular crab-like revolution angle represents the real-time angle between the vehicle body direction and the tangent direction of the circular crab-like trajectory.

[0132] S1033. Based on the geometric constraint that the perpendiculars of all wheel velocity directions in the Ackerman steering geometry intersect at the center of the revolution circle, the target circular crabging angle of the wheels is determined according to the real-time circular crabging revolution angle, geometric parameters, and preset circular crabging radius.

[0133] Among them, the target circular crab angular velocity is the target value that varies with time, with the preset circular crab angular velocity as the target value.

[0134] To facilitate intuitive understanding, combined with Figure 2 The turning angle of the wheel during the crab-like motion in a circle is explained.

[0135] Figure 2 This diagram illustrates the turning angle of a vehicle's wheel in a counter-clockwise circular motion, as provided in an embodiment of this application. (See also...) Figure 2 As shown in the figure, The point is the center of the revolution. The solid arrow represents the vehicle's center of gravity, and the dashed arrow represents its orbital trajectory at that moment. The direction of the tangent at the point. Assume that at a certain moment, the rotation angle of the real-time circular crab revolution is... Based on the geometric characteristics of the circular crab's motion, the real-time rotation angle of the circular crab at that moment can be obtained as follows: . This is the real-time angle between the vehicle's body direction and the tangent direction of its circular crab-like trajectory. When When =0, the vehicle's direction is consistent with the direction of the tangent to the circular trajectory; when When the value is greater than 0, the vehicle's direction deflects relative to the tangential direction, but the vehicle's direction remains unchanged in the global coordinate system. The real-time circular crab revolution angle changes continuously over time.

[0136] When the vehicle's circular crab motion function is activated, the change of the real-time circular crab revolution angle over time can be divided into three stages.

[0137] The first stage is the increase of the target circular angular velocity from zero to the preset circular angular velocity (i.e., the transition stage). In this stage, the target circular angular velocity increases linearly from zero at a calibrated rate of increase until it reaches the preset circular angular velocity. Correspondingly, the real-time circular revolution angle... It grows quadratically over time, satisfying ,in The target is the rate of increase of the angular velocity during the circular crab-like motion. At this point, the vehicle gradually enters the circular crab-like motion from a standstill. The smooth increase of the angular velocity ensures the smoothness of the start-up motion and avoids impact.

[0138] The second stage is the stage where the target circular angular velocity is maintained at the preset circular angular velocity (i.e., the steady-state circular angular velocity stage, or simply the CircleCrab stage). In this stage, the target circular angular velocity remains constant equal to the preset circular angular velocity, and the real-time circular revolution angle... It grows linearly over time and satisfies ,in The revolution angle at the end of the first stage. The preset circular crabging angular velocity is used. At this time, the vehicle enters steady-state circular crabging motion, the vehicle body direction remains constant, and the vehicle's center of mass moves in a circle around the center of revolution with a constant angular velocity.

[0139] The third stage is when the target circular angular velocity decreases linearly from the preset circular angular velocity to zero (i.e., transitioning from the CircleCrab stage to the Transition stage). In this stage, the target circular angular velocity decreases linearly from the preset value to zero at a calibrated rate of decrease, while the real-time circular revolution angle... The growth rate gradually slowed down, satisfying ,in The target circular crab-like angular velocity decreases at a rate that equals the rate at which the vehicle gradually decelerates from its steady-state circular crab-like motion. This smooth decrease in angular velocity allows the vehicle to smoothly exit the circular trajectory, avoiding motion shocks caused by sudden changes in angular velocity or deviation from the expected trajectory, thus ensuring safety and ride comfort during the stopping process. As the target circular crab-like angular velocity approaches zero, the real-time circular crab-like revolution angle... As the growth rate gradually decreases to zero, the change in wheel angle also becomes more gradual, and eventually the vehicle decelerates to a standstill or switches to other driving modes while maintaining the vehicle's direction.

[0140] Figure 3 This is a schematic diagram illustrating the curve change of the target circular crab-like angular velocity when the circular crab-like motion function is activated, as provided in an embodiment of this application. Figure 3 As shown, the horizontal axis represents time t, and the vertical axis represents the angular velocity of the target's circular crab-like motion. From 0 to At that moment, the target's circular angular velocity of the crab starts from 0 with a slope of linearly rises to the preset value ;exist to At any given moment, the target's circular angular velocity remains constant at [value missing]. ;exist to At time t, the target's circular crab angular velocity is at the slope It decreases linearly to 0. Among them, the rate of increase of the target circular crab-like angular velocity... The rate of decrease of the target circular crab angular velocity Each section can be calibrated to suit the response characteristics and comfort requirements of different vehicles. This three-segment angular velocity curve ensures a smooth transition during the start-up, steady-state operation, and exit of the vehicle's circular crabging motion, avoiding motion shocks or passenger discomfort caused by sudden changes in angular velocity.

[0141] Based on the above examples and analysis, it can be seen that the target circular crab angular velocity can be a preset circular crab angular velocity. A piecewise function of the objective value changing over time:

[0142]

[0143] Accordingly, the real-time circular crab revolution angle is obtained by integrating the target circular crab angular velocity over time:

[0144]

[0145] Depend on Figure 2 It can be seen that, The target circumferential crab-like turning angle for the left front wheel; The target circumferential crab-like turning angle for the right front wheel; The target circumferential crab-like turning angle for the left rear wheel; The target circumferential crab-like turning angle for the right rear wheel.

[0146] It is a right triangle. Size is ,hypotenuse The length is the preset circumference of the crab's crawling radius. Therefore, the lengths of the two legs of the right triangle can be calculated:

[0147]

[0148]

[0149] According to line segments Length calculation line segment , length:

[0150]

[0151]

[0152] According to line segments Length calculation line segment , , , length:

[0153]

[0154]

[0155] Calculate based on trigonometric functions , , , angle:

[0156]

[0157]

[0158]

[0159]

[0160] According to geometric relationships, the magnitudes of the four angles mentioned above are respectively equal to the target circumference crab-like turning angles of the four wheels:

[0161]

[0162]

[0163]

[0164]

[0165] Therefore, the current real-time circumferential crab movement angle is... The target circumferential crab-like turning angle corresponding to the four wheels at that time:

[0166]

[0167]

[0168]

[0169]

[0170] Among them, the real-time circumferential crab movement angle The calculation is shown in the aforementioned formula. The real-time circumferential crab-like angle is... By substituting the geometric parameters and the preset circumferential crabging radius into the expression for the target circumferential crabging angle, the target circumferential crabging angle of each wheel can be calculated.

[0171] Based on the above analysis, it can be seen that during circular crabbing, the vehicle's direction remains constant (positive direction), meaning the vehicle body direction is consistent with the initially set direction, while the direction of the trajectory tangent dynamically changes with the rotation of the revolution center. Through Ackermann steering geometry constraints, the perpendicular lines of each wheel's velocity direction always intersect the revolution center, ensuring the vehicle body's direction remains unchanged. Therefore, the target circular crabbing turning angle formula can be derived based on this geometric characteristic. Compared to the turning angle formula corresponding to the planetary turn function, the expression is simpler, thus improving the formula's reliability.

[0172] It should be noted that the above formula for the target circumferential crab-like turning angle applies when the center of the revolution is located on the left side of the vehicle. If the center of the revolution is located on the right side of the vehicle, the roles of the inner and outer wheels are reversed, and the plus and minus signs in the formula are adjusted accordingly. Those skilled in the art can derive the formula based on symmetry.

