547results about "Deflectable wheel steering" patented technology

A towable off-road vehicle with a towing engagement system for elevating the vehicle whereby, when engaged for towing with a towing vehicle, only certain wheels that are reversibly lockable for steering are engaged with a road surface over which the off-road vehicle is the be moved.

A method for controlling a steer-by-wire steering system for a motor vehicle having steerable front and rear wheels in emergency steering operation comprises checking the steering system for the presence of a fault state and performing the emergency steering operation to maintain original driving behaviour if a fault state is detected, including: determining a target lateral acceleration on the basis of a current steering wheel position and a current vehicle speed, determining a yaw moment and, from the yaw moment, a general wheel steering angle for the original driving behaviour, where the general wheel steering angle is equal to a difference between a front wheel steering angle and a rear wheel steering angle, determining a front wheel steering angle correction and a rear wheel steering angle correction, and determining drive torques and / or braking torques for the front wheels and the rear wheels, which are distributed appropriately by the torque vectoring system.

Narrow vehicles have multiple advantages but tend to have a limited application because they are roll unstable. The use of flywheels to increase their stability is a known method but the operation range, complexity, performance and cost usually limit the application of these vehicles. Stability and agility enhancement system and method enabling the application of stabilizing forces from flywheels and the steering of the trajectory concurrently and cooperatively with the driver's steering and assistance enable the benefit of reduced cost and complexity while providing enhanced performances, intuitive control, safety and operation range.

Provided are a method and apparatus for controlling the steering of rear wheels, and a vehicle and a storage medium. The method for controlling the steering of rear wheels comprises: when a front-wheel steering-by-wire system fails, determining a steering control quantity of a steering wheel; on the basis of the steering control quantity, a target transmission ratio between the steering wheel and front wheels, and a yaw direction value, determining a target steering control quantity of rear wheels; and on the basis of the target steering control quantity, controlling the steering of the rear wheels. Since yaw is generated during the steering of front wheels, a yaw direction value is introduced when a target steering control quantity is determined, such that the same steering effect can be produced during the steering of the rear wheels and the steering of front wheels. Therefore, when a front-wheel steering-by-wire system fails, the method can not only aid, by means of the rear wheels, a vehicle in meeting steering requirements, but can also achieve a steering effect the same as that of the front wheels, thereby conforming to the steering habit of a vehicle user.

The purpose of the present invention is to improve the utility of a vehicle steering system mounted on a multi-wheel independent steering vehicle. In a one-wheel inappropriate steering state in which one of a plurality of steerable wheels (10F) becomes an inappropriate steered wheel (10FD) that is inappropriate during steering, the steering system is configured so as to secure, in accordance with a steering request, a total lateral force (FCFREF), which is the sum of lateral forces that should be generated by the plurality of wheels, and to provide a one-wheel inappropriate steering state in which one of the plurality of steerable wheels (10F) becomes an inappropriate steered wheel (10FD) that is inappropriate during steering. At least one of one or more wheels other than the improperly steered wheel among the plurality of wheels is used as a steering compensation wheel (10FC), and a target steering amount ([delta] C *) for the steering compensation wheel is changed.

The invention provides a method and device for controlling steering of rear wheels, a vehicle and a storage medium. When a front wheel steer-by-wire system of the vehicle breaks down, the front wheel steer-by-wire system cannot control front wheel steering. Therefore, rear wheel intervention is needed to achieve vehicle steering. According to the scheme, when the front wheel steer-by-wire system fails, the steering control quantity of a steering wheel is determined; a target steering control amount of the rear wheels is determined based on the steering control amount, a target gear ratio between the steering wheel and the front wheels, and the yaw direction value. Due to the fact that yawing can be generated in front wheel steering, the yawing direction value is introduced when the target steering control quantity is determined in the scheme. Therefore, the steering effect of the rear wheel is the same as that of the front wheel. A target angle value for rear wheel rotation is also determined based on the steering control amount and the target gear ratio. Therefore, according to the scheme, when the front wheel steer-by-wire system fails, the vehicle can be assisted by the rear wheels to meet the steering requirement, the steering effect the same as that of the front wheels is achieved, and the steering habit of a vehicle user is met.

