184results about "Deflectable wheel steering" patented technology

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.

Method for determining a coefficient of friction prevailing between wheels (4, 5, 6, 7) of a motor vehicle and a road surface, characterized in that During a journey of the motor vehicle, steering angles of equal magnitude in opposite directions are set for the wheels (6, 7) of a steerable rear axle (3). the change in rotational speed and / or change in the rotational speed gradient resulting from this steering angle setting at at least one of the rear wheels (6, 7) is determined, The coefficient of friction between the wheels (4, 5, 6, 7) of the motor vehicle and the road surface is determined depending on the or each determined change in rotational speed and / or change in the speed gradient.

A vehicle steering system mounted on a vehicle having a plurality of wheels that are steerable, including: a wheel steering device configured to steer the wheels independently of each other; and a controller configured to control the wheel steering device such that a steering amount of each wheel becomes equal to a target steering amount determined for each of the wheels based on a steering request, wherein, in a one-wheel improperly steered state in which one of the wheels is an improperly steered wheel that is improper in steering, the controller determines, as a steering compensation wheel, at least one of one or more of the wheels except the improperly steered wheel and changes the target steering amount of the steering compensation wheel so as to ensure, based on the steering request, a total sideways force that is a total of sideways forces to be generated respectively by the wheels.

The invention relates to a system (100) for changing a direction of travel of a vehicle (1), in particular a towing or utility vehicle, said system comprising at least one primary actuator unit (110) and one secondary actuator unit (120) for initiating and / or carrying out at least one change in the direction of travel of the vehicle, wherein the primary actuator unit (110) and the secondary actuator unit (120) have different designs. The invention also relates to a vehicle (1) and to a control system.

A steering system controllable by a redundant braking system, the redundant braking system including a primary braking control module, a secondary braking control module, and a plurality of braking units controlled by the primary braking control module or the secondary braking control module. There is at least one hydraulic motor connected to a component of the steering system, and fluid pressure in the hydraulic motor is controlled by the secondary braking control module. Wheels of the steering system are configured to turn right when the secondary braking control module operates the hydraulic motor during a first operating mode, and the wheels of the steering system are configured to turn left when the secondary braking control module operates the hydraulic motor during a second operating mode.

A method for monitoring a steering system (50) of a vehicle by a monitoring system (100) is disclosed. The steering system (50) is configured to set steering angles (52) based on provided control signals, the monitoring system (100) being independent from the steering system (50). The method includes receiving (S110), by the monitoring system (100), a set steering angle (52) and an actual steering angle (54); determining (S120), by the monitoring system (100), a faulty deviation between the actual steering angle (54) and the set steering angle (52) indicating an error effect; and mitigating (S130), by the monitoring system (100), the faulty deviation by measures suitable to weaken the error effect.

A work vehicle includes a driving force transmission shaft that is disposed with an axis oriented in a front-rear direction and to which driving force of an engine is transmitted, a transmission shaft that is disposed with an axis oriented in a left-right direction and that transmits driving force from the driving force transmission shaft to left and right front wheels, a front axle case that houses the transmission shaft, and a steering cylinder that is capable of changing a turning angle of the front wheels and is provided on the front axle case so as to be positioned above the transmission shaft. (Fig. 1)

The invention relates to a wheel steering position actuator (4) for a steer-by-wire steering system (1) for a motor vehicle, wherein the wheel steering position actuator (4) is configured to receive a control signal from a vehicle motion control unit (9) to convert a steering command into a steering movement of at least one steerable wheel (7) of a motor vehicle, wherein the wheel steering position actuator (4) comprises an electric motor (41), a deactivation device and a control device, wherein the deactivation device is switchable between a deactivated state and an activated state, wherein in the deactivated state of the deactivation device the electric motor (41) can be switched into a generator operating mode by means of a damping signal, wherein the control device is adapted to transmit a deactivation control signal to the deactivation device in order to switch the deactivation device into the deactivated state.

To suppress vibrations that may occur around the pivot axis. [Solution] The system includes a wheel 15 mounted on an axle 37, a pivot shaft 35 that supports the wheel 15 via the axle 37 so that it can rotate infinitely, a wheel driving means that applies rotational force to the axle 37, a pivot driving means that applies rotational force to the pivot shaft 35, and a damping means 16 that applies a load to the rotation of the pivot shaft 35.

The present invention relates to a method for shunting a vehicle (100) having a defect (106) at a single-wheel steering adjuster (102) of a driven wheel (104) of the vehicle (100), wherein the torque at the wheel (104) is set according to the steering angle of the opposite wheel (104) of the vehicle (100) for shunting.

The present application relates to the field of robot technology, in particular to a reconfigurable under-actuated double-wheel omnidirectional balance mobile platform and a multi-machine combined system. The mobile platform comprises a vehicle body assembly and two wheels symmetrically arranged at the bottom of the vehicle body assembly, the two wheels are respectively driven by two hub motors to drive the whole mobile platform to move on the ground, a synchronous steering coupling mechanism is arranged in the vehicle body assembly for synchronously driving the two wheels to steer, and the synchronous steering coupling mechanism adopts a double-crank connecting rod mechanism which is layered and parallel. Through the double-crank connecting rod mechanism which is layered and parallel, the present application realizes the synchronous steering of the two wheels without dead point and 360° continuous stability, and the steering process is without jam and misalignment, the steering angle control precision is high, and the reliability and stability of omnidirectional motion are greatly improved compared with the existing single-group connecting rod scheme.