[0173] In this embodiment, based on the geometric constraint in Ackermann steering geometry that the perpendicular lines of all wheel velocity directions intersect at the center of the revolution circle, the target circular crabging angle of each wheel is determined by combining the real-time circular crabging revolution angle, vehicle geometric parameters, and a preset circular crabging radius. This allows the wheel angles to be dynamically adjusted in real time as the vehicle's position on the circular trajectory changes, ensuring that the perpendicular lines of each wheel velocity direction always intersect at the center of the revolution circle, satisfying the pure rolling condition, and avoiding tire sideslip and abnormal wear caused by mismatched angles. Simultaneously, the introduction of real-time circular crabging angles ensures that the angle calculation accurately corresponds to the current motion state. Steering control and circular trajectory constraints work in tandem to guarantee continuous and stable steering response and accurate trajectory tracking capability when the vehicle is maneuvering in narrow spaces, moving close to edges, or performing circling operations.

[0174] Based on the foregoing embodiments, in one possible implementation, determining the target circular crabging wheel speed of the wheels during the vehicle's circular crabging motion, according to a preset circular crabging angular velocity and a preset circular crabging radius, may include:

[0175] S1021. Determine the target angular velocity of the crab's circumference based on the preset angular velocity of the crab's circumference. The target angular velocity of the crab's circumference changes with time with the preset angular velocity of the crab's circumference as the target value.

[0176] Based on the analysis of the target circumferential crab angular velocity in the aforementioned embodiments S1031~S1033, it can be seen that the target circumferential crab angular velocity is a preset circumferential crab angular velocity. This is a piecewise function representing the change of the target value over time. Specifically, the calculation method for the target circular crab-like angular velocity can be found in the aforementioned embodiment, and will not be repeated here.

[0177] S1022. Determine the real-time circular revolution angle based on the integral of the target circular crab-like angular velocity over time.

[0178] See still S1031~S1033, which will not be repeated here.

[0179] S1023. Based on the real-time circumferential crab-like revolution angle, geometric parameters, and preset circumferential crab-like radius, determine the instantaneous distance from the wheel center to the revolution center.

[0180] The instantaneous distance refers to the Euclidean distance from the wheel center to the center of the revolution circle within a certain control cycle. Because the vehicle continuously revolves relative to the center of the revolution circle during its circular crabging process, the instantaneous distances corresponding to the wheel centers change in real time under different control cycles. The controller updates this parameter cyclically according to a fixed sampling period.

[0181] See also Figure 2L is the wheelbase between the front and rear axles; B is the wheelbase between the left and right wheels; R is the preset circumferential crab-walking radius; points a, b, c, and d are the wheel center positions of the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. This represents the instantaneous distance from the center of the left front wheel to the center of the revolution circle. ; This represents the instantaneous distance from the center of the right front wheel to the center of the revolution circle. ; This represents the instantaneous distance from the center of the left rear wheel to the center of the revolution circle. ; This represents the instantaneous distance from the center of the right rear wheel to the center of the revolution circle. .

[0182] based on Figure 2 The geometric relationships shown allow us to calculate the instantaneous distance from the center of each wheel to the center of the revolution circle:

[0183]

[0184]

[0185]

[0186]

[0187] The results obtained in the foregoing embodiments Substituting the expression for the instantaneous distance from the center of the four wheels to the center of the revolution circle into the expression for the instantaneous distance from the center of the wheel to the center of the revolution circle, we obtain the instantaneous distance from the center of the wheel to the center of the revolution circle.

[0188] It should be noted that the above instantaneous distance formula applies when the center of revolution is located on the left side of the vehicle. If the center of revolution is located on the right side of the vehicle, the roles of the inner and outer wheels are reversed, and the plus and minus signs in the formula are adjusted accordingly. Those skilled in the art can derive the formula based on symmetry.

[0189] Based on the above analysis, it can be seen that the real-time circular crab-like revolution angle and geometric parameters work together in the calculation, enabling the vehicle to adjust the distance from each wheel to the center of the revolution in real time according to changes in the vehicle's posture during the circular crab-like motion. This provides continuously updated geometric data for wheel speed control. Because the instantaneous distance can be dynamically adjusted according to changes in the vehicle's direction, the wheel speed matching relationship can remain consistent when the vehicle is moving around a fixed point.

[0190] S1024. Based on the geometric characteristic that the angular velocity of each wheel relative to the center of revolution is equal to the target circumferential crab-like angular velocity, the target circumferential crab-like angular velocity is multiplied by the instantaneous distance corresponding to each wheel to obtain the target circumferential crab-like wheel speed of the wheel when the vehicle is in circumferential crab-like motion.

[0191] It should be understood that the geometric characteristics of the circular crab-like motion also include that the angular velocity of each wheel relative to the center of the revolution is equal to the target circular crab-like angular velocity.

[0192] For example, the controller directly calculates the target circular crabging wheel speed of each wheel based on the instantaneous distance from the wheel center to the center of the revolution circle, according to the linear velocity relationship between angular velocity and radius. Since the angular velocity reference of each wheel is consistent at the same moment, but their distances to the center of the revolution circle are different, the wheel speed output of each wheel varies with the difference in instantaneous distance. During operation, the target circular crabging angular velocity serves as a unified motion reference, and combined with the instantaneous distance of each wheel, it generates wheel speed commands for each wheel and sends them to the drive motor control unit. The drive motor control unit then performs closed-loop adjustment of the motor output based on the wheel speed error, so that the actual circular crabging wheel speed of each wheel tracks the corresponding target value, thereby forming a circular motion relationship consistent with the center of the revolution circle.

[0193] Based on the linear velocity formula for circular motion, v = r × ω (where v is the linear velocity, ω is the angular velocity, and r is the radius), the wheel speed of each wheel is proportional to its instantaneous distance from the center of the revolution circle. Wheels farther from the center of the revolution circle require higher wheel speeds to maintain the geometric relationship of orbiting at the same angular velocity. This allocation logic ensures that the vehicle as a whole forms continuous tangential motion, guaranteeing that the wheel speeds of each wheel are geometrically consistent with the trajectory.

[0194] The formula for calculating the target circumferential crab-like wheel speed of each wheel is as follows:

[0195]

[0196]

[0197]

[0198]

[0199] In the formula, The target circumferential crab-like wheel speed of the left front wheel; The target circumferential crab-like wheel speed of the right front wheel; The target circumferential crab-like wheel speed of the left rear wheel. The target circumferential crab-like wheel speed of the right rear wheel.

[0200] As a result, the vehicle can continuously obtain the real-time distance parameters of each wheel during the circular crab-like motion, and make precise allocation of the corresponding wheel speed accordingly, so that the geometric relationship of the revolution motion remains stable, the wheel control response is more continuous, and the trajectory consistency and attitude coordination of the vehicle when moving around a fixed point are improved.

[0201] With this method, the target circular crab-like wheel speed of each wheel corresponds one-to-one with its spatial position. The wheel speed distribution process is synchronized with the change of circular crab-like angular velocity. The continuity of vehicle motion and control consistency on the circular trajectory are improved, and subsequent steering control and wheel speed control can be executed in coordination under the same motion reference.