A robot may have a sphere-like outer shell defining an inner cavity. An axle unit includes an axle connected at its opposed ends to the outer shell, in the inner cavity, and a transmission to transmit a torque to the axle. A pendulum drive unit is operatively connected to the axle unit and supported in the outer shell by the axle, the pendulum drive unit having actuators to produce torque, the actuators operatively connected to the transmission of the axle unit. The axle unit and the pendulum drive unit concurrently define a cylindrical joint by which the pendulum drive unit is movable in rotation and translation relative to the axle to tilt and drive the sphere-like outer shell via the actuators.

The present application provides a control method, device, vehicle and storage medium for vehicle steering. When the automatic U-turn mode is turned on, the vehicle controller obtains the auxiliary parameters of the vehicle according to the pre-activation signal input by the user, and generates the target direction, rotation angle, feedforward torque, target wheel speed, and then sends a steering instruction to the motor controller. The motor controller responds according to the feedforward torque, obtains a response signal, and sends it to the vehicle controller. Based on the response signal, the vehicle controller obtains the swing angle sensor information and the lateral longitudinal acceleration information to calculate the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering. Automatic U-turn and zero turning radius steering of the vehicle are realized, making the vehicle steering more flexible, accurate and efficient, and reducing the rotation error, achieving millisecond-level drive control.

The present invention relates to a method for maneuvering a vehicle (100) with a defect (106) on a single-wheel steering actuator (102) of a driven wheel (104) of the vehicle (100), wherein for maneuvering a torque on the wheel (104) is set as a function of a steering angle of an opposite wheel (104) of the vehicle (100).

Method for determining and / or monitoring a mechanical condition of at least one tie rod assembly (10) of an electrically assisted steering system (12) of a vehicle (14), wherein the mechanical condition of the tie rod assembly (10) is linked to steering play, in particular caused by mechanical wear, wherein at least one operating characteristic (16) correlated with a steering movement of at least one steering actuator (18) and / or at least one steering control unit (20) of the steering system (12) is determined and evaluated for determining and / or monitoring the mechanical condition of the tie rod assembly (10), wherein the evaluation of the operating characteristic (16) takes place in a steering range in which forces (28, ) acting on the tie rod assembly (10)30) in the form of a steering force exerted on a steering actuating element (52) and a restoring force acting in the opposite direction to the steering force of at least one vehicle wheel (46) of the vehicle (14) at least substantially compensate.

To provide an unmanned carrier capable of suppressing postural change of a carrier body in switching between a normal travel mode and a sideward travel mode.SOLUTION: An unmanned carrier capable of switching between a normal travel mode in which it can travel straight in a front-rear direction X and a sideward travel mode in which it can travel straight in a right-left direction Y comprises: a plurality of wheels (a left front wheel 3FL and a right front wheel 3FR, and a left rear wheel 3RL and a right rear wheel 3RR); a drive unit which limits rolling of the left front wheel 3FL and left rear wheel 3RL; a steering device which change directions of the plurality of wheels; and a control device. In the switching between the normal travel mode and sideward travel mode, the control device controls the steering device to change the directions of the right front wheel 3FR and left rear wheel 3RL after changing the directions of the left front wheel 3FL and right rear wheel 3RR, and also controls the drive unit to limit rolling of the left rear wheel 3RL when changing the direction of the left front wheel 3FL and right rear wheel 3RR and limit rolling of the left front wheel 3FL when changing the direction of the right front wheel 3FR and left rear wheel 3RL.SELECTED DRAWING: Figure 4

A mechatronic system for stable operation of a narrow-enclosed vehicle is disclosed. The system comprises of a pair of coaxial planetary gear sets comprising a sun gear (101, 201), a carrier (102, 202), a planet gear (103, 203), and a ring gear (104, 204). A tilt subsystem (105) driven by the rotational motion of the ring gears (104, 204) to adjust the tilt angle of the narrow-enclosed vehicle and a steering subsystem (205) connected to an output shaft (200) and configured to steer the narrow-enclosed vehicle. Further, a first holding device (150), a second holding device (250) and a third holding device (53) are selectively engageable to control the rotational motion of the ring gears (104, 204) and the carriers (102, 202). An electric motor (51) is controlled by an electric control unit (52) to provide torque for adjusting the tilt and steering of the narrow-enclosed vehicle and an actuator subsystem (54) is controlled by the electronic control unit (52) to engage or disengage the first holding device (150), the second holding device (250) and third holding device (53), thus enhancing the vehicle's stability and maneuverability.

