Systems and methods for providing a vehicle with a torque vectored k-turn mode
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.
1 . 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.
2 . The method of claim 1 , wherein the rear wheel is an outer rear wheel, the method further comprising providing, while the first turn mode is engaged, backward torque to an inner rear wheel of the vehicle and forward torque to front wheels of the vehicle.
3 . The method of claim 1 , wherein the two rear wheels comprise an inner rear wheel and outer rear wheel and the rear wheel is the outer rear wheel, the method further comprising, while the first turn mode is engaged:
applying resistance to forward rotation of the inner rear wheel of the vehicle; and
providing forward torque to front wheels of the vehicle.
4 . The method of claim 1 , wherein the two rear wheels comprise an inner rear wheel and an outer rear wheel, the method further comprising providing, while the second turn mode is engaged:
backward torque to the inner rear wheel and the outer rear wheel wheel of the vehicle; and
forward torque to front wheels of the vehicle.
5 . The method of claim 1 , further comprising:
monitoring rotation of each of the two rear wheels; and
while the second turn mode is engaged and in response to identifying rear wheel slip in at least one of the two rear wheels, applying a corrective action to the rear wheel exhibiting slip, wherein the corrective action is selected from at least one of applying a brake to the rear wheel exhibiting slip or reducing backward torque to the rear wheel exhibiting slip.
6 . The method of claim 4 , further comprising:
monitoring rotation of an inner front wheel and an outer front wheel of the front wheels; and
while the second turn mode is engaged, controlling the forward torque of the front wheels such that the rotation of the inner front wheel is approximately equal to the rotation of the outer front wheel.
7 . The method of claim 4 , further comprising:
monitoring rotation of an inner front wheel and an outer front wheel of the front wheels;
comparing the rotation of the inner front wheel and the outer front wheel to a target spin rate; and
controlling the forward torque to the front wheels based on the comparison.
8 . The method of claim 4 , wherein while the second turn mode is engaged:
the forward torque causes front forces to be exerted on a ground by the front wheels;
the front forces comprise forward force components and lateral force components;
the backward torque causes rearward force components to be exerted on the ground by the two rear wheels; and
a sum of the forward force components is substantially equal to a sum of the rearward force components.
9 . The method of claim 4 , further comprising:
receiving rotation information of the vehicle from at least one sensor;
receiving a throttle input; and
while the second turn mode is engaged, controlling the forward torque to the front wheels and the backward torque to the two rear wheels based on the rotation information and the throttle input.
10 . The method of claim 4 , wherein:
providing forward torque to the front wheels comprises using a first motor configured to transmit torque to an outer front wheel of the front wheels and a second motor configured to transmit torque to an inner front wheel of the front wheels; and
providing backward torque to the two rear wheels comprises using a third motor configured to transmit torque to the outer rear wheel of the two rear wheels and a fourth motor configured to transmit torque to the inner rear wheel of the two rear wheels.
11 . The method of claim 1 , further comprising:
while the first turn mode is engaged, providing forward torque to front wheels of the vehicle such that rotation of an inner front wheel is less than rotation of an outer front wheel; and
while the second turn mode is engaged, providing forward torque to the front wheels of the vehicle such that the rotation of the inner front wheel is approximately equal to the rotation of the outer front wheel.
12 . 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.
13 . The vehicle of claim 12 , wherein the one of the two rear wheels is an outer rear wheel and wherein the control circuitry is further configured, while the first turn mode is engaged, to:
control the at least one first motor to provide forward torque to the two front wheels; and
control the at least one second motor to provide backward torque to an inner rear wheel of the two rear wheels.
14 . The vehicle of claim 12 , wherein the two rear wheels comprise an inner rear wheel and an outer rear wheel and the one of the two rear wheels is the outer rear wheel and wherein the control circuitry is further configured, while the second turn mode is engaged, to:
control the at least one first motor to provide forward torque to the two front wheels; and
control the at least one second motor to provide backward torque to the inner rear wheel and the outer rear wheel of the two rear wheels.
15 . The vehicle of claim 14 , wherein:
the at least one second motor comprises a first rear motor and a second rear motor; and
the control circuitry is configured to control the at least one second motor to provide backward torque to the two rear wheels by:
providing the backward torque to the outer rear wheel using the first rear motor; and
providing the backward torque to the inner rear wheel using the second rear motor.
16 . The vehicle of claim 12 , further comprising:
a front differential mechanically coupled to the at least one first motor and the two front wheels, wherein the at least one first motor provides torque to the two front wheels via the front differential; and
a rear differential mechanically coupled to the at least one second motor and the two rear wheels, wherein the at least one second motor provides torque to the two rear wheels via the rear differential.
17 . The vehicle of claim 12 , wherein the control circuitry is configured to:
control the at least one first motor to provide forward torque to the two front wheels, the at least one first motor comprising a first front motor configured to transmit torque to an outer front wheel and a second front motor configured to transmit torque to an inner front wheel; and
control the at least one second motor to provide backward torque to the two rear wheels, the at least one second motor comprising a third rear motor configured to transmit torque to an outer rear wheel and a fourth rear motor configured to transmit torque to an inner rear wheel.
18 . 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.
19 . The non-transitory computer-readable medium of claim 18 ,
wherein the rear wheel is an outer rear wheel and wherein the instructions further cause the control circuitry, while the first turn mode is engaged, to:
provide backward torque to an inner rear wheel of the two rear wheels; and
provide forward torque to the front wheels.
20 . The non-transitory computer-readable medium of claim 18 ,
wherein the two rear wheels comprise an inner rear wheel and an outer rear wheel and the rear wheel is the outer rear wheel and wherein the instructions further cause the control circuitry, while the second turn mode is engaged, to
provide backward torque to the inner rear wheel and the outer rear wheel of the two rear wheels; and
provide forward torque to the front wheels.