[0202] Furthermore, in some embodiments, controlling the wheel speed according to the target circumferential crab-like wheel speed includes: obtaining the actual circumferential crab-like wheel speed of the wheel; determining the wheel speed error between the actual circumferential crab-like wheel speed and the target circumferential crab-like wheel speed; determining the target circumferential crab-like motor torque corresponding to the wheel based on the wheel speed error using a PID control algorithm; and controlling the drive motor of the wheel according to the target circumferential crab-like motor torque.

[0203] The actual circumferential crab-like wheel speed is used to characterize the current actual running speed of the wheel. For example, it can be collected by wheel speed sensors installed on each wheel and then input into the controller, and compared with the target circumferential crab-like wheel speed to form the wheel speed error.

[0204] Wheel speed error is used to characterize the deviation between the actual and target circular crab-like wheel speeds, and the controller can use it as a closed-loop control input. A PID control algorithm is used to generate a correction control quantity based on the wheel speed error. This quantity comprehensively compensates for the error through proportional, integral, and derivative adjustments, and outputs the target circular crab-like motor torque.

[0205] The target circumferential crab-like motor torque is used as a torque control command for the drive motor. After receiving the command, the drive motor adjusts its output torque and drives the wheel to rotate so that the actual circumferential crab-like wheel speed approaches the target circumferential crab-like wheel speed.

[0206] For example, in a specific implementation, the wheel speed sensor can be a magnetoelectric encoder or a Hall effect encoder. The encoder is installed at the output end of the hub motor or the reduction mechanism to acquire the wheel speed signal in real time. The controller can be a vehicle controller, a domain controller, or an independent wheel speed controller, with preset PID parameters and a closed-loop wheel speed control model. After acquiring the actual circular crab-walking wheel speed, the controller calculates the wheel speed error based on the difference between the target circular crab-walking wheel speed and the actual circular crab-walking wheel speed, and then combines the integral and derivative terms of the error to generate the target circular crab-walking motor torque. The control law of the PID algorithm satisfies the following formula:

[0207]

[0208] In the formula, The target is the torque of the motor for the crab-like circular motion. This refers to wheel speed error; This is a proportionality coefficient used to quickly respond to errors; These are integral coefficients used to eliminate steady-state deviations; These are the differential coefficients, used to suppress overshoot; , and These three parameters can be determined through real vehicle testing and calibration to balance response speed, stability, and comfort.

[0209] Furthermore, the controller sends the target circumferential crab-like motor torque as a torque command to the drive motor controller, which adjusts the motor current according to the command; alternatively, the controller directly calculates the corresponding current setpoint based on the target circumferential crab-like motor torque command and sends it to the drive motor controller. The drive motor can be a permanent magnet synchronous motor or a brushless DC motor, with its output shaft directly connected to the wheel or connected via a reduction mechanism. The reduction mechanism can be a planetary gear reducer to match the torque range required by the wheel. In practical applications, other models of this component can also be selected, and this application does not limit this choice.

[0210] In this embodiment, the actual circular crab-like wheel speed is sampled in real time, and a PID control algorithm is used to output the target circular crab-like motor torque. This allows the drive motor to continuously correct its output state, ensuring that the wheel speed stably follows the target circular crab-like wheel speed changes, thus guaranteeing wheel speed consistency and control continuity during the vehicle's circular crab-like motion. Because the torque command is updated based on a closed-loop mechanism of wheel speed error, the wheel's response to speed disturbances is more direct, improving the tracking accuracy and smoothness of the circular crab-like control.

[0211] Based on the aforementioned embodiments, before the vehicle's circular crab motion function is activated, the method further includes: determining that the vehicle's circular crab motion function is in standby mode, and controlling each wheel to turn to the corresponding initial circular crab motion angle. The initial circular crab motion angle represents the wheel angle of the vehicle at the start of the circular crab motion, and the initial circular crab motion angle is determined based on a preset circular crab motion radius.

[0212] The standby state represents the preparatory state before the circular crabbing motion function is activated. The vehicle enters this state after meeting preset standby conditions, and in this state, it controls the steering of each wheel to the corresponding initial circular crabbing angle. The initial circular crabbing angle characterizes the wheel steering posture of the vehicle at the start of the circular crabbing motion. Its value is specifically calculated based on the Ackermann geometric relationship between the vehicle's geometric parameters and the preset circular crabbing radius, and serves as the initial angle before the wheels enter the circular crabbing motion. This initial circular crabbing angle is constant.

[0213] For example, in a specific implementation, after the vehicle controller detects that the circular crabging function has entered standby mode, it calls the stored vehicle geometric parameters, combines them with the currently set preset circular crabging radius, establishes the geometric constraint relationship between the velocity direction of each wheel and the center of the revolution circle, and then solves the initial circular crabging angle corresponding to each wheel.

[0214] To facilitate intuitive understanding, it can be combined with Figure 4 The calculation of the initial rotation angle of the circular crab wheel is explained.

[0215] Figure 4 This is a schematic diagram of the initial rotation angle of the circumferential crab-shaped wheel provided in an embodiment of this application, as shown below. Figure 4 As shown, at this initial moment, the vehicle's motion state is equivalent to its revolution motion state; therefore, the initial circular crabbing angle of the four wheels should be the revolution motion angle. Where R is the preset circular crabbing radius; The initial circumferential crab-like turning angle of the left front wheel; The initial circumferential crab-like turning angle of the right front wheel; The initial circumferential crab-like turning angle of the left rear wheel; Let be the initial circumferential crabbing angle of the right rear wheel. This can be derived from the geometric relationships shown in the diagram:

[0216]

[0217]

[0218]

[0219]

[0220] Subsequently, the controller can output the corresponding angle command to the steering actuator, which will drive the wheels to the initial circumferential crabging angle via the steering motor, steering gear set, or steer-by-wire mechanism. For example, after the wheels reach the initial circumferential crabging angle, the controller confirms the angle is in place and then, according to the function activation command, switches the circumferential crabging motion function from standby to active state. The steering actuator can be an independent angle motor or a steer-by-wire module, etc. In practical applications, other models can also be selected for this component; this application does not limit this choice.

[0221] In this embodiment, a standby state is added before the circular crabbing motion function is activated. In this standby state, the vehicle pre-determines the initial circular crabbing angle of each wheel based on geometric parameters and a preset radius, and drives the wheels to turn to that angle. This achieves pre-positioning of the wheels' turning angles before entering the circular crabbing motion. Since this initial turning angle is calculated based on Ackermann steering geometric constraints, it ensures that each wheel satisfies the geometric relationship of orbiting the center of the circle at the start of the motion, avoiding large-angle steering adjustments during the motion. This effectively reduces the steering response delay at the start of the motion, improving the smoothness, response speed, and safety of starting the circular crabbing motion.

[0222] Next, we will explain how to determine whether the vehicle's circular crab-like motion function is in standby mode.

[0223] In some embodiments, it can be determined whether the vehicle's circular crab motion function is in standby mode in the following ways: when the vehicle meets the preset standby conditions for the circular crab motion function, it is determined that the circular crab motion function is in standby mode; wherein, the standby conditions for the circular crab motion function include: the vehicle is stationary; the circular crab motion function switch is on; the preset circular crab motion radius and preset circular crab motion angular velocity have been set; and the vehicle's brake pedal is depressed.

[0224] It should be understood that the vehicle must be stationary to avoid pre-positioning the wheel angle or setting parameters during movement, in order to prevent unexpected actions.