According to several aspects, a method for controlling an electric vehicle is provided. The method may include adjusting an operation of one or more electric motors of the electric vehicle to induce a loss of traction of a first wheel of the electric vehicle on a first side of the electric vehicle. The method further may include adjusting an operation of an electric steering system of the electric vehicle to induce a yaw motion of the electric vehicle. A direction of the yaw motion is away from the first side of the electric vehicle.

A device and method of controlling suspension settings according to a steering mode of a vehicle determines an attitude of a vehicle to easily secure a driver's field of view depending on various steering modes of the vehicle and determines a roll angle or pitch angle of the vehicle accordingly to control a suspension, so that a driver's anxiety or uncomfortableness caused by steering modes may be eliminated by securing the driver's field of view, and a driver's ride quality may be improved by allowing the driver to identify driving conditions that vary depending on a driving mode from a driver's view.

The invention discloses a vehicle steering and braking cooperative control method and a related device. The cooperative control method comprises the steps that the actual yaw velocity of a vehicle at the current moment is obtained, and the expected yaw velocity of the vehicle at the current moment is obtained; in response to the steering metric being greater than a first threshold, determining that the vehicle has over-steering at the current moment; or, in response to the situation that the steering metric is smaller than a second threshold value, determining that the vehicle has understeering at the current moment; and in response to the over-steering or under-steering of the vehicle, controlling a steering actuator of the vehicle to adjust the steering torque of the vehicle at the next moment, and controlling a brake actuator of the vehicle to provide the yaw torque of the vehicle at the next moment. According to the scheme, the steering performance of the vehicle is improved while safe and stable driving of the vehicle is guaranteed.

The invention relates to a method for controlling a steer-by-wire steering system for a motor vehicle (1) with steerable front and rear wheels in an emergency steering mode, comprising the following steps: - checking the steering system (2) for the presence of a fault condition, - performing the emergency steering mode to maintain the original vehicle behavior when a fault condition is detected, wherein the following steps are performed in the emergency steering mode: - determining the target lateral acceleration based on the actual steering wheel position and the actual vehicle speed, - determining the yaw moment and from this a general wheel steering angle δg for the original vehicle behavior,where the general wheel steering angle δg is given by δg = δf − δr δg - general wheel steering angle δf - front wheel steering angle δr - rear wheel steering angle - Determining a correction front wheel steering angle Δδf and a correction rear wheel steering angle Δδr and - Determining the drive torques and / or braking torques for the front wheels (FL, FR) and the rear wheels (RL, RR), which are distributed accordingly by the torque vectoring system.

The present invention relates to a motor vehicle steering system (10) of a motor vehicle having a front wheel steering unit (11), a steering control unit (12), two front wheels (13) and one or more rear wheels (25), wherein the front wheel steering unit (11) has a steering wheel (14) and at least one steering actuating device (15) which is coupled to at least one of the front wheels (13) in order to transfer a steering movement, wherein the steering control unit (12) is signal-connected to the steering wheel (14) in order to detect a steering angle (α) and the steering control unit (12) is configured to detect the steering angle (α) of the steering wheel (14) and to control the steering actuating device (15) such that the steering actuating device (15) transfers the detected steering angle (α) to the at least one front wheel (13), wherein at least two actuators (17) are provided which are adapted to have effect on one or both of the front wheels (13) and / or on one or more of the rear wheels (25), the steering control unit (12) having a processing unit (121) which is configured in order to: determine a current trajectory (16) of the motor vehicle during driving operation; detect a malfunction of the front wheel steering unit (11) and / or the steering control unit (12) during driving operation; select at least one of the actuators (17) in the event a malfunction is detected; and to control the at least one selected actuator (17) such that the current trajectory (16) of the motor vehicle is maintained during driving operation with minor deviation.