A system performs a method for operating a vehicle. The system includes a first steering system for a first axle of the vehicle and a processor. The processor determines that the first shaft has misaligned wheels thereon, applies a non-zero steering wheel angle to a steering wheel of the vehicle to maintain straight movement of the vehicle having the misaligned wheels, measures a value of the non-zero steering wheel angle, determines a misaligned angle of the misaligned wheels based on the value of the non-zero steering wheel angle, and transmits the determined misaligned angle to the first shaft. A reduced range of travel of the first shaft is determined based on a first nominal range of travel of the first shaft and the misalignment angle, and the first steering system is activated to steer the vehicle by limiting movement of the first shaft using the reduced range of travel. The reduced range of travel allows misaligned wheels to move without contacting the vehicle.

The present invention relates to a method for operating a motor vehicle (1) with a steer-by-wire steering system (10), a drive system (60), a braking system (70), and a spring-damping system (80), wherein controllable actuators (16, 19, 61, 62, 71, 72, 73, 74, 81, 82, 83, 84) are assigned to the systems (10, 60, 70, 80), and the steer-by-wire steering system (10) comprises a steering actuator (16) acting on a coupling element (15) as a controllable actuator, wherein a wheel steering angle (α) of steered wheels (7) of the motor vehicle (1) can be adjusted via the coupling element (15), and wherein, during driving operation of the motor vehicle (1), a desired trajectory (2) for the motor vehicle (1) is determined, and in the event of a detected malfunction of the steer-by-wire steering system (10), a subset of the functional actuators (71, 72, 73, 74) is controlled in such a way that the motor vehicle (1) continues to follow the determined target trajectory (2),and the steering actuator (16) is also controlled in such a way that the steering actuator (16) selectively dampens or allows a change in the steering angle (α) of steered wheels (7) of the motor vehicle (1) to reduce a deviation from the intended trajectory (2). Furthermore, the invention relates to a motor vehicle (1) designed for operation according to such a method.

Embodiments of this application disclose a pull drift compensation assist system and a control method. The control method includes: determining status information of differential drive assist steering; and when differential drive assist steering works, performing pull drift compensation through differential drive assist steering; or when differential drive assist steering fails, performing pull drift compensation through electric power steering. The assist system includes a control module, a main compensation module, and an auxiliary compensation module that communicate with each other. In the technical solutions provided in embodiments of this application, compensation can be performed through differential drive assist steering, to effectively reduce occurrence of a long-time motor blocking phenomenon, reduce a motor fault risk, and reduce a motor performance deterioration degree. Compensation through differential drive assist steering may expand a hand force compensation range. Main / auxiliary system redundancy backup of differential drive assist steering and electric power steering may reduce a failure probability of pull drift compensation, and improve running safety of a vehicle. Long-term compensation and short-term compensation are performed concurrently, so that compensation for both deviation caused by an external factor and deviation caused by a factor of the vehicle may be implemented.

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 self-propelled agricultural work vehicle (14), in particular for sowing crops or for soil cultivation, is described, which has a steerable front axle (20) attached to a frame and a steerable rear axle (22) attached to the frame, the front wheels (16) and rear wheels (18) of which are equipped with individual wheel drive, wherein the two front wheels (16) each have a steering knuckle (30) oriented towards the center of the vehicle, which are connected to each other via a first crossbar (32), and the two rear wheels (18) each have a steering knuckle (30) oriented towards the center of the vehicle, which are connected to each other via a second crossbar (34), wherein the steering is controlled by a change in the rotational speed of the front wheels (16) and the rear wheels (18).

By improving the responsiveness of the drive unit, the disruption of the movement of the mobile body caused by the reversal of the wheels is reduced, enabling stable movement of the mobile body. [Solution] The mobile robot control device 10 includes a robot speed target value acquisition unit 11 that acquires a first speed target value which is the speed target value of the mobile robot 100; a steering axis angle target value calculation unit 12 that calculates an angle target value for the steering axis 23 of the active caster 20 based on the first speed target value; a steering axis angle detection unit 13 that detects the angle of the steering axis 23; a correction speed calculation unit 14 that calculates a correction speed for the drive unit including the first motor 24 and the second motor 25 that promotes the turning of the wheels based on the angle target value and the detected angle; a speed conversion unit 15 that converts the first speed target value into a second speed target value which is the speed target value for the drive unit; and a synthesis unit 16 that synthesizes the second speed target value and the correction speed.