[0225] Among them, the standby condition of the circular crab motion function is used to limit the permitted state of the vehicle before entering the circular crab motion control. The vehicle being stationary is used to indicate that the vehicle speed is zero or within the preset stationary threshold. The circular crab motion function switch is used to receive start and stop commands from the driver or control system. The preset circular crab motion radius and preset circular crab motion angular velocity are used as the basic parameters for subsequent calculation of circular trajectory and wheel speed. The brake pedal being pressed is used to indicate that the vehicle is in the brake holding state.

[0226] For example, in a specific implementation, the vehicle controller can determine whether the vehicle is stationary by the vehicle speed signal. When the vehicle speed is below the zero speed threshold, it is confirmed that the vehicle is stationary. The state of the circular crab function switch can be set by the central control panel, touch screen, button input, or voice control. When it is in the on state, the controller writes the corresponding enable flag. The preset circular crab radius and preset circular crab angular velocity can be stored in the parameter area after receiving user setting instructions through the vehicle input interface or voice interaction. Alternatively, they can be received from the host computer via the communication interface. The brake pedal state can be detected by the brake pedal travel sensor or brake switch signal. When a depress signal is detected, it is used as one of the standby judgment conditions.

[0227] Figure 5This is a schematic diagram of the interactive interface for setting vehicle circumferential crab-like movement parameters provided in an embodiment of this application, as shown below. Figure 5 As shown, after the driver activates the circular crab-like motion function on the central control screen, a parameter setting drop-down menu is displayed. The driver can manually drag the slider to set the preset values ​​for the circular crab-like motion radius and angular velocity. Both parameters are set to 0 by default after the switch is turned on. Each parameter corresponds to a progress bar, with the leftmost end representing the minimum value and the rightmost end representing the maximum value. The minimum and maximum values ​​can be modified through calibration, and the range between them is the valid settable interval for the parameter. For example, the setting range for the circular crab-like motion radius is 0 to 20m, and the setting range for the circular crab-like motion angular velocity is -30° / s to 30° / s. After the driver completes the parameter settings, the control system determines that condition three (i.e., the preset circular crab-like motion radius and preset circular crab-like motion angular velocity have been set) is satisfied.

[0228] When all four conditions for the circular crab-like motion function to be enabled are met simultaneously, the controller marks the circular crab-like motion function as standby and keeps the relevant control parameters in an activatable ready state. In this state, the vehicle remains stationary, the controller has completed the preparation of circular crab-like motion parameters and the confirmation of function enable, and controls the output torque of the drive motor to zero (keeping the vehicle stationary through the brake pedal, the motor does not output driving force). Subsequently, it can enter circular crab-like motion control upon receiving the corresponding activation command.

[0229] In this embodiment of the application, by determining standby conditions in multiple dimensions, the standby determination can have clear state boundaries, and the circular crab function can enter the executable state when safety constraints and parameter completeness are met, thereby improving the consistency of function switching and the reliability of control preparation.

[0230] Next, we will explain how to determine whether the vehicle's circular crab-like motion function is activated.

[0231] In some embodiments, the activation of the vehicle's circular crab motion function is determined by the following method: when the vehicle meets the preset circular crab motion angular velocity transition condition or steady-state circular crab motion condition, the circular crab motion function is determined to be activated.

[0232] In this embodiment, the activation state of the circular crab motion function is the stage in which the vehicle actually performs circular crab motion, including the circular crab angular velocity transition stage (Transition stage) and the steady-state circular crab motion stage (CircleCrab stage). Only after the preset activation conditions are met is the vehicle confirmed to be in the activation state, and then the update and coordinated control of the target circular crab turning angle and the target circular crab wheel speed are performed.

[0233] For example, in a specific implementation, the vehicle controller can receive data from the brake pedal sensor, function switch signal, steering angle sensor, and vehicle status signal, and perform logical combination judgments on the above states. When it is detected that the vehicle meets the transition condition of circular crabging angular velocity, the controller activates the circular crabging motion function and gradually transitions the target circular crabging angular velocity from zero to a preset value; when the vehicle meets the steady-state circular crabging motion condition during continuous operation, the controller maintains the function in the active state to ensure continuous execution of subsequent wheel speed distribution and steering control. This judgment logic can be implemented by the software program inside the vehicle controller, or it can be implemented collaboratively by the vehicle control unit, chassis domain controller, or body controller. The processor model used can be selected according to the computing power requirements, and this application does not limit it in this regard.

[0234] In this way, the circular crab motion function can be promptly identified as active during both the start-up transition phase and the stable operation phase, thereby ensuring that the subsequent circular crab wheel speed and turning angle control commands remain effective and that the control state of the vehicle remains consistent during circular trajectory motion.

[0235] Furthermore, in some embodiments, the transition conditions for the circumferential crabging angular velocity include: the vehicle is stationary; the circumferential crabging function switch remains on; the preset circumferential crabging radius and the preset circumferential crabging angular velocity remain unchanged; the actual rotation angle of the wheel is equal to the initial circumferential crabging rotation angle; and the vehicle's brake pedal is not depressed.

[0236] For example, after detecting that the vehicle is stationary, the controller continuously reads the status of the circular crab function switch, the preset circular crab radius parameter, the preset circular crab angular velocity parameter, and the actual turning angle signal of each wheel. It compares the actual turning angle with the initial circular crab turning angle, and at the same time verifies that the brake pedal signal is in the unpressed state. The unpressed brake pedal signal serves as the driver's confirmation signal to start the circular crab movement. When the above state combination is satisfied at the same time, the controller determines that the circular crab angular velocity transition condition is met and allows the vehicle to enter the circular crab angular velocity transition state (Transition state) from the standby state, so that the target circular crab angular velocity gradually increases from zero to the preset circular crab angular velocity at a calibrated rate of increase.

[0237] During this process, the preset circumferential crab-walking radius and preset circumferential crab-walking angular velocity can be stored in the non-volatile storage unit of the vehicle controller to keep the parameters unchanged during the transition period; the actual turning angle signal can be acquired in real time by the turning angle sensor, which can be an absolute angle sensor to obtain high zero-position consistency. In practical applications, other models of this component can also be selected, and this application does not limit this.

[0238] Taking a specific scenario as an example, when the vehicle is stationary in a narrow passage, the driver activates the circular crab function and sets the preset circular crab radius and preset circular crab angular velocity. The controller confirms that each wheel has turned to the initial turning angle position (that is, the actual turning angle of the wheel is equal to the initial circular crab turning angle). At this time, if the driver releases the brake pedal, the controller detects that all five conditions are met and starts to execute the circular crab motion control. The target circular crab angular velocity gradually increases from zero to the preset value, and the vehicle enters the circular trajectory motion.

[0239] In this embodiment, by using the vehicle being stationary, the function switch being turned on, the circular crabling parameters remaining unchanged, the actual turning angle being consistent with the initial turning angle, and the brake pedal not being depressed as transitional conditions, unexpected movement or trajectory deviation caused by the failure to meet the conditions is effectively avoided, thereby improving the safety and reliability of function activation.

[0240] In some embodiments, the steady-state circular crabging motion conditions include: the circular crabging function switch remains on; the preset circular crabging radius and the preset circular crabging angular velocity remain unchanged; the actual circular crabging angular velocity of the vehicle is equal to the preset circular crabging angular velocity, and the duration is greater than or equal to a preset duration threshold; and the vehicle's brake pedal is not depressed.

[0241] It should be understood that the steady-state circular crab motion condition is used to control the vehicle to switch from the circular crab angular velocity transition state (Transition state) to the steady-state circular crab state (CircleCrab state), that is, the switching condition for the vehicle to enter uniform circular crab motion after completing the angular velocity increase transition.