A brake system may include a plurality of wheel speed sensors respectively installed in a plurality of wheels of a vehicle, a plurality of hydraulic brake modules related to braking of the plurality of wheels, and a first controller configured to perform braking control on the plurality of hydraulic brake modules in response to at least one of a pedal displacement signal, which corresponds to a movement of a brake pedal, and wheel speed signals outputted from the wheel speed sensors, in which when a failure of the first controller is identified, a second controller, which is provided in a steering system of the vehicle, performs braking control on an electronic parking brake, which is provided in at least one of the plurality of wheels, in response to at least one of an operating signal of an EPB switch, the pedal displacement signal, and the wheel speed signals outputted from the wheel speed sensors.

A vehicle including a vehicle platform having a reference frame, the reference frame arranged along a longitudinal axis. A first vehicle corner module (VCM) is connected to one side of the reference frame and a second VCM is connected to an opposing side of the reference frame. The first and second VCMs are adapted for regulating motion of the vehicle. A sub-frame of at least one of the first VCM and the second VCM is disposed at a splay angle relative to the longitudinal axis.

Provided are a control apparatus of a four-wheel independent control vehicle (10) and a method thereof. The control apparatus of a four-wheel independent control vehicle includes a plurality of wheels (21-24) each installed with a steering device (150), a driving device (160), and a braking device (170), and a processor (110) configured to, when a failure occurs in any one steering device of the plurality of wheels, determine a location of a failed wheel, calculate an insufficient cornering force of the failed wheel, and compensate for the insufficient cornering force by controlling at least one of the steering device, the driving device, and the braking device installed on each of the plurality of wheels. Even though a failure occurs in the steering device of any one wheel, traveling performance can be maintained by compensating for an insufficient cornering force.

The utility model discloses an electric flat carriage capable of turning freely, which relates to the technical field of electric flat carriages, and adopts the technical scheme that the electric flat carriage comprises an electric flat carriage body, a mounting shaft is mounted on the lower surface of the electric flat carriage body through a bearing, and a rotating gear body is arranged on the outer surface of the mounting shaft; the mounting ring is mounted on the lower surface of the mounting shaft, a mounting frame is fixedly connected to the lower surface of the mounting ring, and a moving wheel body is arranged on the back face of the mounting frame; the rack plate body is mounted on the left side surface of the rotating gear body, and the rack plate body and the rotating gear body are meshed with each other, so that the rotating gear body can drive the mounting shaft to rotate, the mounting shaft can drive the mounting ring and the mounting frame to rotate, and therefore, the angle of the moving wheel body can be quickly adjusted; and the four groups of moving wheel bodies can complete the same operation, so that the whole turning effect of the electric flat carriage body is better.

A biaxially extensible and retractable wheel-leg mechanism for a vehicle includes a pantograph coupling limb assembly with a plurality of coupling limbs which are coupled together in an articulated manner. A wheel hub motor and a steering actuator operatively connected thereto are arranged on a first coupling limb, and the wheel hub motor is designed to rotate a vehicle wheel drivingly connected to the wheel hub motor. The steering actuator is designed to set a steering angle of the wheel of the vehicle. The wheel-leg mechanism additionally comprises a rotary drive for positioning the coupling limb, said rotary drive being drivingly arranged on a first joint between a second coupling limb and a third coupling limb. The rotary drive is designed to set a relative angular position between the coupling limbs coupled together in an articulated manner such that the position of the wheel hub motor relative to the rotary drive can be adjusted in the longitudinal direction and / or in the vertical direction of the vehicle.

The invention relates to a method for controlling a motor vehicle having a steer-by-wire system with a front-axle steering unit (2) and a rear-axle steering unit (3) in the event of a fault (25) being detected in the front-axle steering unit (2), vehicle signals relating to a steering input (721) of the motor vehicle, a position of a steering rack of the front-axle steering unit (2) and a yaw velocity (751) are detected, the detected vehicle signals (721, 751) are made available for a control unit (6), and the control unit (6) generates a first control signal for controlling a steering regulator (84) of the rear-axle steering unit (3) in order to implement the steering input, a first control signal is generated taking into account a steering input (721), a position of a steering rack of the front-axle steering unit (2) and a yaw velocity (751), and a steering adjuster (84) of the rear-axle steering unit (3) is controlled by the generated first control signal (94). The invention also relates to an emergency steering system which is designed in particular for implementing such a method.

