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, the method comprising:
- engaging a first turn mode in response to one or more wheels of the vehicle being turned to a turn angle that is past a first turn threshold, wherein forward torque is applied to a rear wheel of the vehicle in the first turn mode;
- and
- engaging a second turn mode in response to the one or more wheels continuing to be turned to a turn angle that is past a second turn threshold greater than the first turn threshold, wherein forward torque is applied to a front wheel of the vehicle and backward torque is applied to two rear wheels of the vehicle in the second turn mode.
A vehicle configured for turning, the vehicle comprising:
- two front wheels;
- at least one first motor configured to provide torque to the two front wheels;
- two rear wheels;
- at least one second motor configured to provide torque to the two rear wheels;
- and
- control circuitry configured to:
- engage a first turn mode in response to one or more wheels among the two front wheels or the two rear wheels being turned to a turn angle that is past a first turn threshold;
- while the first turn mode is engaged, control the at least one second motor to provide forward torque to one of the two rear wheels;
- engage a second turn mode in response to the one or more wheels continuing to be turned to a turn angle that is past a second turn threshold greater than the first turn threshold;
- and
- while the second turn mode is engaged:
- control the at least one first motor to provide forward torque to one of the two front wheels;
- and
- control the at least one second motor to provide backward torque to the two rear wheels.
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 first turn mode in response to the front wheels being turned to a turn angle that is past a first turn threshold, wherein forward torque is applied to a rear wheel of the vehicle in the first turn mode;
- and
- engage a second turn mode in response to the front wheels continuing to be turned to a turn angle that is past a second turn threshold greater than the first turn threshold, wherein forward torque is applied to a front wheel of the vehicle and backward torque is applied to two rear wheels of the vehicle in the second turn mode.
Dependencies are inferred from the claim text.