[0242] For example, the preset duration threshold can be pre-calibrated based on the steering actuator response time, wheel speed stabilization time, and vehicle power system state switching time, for example, 0.3 seconds.

[0243] When the controller detects that the above four conditions are met simultaneously, it determines that the vehicle meets the steady-state circular crab motion conditions, and then controls the vehicle to switch from the circular crab angular velocity transition state to the steady-state circular crab state (CircleCrab state), so that the target circular crab angular velocity is kept at the preset constant value of the circular crab angular velocity, and the vehicle enters uniform circular crab motion.

[0244] In this embodiment of the application, through comprehensive judgment of the above-mentioned multi-dimensional conditions, it is ensured that the vehicle enters the steady-state circular crabging stage only under the premise that the function switch is kept on, the parameters are stable, the angular velocity is stable, and the driver does not brake. The condition of "the actual circular crabging angular velocity reaches the preset circular crabging angular velocity and continues for a preset duration" effectively avoids motion fluctuations or trajectory deviations caused by premature entry into steady state during the transient transition of angular velocity, thus ensuring the smoothness and safety of the circular crabging motion switching.

[0245] It should be noted that the above embodiments are all described under the premise that the vehicle is stationary on flat ground. In practical applications, if the vehicle is stationary on a slope when the circular crabbing function is activated (for example, in a narrow space on a slope where circular crabbing is required to adjust the vehicle position), the control system also needs to compensate for the slope resistance when performing circular crabbing motion control.

[0246] Specifically, when a vehicle is stationary on a slope, it experiences a gravitational component along the slope direction, known as slope resistance. If the control strategy for flat terrain is directly applied to initiate circular crabging motion, the drive motor must overcome this slope resistance to initiate movement, potentially leading to delayed start-up response or uneven initial motion. To address this issue, the control system first calculates the compensation torque required to overcome the current slope resistance based on the slope angle (obtained in real-time via an inertial measurement unit or slope sensor) and the vehicle's mass. Upon initiating circular crabging motion, the control system feeds the calculated slope compensation torque forward onto the feedback torque output by the PID controller. The final target motor torque equals the sum of the feedback torque calculated by the PID controller based on wheel speed error and the slope compensation feedforward torque. Through this feedforward compensation mechanism, the drive motor outputs sufficient torque to overcome the slope resistance at startup, enabling the vehicle to smoothly and quickly enter circular crabging motion, avoiding start-up delays or jerky movements caused by slope resistance.

[0247] This compensation strategy also applies to scenarios where the vehicle needs to decelerate to a standstill on a slope during the exit of the circular crab-like motion. In this case, the control system can adjust the torque unloading strategy according to the slope direction to ensure that the vehicle decelerates smoothly and remains stationary on the slope. Furthermore, for different slope angles and vehicle loads, the slope compensation torque can be dynamically adjusted according to the slope-torque compensation curve calibrated on the actual vehicle to adapt to diverse slope conditions and ensure the availability and safety of the circular crab-like motion function in slope scenarios.

[0248] Based on the foregoing embodiments, the states of the circular crab-walking motion function further include: a closed state and a ready state; the vehicle crab-walking control method further includes: in the closed state, not executing the control of the circular crab-walking motion function; in the standby state, controlling the output torque of the drive motor corresponding to the wheel to be zero; in response to detecting the circular crab-walking motion function exit command, controlling the actual rotation angle of the wheel to return to the center; in the ready state, controlling the actual rotation angle of the wheel to remain unchanged, and controlling the output torque of the drive motor corresponding to the wheel to be zero.

[0249] For example, combined Figure 6 The various states of the circular crab movement function and their corresponding control behaviors are described in detail. Figure 6This is a schematic diagram of the circumferential crab-walking state machine provided in an embodiment of this application, as shown below. Figure 6 As shown in the embodiment of this application, the circular crab-like motion function is divided into four main states: Off, Standby, Ready, and Active. The Active state further includes two sub-states: the circular crab-like motion angular velocity transition state and the steady-state circular crab-like motion state. Through this state division, the complex circular crab-like motion is decomposed into multiple stages, each corresponding to a specific control objective, thus achieving step-by-step coordination between wheel angle control and motor torque control.

[0250] In the off state, the circular crabbing function is either off or has completed its exit process. The control system does not execute any control actions related to circular crabbing, the rotation angle of each wheel remains in the centered state, and the output torque of the drive motor corresponding to each wheel is zero. This state represents both the initial and final state of the circular crabbing function.

[0251] In standby mode, the circumferential crabbing function is activated but not yet ready. The control system keeps the output torque of the drive motors corresponding to each wheel at zero to ensure the vehicle remains stationary. Regarding steering angle control, when the circumferential crabbing function is about to activate (i.e., transitioning from the off state to the standby state and preparing to transition to the ready state), the control system responds to the circumferential crabbing function activation preparation signal and controls the wheels to steer to the initial circumferential crabbing angle. When the circumferential crabbing function is about to deactivate (i.e., returning from the ready state to the standby state and preparing to transition to the off state), the control system responds to the detection of the circumferential crabbing function deactivation command and controls the actual steering angle of the wheels to return to center. In this way, in standby mode, wheel steering angle pre-positioning or return-to-center operations are performed according to the function's progress.

[0252] In the ready state, the circular crabbing function has completed parameter settings and wheel pre-positioning, and the driver has pressed the brake pedal to confirm readiness, awaiting the activation command. The control system maintains the actual rotation angle of each wheel unchanged (i.e., maintains the initial circular crabbing rotation angle), while controlling the output torque of the drive motor corresponding to each wheel to zero, and the vehicle remains stationary due to the brake pedal. This state is the final preparation stage before activation; once the driver releases the brake pedal, the system enters the activated state.

[0253] In the active state, the circular crabging function is activated, and the control system coordinates the circular crabging angle of the wheels and the motor torque to enable the vehicle to perform circular crabging motion. This state includes the following two sub-states:

[0254] During the transition state of the circular crabging angular velocity, the vehicle performs transitional control of the circular crabging angular velocity. When the function is ready to be activated, the control system controls the target circular crabging angular velocity to gradually increase from zero at a calibrated rate of increase to the preset circular crabging angular velocity, while the wheel angle dynamically changes from the initial circular crabging angle. When the function is ready to be deactivated, the control system controls the target circular crabging angular velocity to gradually decrease from the preset circular crabging angular velocity to zero at a calibrated rate of decrease, while the wheel angle correspondingly transitions back to the initial circular crabging angle or the return-to-center position. This state achieves smooth changes in angular velocity during the start and stop of the circular crabging motion.

[0255] In steady-state circular crabging motion, the vehicle performs steady-state circular crabging motion. The control system maintains the target circular crabging angular velocity at a preset constant value, while the wheel angle dynamically changes according to the real-time revolution angle, ensuring that the vehicle's actual circular crabging angular velocity remains stable near the preset value, and the vehicle's orientation remains unchanged. This state represents the stable operation phase of circular crabging motion, during which the vehicle continuously moves along a circular trajectory.