A ground maintenance vehicle that includes: front steering wheels; rear drive wheels; a frame with a first and second pivot point; a single lever steering assembly with a single lever steering control, where the single lever steering assembly is coupled to the first pivot point; multi-axis articulating joint coupled to the second pivot point; a front caster steering assembly coupled to the multi-axis articulating joint; and where the front caster steering assembly and the multi-axis articulating joint simultaneously provide articulating and caster steering proportional to lateral movement from the single lever steering control.

A vehicle control system provided with a control device that includes a control lateral acceleration calculation unit that calculates a control lateral acceleration from a lateral acceleration obtained by using a planar two degrees of freedom model of a vehicle based on vehicle state information and disregarding a second order delay component determined from vehicle specifications, a steer drag differential value calculation unit that calculates a steer drag differential value, an additional deceleration calculation unit that calculates an additional deceleration to be applied to the vehicle according to the steer drag differential value, and an additional braking force calculation unit that calculates an additional braking force to be generated by the braking force generator according to the additional deceleration.

The disclosure relates to a steering system assembly for a vehicle, for example a steer-by-wire system, in which, in particular, detection devices and implementation devices for a steering request are mechanically decoupled from one another, having: a first steering system for providing a steering function, which is designed to be autonomous and / or has a first energy supply; a second steering system for providing a first fallback level for the steering function, which is designed to be autonomous and / or has a second energy supply; and a third steering system for providing a second fallback level for the steering function, in particular through selective wheel braking.

A steering system for a vehicle includes: a front wheel steering device configured to steer a front wheel, a rear wheel steering device configured to steer a rear wheel, and a controller configured to control the front wheel steering device and the rear wheel steering device such that the front wheel and the rear wheel are steerable independently of each other. When the front wheel passes unevenness, the controller executes a rear wheel avoidance control to avoid the rear wheel from passing the unevenness. In the rear wheel avoidance control, the controller determines a rear-wheel avoidance side slip angle, which is a vehicle center-of-gravity point side slip angle to be realized, and determines a target steering angle, which is a steering angle to which each of the front wheel and the rear wheel is to be steered, based on the rear-wheel avoidance side slip angle.

A vehicle body control system, a control method of the vehicle body control system, and a non-transitory computer-readable storage medium storing a program for performing the method may alleviate deterioration of steering performance of a vehicle when an electric power steering (EPS) system of the vehicle fails. The vehicle body control system includes a brake device configured to brake the vehicle, a detector configured to detect a failure of the EPS system, a steering sensor configured to detect an operation of a steering wheel of the vehicle to generate steering operation information, a controller configured to receive the steering operation information and generate a target yaw rate when the failure of the EPS system is detected, and control a brake device to generate a differential braking force required for the calculated target yaw rate.

Drifting karts in accordance with embodiments of the invention are described that include a front wheel drive train and rear caster wheels that can be dynamically engaged to induce and control drift during a turn. One embodiment of the invention includes a chassis to which a steering column is mounted, where the steering column includes at least one front steerable wheel configured to be driven by an electric motor, a battery housing mounted to the chassis, where the battery housing contains a controller and at least one battery, wiring configured to provide power from the at least one battery to the electric motor, two caster wheels mounted to the chassis, where each caster wheel is configured to rotate around a rotational axis and swivel around a swivel axis, and a hand lever configured to dynamically engage the caster wheels to induce and control drift during a turn.

Narrow type vehicles have various advantages, but application is limited due to unstable roll of the narrow type vehicles. Use of flywheels to increase its stability is a known method, but the range of operation, complexity, performance and cost typically restrict the application of these vehicles. A stability and agility enhancement system and method that enables steering of stabilizing forces and trajectories from flywheels to be applied simultaneously and in cooperation with driver steering and assistance achieves the benefits of reduced cost and complexity while providing enhanced performance, intuitive control, safety, and operating range.