Systems and methods for providing a vehicle with a torque vectored K-turn mode
AssigneeRivian IP Holdings, LLC
InventorLucas Keller
Life of this patent
Estimating the term…
Abstract
Systems and methods are provided herein for operating a vehicle in a K-turn mode. The K-turn mode is engaged in response to determining that an amount that at least one of the front wheels of the vehicle is turned exceeds a turn threshold. While operating in the K-turn mode, forward torque is provided to the front wheels of the vehicle. Further, backward torque is provided to the rear wheels of the vehicle. Yet further, the rear wheels of the vehicle remain substantially in static contact with a ground while the front wheels slip in relation to the ground.
Claims20
A method for turning a vehicle in a K-turn mode, wherein the vehicle comprises front wheels and rear wheels, the method comprising:
- engaging the K-turn mode when an amount that the front wheels of the vehicle is turned exceeds a turn threshold;
- and
- while operating in the K-turn mode, causing the vehicle to rotate by simultaneously providing:
- forward torque to the front wheels of the vehicle at a given time;
- and
- backward torque to the rear wheels of the vehicle at the given time,
- wherein providing forward torque to the front wheels of the vehicle at the given time comprises:
- providing forward torque to an inner front wheel of the vehicle;
- and
- providing forward torque to an outer front wheel of the vehicle.
A vehicle configured for turning in a K-turn mode, the vehicle comprising:
- front wheels;
- at least one first motor configured to provide torque to the front wheels;
- rear wheels;
- at least one second motor configured to provide torque to the rear wheels;
- and
- control circuitry configured to:
- engage the K-turn mode when an amount that the front wheels of the vehicle is turned exceeds a turn threshold;
- and
- while operating in the K-turn mode, cause the vehicle to rotate by simultaneously controlling:
- the at least one first motor to provide forward torque to the front wheels of the vehicle at a given time;
- and
- the at least one second motor to provide backward torque to the rear wheels of the vehicle at the given time,
- wherein the control circuitry is configured to control the at least one first motor to provide forward torque to the front wheels at the given time by:
- providing forward torque to an inner front wheel;
- and
- providing forward torque to an outer front wheel.
A non-transitory computer-readable medium having instructions encoded thereon that, when executed by control circuitry of a vehicle comprising front wheels and rear wheels, cause the control circuitry to:
- engage a K-turn mode when an amount that the front wheels of the vehicle is turned exceeds a turn threshold;
- and
- while operating in the K-turn mode, cause the vehicle to rotate by simultaneously causing:
- forward torque to be applied to the front wheels of the vehicle at a given time;
- and
- backward torque to be applied to the rear wheels of the vehicle at the given time,
- wherein causing forward torque to the front wheels of the vehicle at the given time comprises:
- causing forward torque to be applied to an inner front wheel of the vehicle;
- and
- causing forward torque to be applied to an outer front wheel of the vehicle.
Dependencies are inferred from the claim text.