[0256] It's important to note that the control strategies for the two sub-states in the Active state differ between the circular crabbing function and the planetary U-turn function. After entering the Active state, the planetary U-turn function first controls the vehicle to achieve stable revolution motion in the Revolution state, and then applies additional rotational motion in the Rotation state to achieve the composite motion of the planetary U-turn. This step-by-step control scheme, which breaks down the composite motion control into single motion control, improves its control stability. However, it is not suitable for controlling circular crabbing motion because circular crabbing is a crab-like motion with a circular trajectory, requiring the vehicle's direction to always maintain its initial direction without deviation. If steady-state revolution motion control is performed first, it will no longer conform to the characteristics of crabbing motion. Therefore, the circular crabbing function must maintain composite motion control throughout the Active state.

[0257] The Transition state handles the transition between the vehicle's stationary state and steady-state circular crabbing motion, while the CircleCrab state controls the steady-state circular crabbing motion. The target circular crabbing angle of the wheels and the target circular crabbing torque of the hub motor are calculated in the same way for these two sub-states, only their target circular crabbing angular velocities differ. In the Transition state, the target circular crabbing angular velocity ranges from 0 to the driver's set value. The constant velocity transition value between these values, and the target circular crab angular velocity in CircleCrab state are the values ​​set by the driver. .

[0258] Figure 7 This is a schematic diagram of the curve change of the target circumferential crab angular velocity provided in the embodiments of this application, as shown below. Figure 7 As shown, the horizontal axis represents time t, and the vertical axis represents the angular velocity of the target's circular crab-like motion. .from Figure 7 It can be clearly seen that the target's circular crab angular velocity remains at 0 during the ready phase (i.e., the Ready state); and exhibits a three-stage change trend during the Active state.

[0259] Specifically, in to At any given moment, the target circular angular velocity of the crab starts from 0 and increases linearly at a constant rate to the preset circular angular velocity of the crab. This corresponds to the rising phase in the transition phase of the angular velocity transition during the crab's circular motion (i.e., the transition state); in to At any given moment, the target's circular angular velocity remains constant at [value missing]. This remains constant, corresponding to the steady-state circular crab motion stage (i.e., the CircleCrab state); in to At that moment, the target's circular crab angular velocity changed from... The angular velocity decreases linearly to 0 at a constant rate of descent, corresponding to the descent phase in the Transition state. The above three-segment variation curve ensures a smooth transition of angular velocity during the starting, steady-state, and stopping processes of the circular crab motion. to The rising segment and to The descent segment is controlled by calibrated ascent and descent rates to adapt to the response speed and comfort requirements of different vehicle models and operating conditions.

[0260] See also Figure 6 It can be seen that the state transition path for activating the Circle Crab function is: Off → Standby → Ready → Transition → CircleCrab. When the user turns off the function switch, modifies the Circle Crab parameters, or presses the brake pedal, the system gradually exits according to the path CircleCrab → Transition → Ready → Standby → Off. During the exit process, torque unloading, vehicle deceleration, and steering angle return are completed sequentially to ensure a smooth and safe exit process.

[0261] For example, the Off→Standby transition condition includes: all conditions 1) to 2) being true. Specifically:

[0262] 1) The vehicle remains stationary;

[0263] 2) Turn on the circumferential crab-walking function;

[0264] Standby → Ready transition conditions: All conditions 1) through 5) must be met. Specifically:

[0265] 1) The vehicle remains stationary;

[0266] 2) The circumferential crab-walking function switch remains on;

[0267] 3) Complete the preset circular crab-movement radius and preset circular crab-movement angular velocity parameter settings;

[0268] 4) The wheels turn to the initial circular crab-like turning angle;

[0269] 5) The driver depresses the brake pedal;

[0270] Ready → Transition condition: All conditions 1) through 5) must be true. Specifically:

[0271] 1) The vehicle remains stationary;

[0272] 2) The circumferential crab-walking function switch remains on;

[0273] 3) The preset circular crab-movement radius and preset circular crab-movement angular velocity parameters remain unchanged;

[0274] 4) The actual rotation angle of the wheel is equal to the initial circumferential crab-like rotation angle;

[0275] 5) The driver releases the brake pedal;

[0276] Transition → CircleCrab: All conditions 1) through 4) must be true. Specifically:

[0277] 1) Keep the circumferential crab-walking function switch on;

[0278] 2) The preset circular crab-movement radius and preset circular crab-movement angular velocity parameters remain unchanged;

[0279] 3) The actual circumferential angular velocity of the vehicle is equal to the preset circumferential angular velocity, and the duration is greater than or equal to the preset duration threshold;

[0280] 4) The driver did not press the brake pedal;

[0281] Correspondingly, the transition path for the CircleCrab function to exit the state is CircleCrab→Transition→Ready→Standby→Off, with the following transition conditions:

[0282] The transition condition for CircleCrab→Transition includes: any one of conditions 1) to 3) must be true. Specifically:

[0283] 1) The circumferential crab-walking function switch is off;

[0284] 2) Change the preset circular crab-movement radius and preset circular crab-movement angular velocity parameter settings;

[0285] 3) The vehicle's brake pedal is depressed, and the actual braking torque at the wheel end is greater than 500 Nm.

[0286] The transition condition for Transition → Ready includes: any one of conditions 1) to 3) must be true, and condition 4) must also be true. Specifically:

[0287] 1) The circumferential crab-walking function switch is off;

[0288] 2) Change the preset circular crab-movement radius and preset circular crab-movement angular velocity parameter settings;

[0289] 3) The vehicle's brake pedal is depressed, and the actual braking torque at the wheel end is greater than 500 Nm;

[0290] 4) The actual circumferential angular velocity of the vehicle decreases to 0.

[0291] The Ready→Standby transition conditions include: any one of conditions 1) to 2) must be true, and conditions 3) to 4) must be true. Specifically:

[0292] 1) The circumferential crab-walking function switch is off;

[0293] 2) Change the preset circular crab-movement radius and preset circular crab-movement angular velocity parameter settings;

[0294] 3) The actual torque unloading at the wheel end is 0;

[0295] 4) The vehicle remains stationary;

[0296] The conditions for the Standby to Off transition include: conditions 1) through 4) must all be true. Specifically:

[0297] 1) The circumferential crab-walking function switch is off;

[0298] 2) The actual torque unloading at the wheel end is 0;

[0299] 3) The vehicle remains stationary;

[0300] 4) The wheel angle returns to center.

[0301] In this embodiment of the application, after adopting the above-mentioned state management method, the vehicle can maintain a clear control boundary between multiple circular crab-walking function states such as off, standby, and ready, ensuring that the wheels return to the basic posture when the function exits and keeping the vehicle posture stable before entering the circular crab-walking state. This effectively avoids sudden motion changes when the function enters and exits, and significantly improves the stability, safety, and passenger comfort of the circular crab-walking function.

[0302] Next, through Figure 8 The method for controlling vehicle crabbing is explained in detail.

[0303] Figure 8 A schematic flowchart of a vehicle crabbing control method provided in another embodiment of this application is shown below. Figure 8 As shown, the vehicle crabbing control method includes:

[0304] S801: Upon detecting that the circular crab-like motion function is in standby mode, obtain the vehicle's geometric parameters and the preset circular crab-like radius.

[0305] For example, when it is detected that the vehicle is stationary, the circular crabging function switch is on, the preset circular crabging radius and preset circular crabging angular velocity have been set, and the vehicle's brake pedal is pressed, it is determined that the circular crabging motion function has entered standby mode. At this time, the vehicle's geometric parameters and the preset circular crabging radius are acquired.

[0306] S802. Determine the initial circumferential crabging angle of each wheel based on the geometric parameters and the preset circumferential crabging radius.

