公开(公告)号：EP3932757A1

公开(公告)日：2022-01-05

申请号：EP21180652.6

申请日：2021-06-21

申请人： Rivian IP Holdings, LLC

发明人： VERBRIDGE, Mason ,  MADINENI, Rahul ,  VADER, Nachiket ,  NAGARAJAN, Bhushnan ,  SAINATH, Bhuvanesh

IPC分类号： B60T8/1755 ,  B60W30/02 ,  B60W30/18 ,  B60W10/08

摘要： Systems and methods are provided herein for operating a vehicle in a vehicle yaw mode. In response to initiating vehicle yaw mode, the system engages an open-loop mode, that provides open-loop forward torque to the outer wheels of the vehicle and open-loop backward torque to the inner wheels of the vehicle until a sufficient number of wheels are slipping. In response to determining that a sufficient number of wheels are slipping, engaging a closed-loop mode. While operating in the closed-loop mode, one or both of the wheel rotation and vehicle yaw rate are monitored to adjust the torques provided to the wheels of the vehicle to control the vehicle yaw rate.