[0307] S803, control each wheel to turn to the corresponding initial circular crab-like turning angle.

[0308] S804: Upon detecting that the circular crab-like motion function is active, the instantaneous distance from the center of each wheel to the center of the revolution circle is obtained.

[0309] For example, when the vehicle is detected to be stationary, the circular crabging function switch remains on, the preset circular crabging radius and preset circular crabging angular velocity remain unchanged, the actual wheel rotation angle is equal to the initial circular crabging rotation angle, and the vehicle's brake pedal is released, the circular crabging motion function is determined to have entered a circular crabging angular velocity transition state. When the circular crabging function switch remains on, the preset circular crabging radius and preset circular crabging angular velocity remain unchanged, the vehicle's actual circular crabging angular velocity is equal to the preset circular crabging angular velocity for a duration greater than or equal to a preset duration threshold, and the vehicle's brake pedal is not depressed, the circular crabging motion function is determined to have entered a steady-state circular crabging state. Both of these states are considered active states.

[0310] Once the circular crab motion function is activated, the real-time circular crab revolution angle is obtained. Based on the real-time circular crab revolution angle, geometric parameters, and preset circular crab radius, the instantaneous distance from the wheel center to the revolution center of each wheel is determined.

[0311] S805. Based on the geometric characteristics of circular crab-like motion, determine the target circular crab-like wheel speed of each wheel according to the preset circular crab-like angular velocity and the corresponding instantaneous distance.

[0312] Specifically, the target circumferential angular velocity is obtained, which varies with time with a preset circumferential angular velocity as the target value. Based on the geometric characteristic that the angular velocity of each wheel relative to the center of the revolution is equal to the target circumferential angular velocity, the target circumferential angular velocity is multiplied by the instantaneous distance corresponding to each wheel to obtain the target circumferential angular velocity of each wheel.

[0313] S806, based on Ackerman steering geometry, determines the target circumferential crabging angle of each wheel according to the vehicle's geometric parameters, preset circumferential crabging angular velocity, and preset circumferential crabging radius.

[0314] S807. Control the steering angle of the wheels according to the target circular crab-like turning angle, and control the wheel speed of the wheels according to the target circular crab-like wheel speed, so that the vehicle can perform circular crab-like motion.

[0315] Specifically, the control of wheel speed includes: acquiring the actual circumferential crab-like wheel speed; determining the wheel speed error between the actual circumferential crab-like wheel speed and the target circumferential crab-like wheel speed; determining the target circumferential crab-like motor torque corresponding to the wheel based on the wheel speed error using a PID control algorithm; and controlling the drive motor of the wheel based on the target circumferential crab-like motor torque.

[0316] Next, this application embodiment also provides a vehicle crabbing control device.

[0317] Figure 9 This is a schematic diagram of the structure of a vehicle crabbing control device provided in an embodiment of this application, as shown below. Figure 9 As shown, the vehicle crabbing control device 90 provided in this embodiment includes: an acquisition module 91, a determination module 92, and a control module 93. Wherein:

[0318] The acquisition module 91 is used to acquire the preset circular crab motion radius and preset circular crab motion angular velocity when the vehicle's circular crab motion function is activated.

[0319] The determination module 92 is used to determine the target circular crabging wheel speed of the wheels when the vehicle is in circular crabging motion, based on the preset circular crabging angular velocity and the preset circular crabging radius.

[0320] The determination module 92 is also used to determine the target circumferential circumferential circumferential angular velocity of the wheel when the vehicle is in circumferential circumferential circumferential motion, based on the vehicle's geometric parameters, preset circumferential circumferential angular velocity and preset circumferential ... radius.

[0321] The control module 93 is used to control the steering angle of the wheels according to the target circumferential crab-like turning angle, and to control the wheel speed of the wheels according to the target circumferential crab-like wheel speed, so that the vehicle can perform circumferential crab-like motion.

[0322] In one possible embodiment, the acquisition module 91 is specifically used to: determine the target circular angular velocity based on the preset circular angular velocity; determine the real-time circular revolution angle based on the integral of the target circular angular velocity over time, wherein the real-time circular revolution angle represents the real-time angle between the vehicle body direction and the tangent direction of the circular angular velocity trajectory; and determine the target circular angular velocity angle of the wheels during the vehicle's circular angular motion based on the geometric constraint that the perpendiculars of all wheel velocity directions intersect at the center of the revolution circle in the Ackerman steering geometry, the real-time circular revolution angle, the geometric parameters, and the preset circular radius.

[0323] In one possible embodiment, the determining module 92 is further configured to: determine a target circular angular velocity based on a preset circular angular velocity, wherein the target circular angular velocity varies with time with the preset circular angular velocity as the target value; determine the real-time circular revolution angle based on the integral of the target circular angular velocity over time; determine the instantaneous distance from the wheel center to the revolution center based on the real-time circular revolution angle, geometric parameters, and the preset circular radius; and, based on the geometric characteristic that the angular velocity of each wheel relative to the revolution center is equal to the target circular angular velocity, multiply the target circular angular velocity by the instantaneous distance corresponding to each wheel to obtain the target circular wheel speed of the wheel during the vehicle's circular angular motion.

[0324] In one possible embodiment, the control module 93 is specifically used to: acquire the actual circumferential crab-like wheel speed of the wheel; determine the wheel speed error between the actual circumferential crab-like wheel speed and the target circumferential crab-like wheel speed; determine the target circumferential crab-like motor torque corresponding to the wheel based on the wheel speed error using a PID control algorithm; and control the drive motor of the wheel based on the target circumferential crab-like motor torque.

[0325] like Figure 10 As shown, in one possible embodiment, the vehicle crabbing control device 90 further includes a processing module 94, which is used to determine that the vehicle's circular crabbing function is in a standby state before the vehicle's circular crabbing function is activated, and to control each wheel to turn to the corresponding initial circular crabbing angle. The initial circular crabbing angle represents the wheel angle of the vehicle at the start of the circular crabbing motion, and the initial circular crabbing angle is determined based on a preset circular crabbing radius.

[0326] In one possible embodiment, it is determined whether the vehicle's circular crab motion function is in standby mode by: when the vehicle meets preset standby conditions for the circular crab motion function, it is determined that the circular crab motion function is in standby mode; wherein, the standby conditions for the circular crab motion function include: the vehicle is stationary; the circular crab motion function switch is on; the preset circular crab motion radius and preset circular crab motion angular velocity have been set; and the vehicle's brake pedal is depressed.

[0327] In one possible embodiment, the activation of the vehicle's circular crab motion function is determined by the following method: when the vehicle meets the preset circular crab motion angular velocity transition condition or steady-state circular crab motion condition, the circular crab motion function is determined to be activated.

[0328] In one possible embodiment, the transition conditions for the circumferential crabging angular velocity include: the vehicle is stationary; the circumferential crabging function switch remains on; the preset circumferential crabging radius and the preset circumferential crabging angular velocity remain unchanged; the actual rotation angle of the wheel is equal to the initial circumferential crabging rotation angle; and the vehicle's brake pedal is not depressed.

[0329] In one possible embodiment, the steady-state circular crabging motion conditions include: the circular crabging function switch remains on; the preset circular crabging radius and preset circular crabging angular velocity remain unchanged; the vehicle's actual circular crabging angular velocity is equal to the preset circular crabging angular velocity, and the duration is greater than or equal to a preset duration threshold; and the vehicle's brake pedal is not depressed.

[0330] In one possible embodiment, the state of the circular crab-like motion function further includes: a closed state and a ready state; the control module 93 is also used to: in the closed state, not execute the control of the circular crab-like motion function; in the standby state, control the output torque of the drive motor corresponding to the wheel to be zero; in response to detecting the exit command of the circular crab-like motion function, control the actual rotation angle of the wheel to return to the center; in the ready state, control the actual rotation angle of the wheel to remain unchanged, and control the output torque of the drive motor corresponding to the wheel to be zero.

[0331] The vehicle crabbing control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0332] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 11 As shown, the electronic device 11 provided in this embodiment includes at least one processor 111 and a memory 112. Optionally, the electronic device 11 further includes a communication component 113. The processor 111, the memory 112, and the communication component 113 are connected via a bus 114.

[0333] In a specific implementation, at least one processor 111 executes computer execution instructions stored in memory 112, causing at least one processor 111 to perform the above-described method.

[0334] The specific implementation process of processor 111 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0335] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0336] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0337] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0338] Figure 12 This is a structural schematic diagram of the vehicle provided in the embodiments of this application, such as... Figure 12 As shown, this application embodiment also provides a vehicle 12, including a vehicle body 121 and the electronic device 11 in the above embodiment.

[0339] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0340] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0341] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0342] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0343] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0344] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0345] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0346] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0347] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0348] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for controlling vehicle crabbing, characterized in that, include: When the vehicle's circular crab motion function is activated, the preset circular crab radius and preset circular crab angular velocity are obtained; The target circumferential crab-like wheel speed of the wheels is determined based on the preset circumferential crab-like angular velocity and the preset circumferential crab-like radius when the vehicle is in circumferential crab-like motion. Based on the vehicle's geometric parameters, the preset circumferential angular velocity, and the preset circumferential radius, the target circumferential angular angle of the wheels during the vehicle's circumferential angular motion is determined. The steering angle of the wheels is controlled according to the target circular crab-like turning angle, and the wheel speed is controlled according to the target circular crab-like wheel speed, so that the vehicle can perform circular crab-like motion.

2. The vehicle crabbing control method according to claim 1, characterized in that, Determining the target circumferential crabging angle of the wheels during the vehicle's circumferential crabging motion, based on the vehicle's geometric parameters, the preset circumferential crabging angular velocity, and the preset circumferential crabging radius, includes: The target circumferential crab angular velocity is determined based on the preset circumferential crab angular velocity. The real-time circular crab-like orbital angle is determined by integrating the target circular crab-like angular velocity with respect to time. The real-time circular crab-like orbital angle represents the real-time angle between the vehicle body direction and the tangent direction of the circular crab-like trajectory. Based on the geometric constraint in Ackermann steering geometry that the perpendiculars of all wheel velocity directions intersect at the center of the revolution circle, the target circular crabging angle of the wheels during the vehicle's circular crabging motion is determined according to the real-time circular crabging revolution angle, the geometric parameters, and the preset circular crabging radius.

3. The vehicle crabbing control method according to claim 1, characterized in that, Determining the target circular crabging wheel speed of the vehicle's wheels during circular crabging motion based on the preset circular crabging angular velocity and the preset circular crabging radius includes: Based on the preset circumferential crab angular velocity, a target circumferential crab angular velocity is determined, and the target circumferential crab angular velocity varies with time with the preset circumferential crab angular velocity as the target value. The real-time circular crab revolution angle is determined by integrating the target circular crab angular velocity over time. The instantaneous distance from the wheel center to the center of the revolution circle is determined based on the real-time circular crab-like revolution angle, the geometric parameters, and the preset circular crab-like revolution radius. Based on the geometric characteristic that the angular velocity of each wheel relative to the center of revolution is equal to the target circumferential crab-like angular velocity, the target circumferential crab-like angular velocity is multiplied by the instantaneous distance corresponding to the wheel to obtain the target circumferential crab-like wheel speed of the wheel when the vehicle is in circumferential crab-like motion.

4. The vehicle crabbing control method according to any one of claims 1 to 3, characterized in that, The step of controlling the wheel speed based on the target circumferential crab-like wheel speed includes: Obtain the actual circumferential crab-like wheel speed of the wheel; Determine the wheel speed error between the actual circumferential crab-walking wheel speed and the target circumferential crab-walking wheel speed; Based on the PID control algorithm, the target circumferential crab-walking motor torque corresponding to the wheel is determined according to the wheel speed error; The drive motor of the wheel is controlled according to the target circumferential crab-like motor torque.

5. The vehicle crabbing control method according to any one of claims 1 to 3, characterized in that, Before the vehicle's circular crab-like motion function is activated, it also includes: The vehicle's circular crab motion function is determined to be in standby mode, and each wheel is controlled to turn to the corresponding initial circular crab motion angle. The initial circular crab motion angle represents the wheel angle of the vehicle at the start of the circular crab motion, and the initial circular crab motion angle is determined based on a preset circular crab motion radius.

6. The vehicle crabbing control method according to claim 5, characterized in that, The following method is used to determine whether the vehicle's circular crab-like motion function is in standby mode: When the vehicle meets the preset standby conditions for the circular crab-like motion function, the circular crab-like motion function is determined to be in standby mode; wherein, the standby conditions for the circular crab-like motion function include: The vehicle is stationary; The circumferential crab-walking function switch is in the on position; The preset circumferential crab-movement radius and the preset circumferential crab-movement angular velocity have been set. And, the vehicle's brake pedal is pressed.

7. The vehicle crabbing control method according to any one of claims 1 to 3, characterized in that, The activation status of the vehicle's circular crab-like motion function is determined by the following method: When the vehicle meets the preset transition conditions for circular crab-like angular velocity or steady-state circular crab-like motion conditions, the circular crab-like motion function is determined to be activated.

8. The vehicle crabbing control method according to claim 7, characterized in that, The transition conditions for the circumferential crab-like angular velocity include: The vehicle is stationary; The circumferential crab-walking function switch remains on. The preset circumferential crab-walking radius and the preset circumferential crab-walking angular velocity remain unchanged; The actual rotation angle of the wheel is equal to the initial circumferential crab-like rotation angle; And, the brake pedal of the vehicle was not depressed.

9. The vehicle crabbing control method according to claim 7, characterized in that, The steady-state circular crab motion conditions include: The circumferential crab-walking function switch remains on. The preset circumferential crab-walking radius and the preset circumferential crab-walking angular velocity remain unchanged; The actual circumferential crabging angular velocity of the vehicle is equal to the preset circumferential crabging angular velocity, and the duration is greater than or equal to the preset duration threshold. And, the brake pedal of the vehicle was not depressed.

10. The vehicle crabbing control method according to claim 5, characterized in that, The states of the circular crab-walking motion function also include: closed state and ready state; The vehicle crabbing control method further includes: In the off state, the control of the circular crab-like motion function is not executed; In the standby state, the output torque of the drive motor corresponding to the wheel is controlled to be zero; in response to the detection of a command to exit the circular crab motion function, the actual rotation angle of the wheel is controlled to return to the center. In the ready state, the actual rotation angle of the wheel is kept constant, and the output torque of the drive motor corresponding to the wheel is controlled to be zero.

11. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the vehicle crabbing control method as described in any one of claims 1 to 10.

12. A vehicle, characterized in that, include: The vehicle body and the electronic device as described in claim 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the vehicle crabbing control method as described in any one of claims 1 to 10.

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