The present application provides a steering mode switching method and apparatus, a vehicle and a storage medium. The vehicle performs independent control on each wheel on the basis of an electromechanical brake system. The method is applied to the technical field of vehicles, and the method comprises: determining whether an obtained expected steering mode of a user is the same as the current steering mode of a vehicle or not; if the current steering mode is different from the expected steering mode, acquiring the current vehicle speed of the vehicle and the current wheel speed of each wheel, and determining whether the vehicle meets a steering switching condition or not; and if the vehicle meets the steering switching condition, switching the vehicle from the current steering mode to the expected steering mode by means of obtained braking forces of a plurality of wheels of the vehicle. According to the method, when a vehicle meets a steering switching condition, the vehicle is controlled to be switched from any steering mode to an expected mode required by a user, thereby effectively reducing the steering operation burden of the user, improving the stability of vehicle steering and the driving experience of the user.

The invention relates to a system (100) for changing a direction of travel of a vehicle (1), in particular a towing or utility vehicle, said system comprising at least one primary actuator unit (110) and one secondary actuator unit (120) for initiating and / or carrying out at least one change in the direction of travel of the vehicle, wherein a braking system of the vehicle (1) is provided as the at least one secondary actuator unit (120), and the primary actuator unit (110) and the secondary actuator unit (120) each have different designs. The invention also relates to a vehicle (1) and to a control system.

A modular and reconfigurable autonomous electric robot capable of adapting to any type of condition and work in an agricultural environment, comprising: a symmetrical chassis comprising a front part, a middle part and a rear part; a power supply located at the front of the chassis; an implement located at the rear part of the chassis; two wheel assemblies each located at transversely opposite ends of the front of the chassis and two wheel assemblies each located at transversely opposite ends of the rear of the chassis; a GNSS unit to geolocate the electric robot in real time; and a processing and control module that controls the electric robot and is in data communication with the GNSS unit, where each wheel assembly located at the front of the chassis comprises a wheel with an electric motor directly coupled to the wheel.

A vehicle steering method is provided for a vehicle having a plurality of steering wheels operated by a plurality of users. The method includes obtaining steering information from the plurality of steering wheels of the plurality of users; obtaining priority information of the steering wheels of the corresponding plurality of users; and in response to a user of a steering wheel with a highest priority operates to steer the vehicle, reading the steering information of the steering wheel with the highest priority.

A vehicle control device, a vehicle control method, and a vehicle control system are provided that can realize a turning function including tire steering using braking and driving forces. [Solution] A vehicle control device is provided in a vehicle 10 having a steer-by-wire system that steers left and right steerable wheels (front wheels 11, 12) that are mechanically separated from the steering wheel. When the steering wheel is operated, a control section provided in this vehicle control device calculates braking / driving commands to turn the steered wheels in the direction of steering wheel operation so that one of the sum of the driving force and braking force applied to the steered wheel on the outside of the turning vehicle of the left and right steerable wheels and the sum of the driving force and braking force applied to the steered wheel on the inside of the turning vehicle of the left and right steerable wheels is larger than the other, based on a setting of a scrub radius of the steered wheels, and outputs the calculated braking / driving commands.

A steer-by-wire control method, apparatus and electronic device, related to the field of intelligent vehicles, includes: obtaining a steering parameter of a vehicle, where the steering parameter is a steering transmission ratio between a steering wheel and tires; converting a steering signal of the steering wheel into a desired steering angle of the vehicle according to the steering parameter of the vehicle; calculating a desired wheel speed of each wheel of the vehicle according to the desired steering angle; and performing wheel speed control for each wheel of the vehicle according to the desired wheel speed of each wheel.

A lift truck has a pair of wheel assemblies each of which is rotatable about a pivot point relative to the chassis of the truck through at least 90 degrees between a forward mode and a sideward mode. The wheel of each assembly is laterally offset from the assembly's pivot point, causing the wheel to describe an arcuate path over the ground as it transitions between the forward and sideward modes. During the transition, an actuator acts on each wheel assembly to pivot the assembly about the pivot point, while drive is applied to the wheel to positively drive the wheel along the arcuate patch at a speed that matches the pivotal rotation caused by the actuator. This positive drive imparted to the wheels during the transition prevents the truck from rolling if it is located on a slope during the change in orientation of the wheel assemblies.

The present application relates to a kind of vehicle roll movement control mechanism and control method, belong to vehicle chassis technical field, research active roll vehicle's roll drive and motion control technology, the key technical measures of vehicle roll movement control mechanism are as follows: two shock absorbers are respectively connected with one hydraulic cylinder in parallel, the rod cavity of each oil cylinder and its own rodless cavity are connected by oil pipe and on-off valve, control two on-off valves to simultaneously disconnect two groups of oil circuit, oil cylinder lock shock absorber, improve the rigidity of roll movement transmission system, realize the timing response and accurate control of vehicle's roll movement;Two groups of oil circuit are connected simultaneously, and the shock absorber is released, and the shock absorber works normally, to guarantee the ride comfort and comfort of vehicle.

An embodiment driving module includes a drive unit including a wheel and a drive motor configured to operate the wheel, a suspension unit having a first side coupled to the drive unit, and a steering unit configured to steer the wheel and having a side coupled to a second side of the suspension unit.

According to one embodiment of the vehicle control apparatus and the vehicle control method of the present invention, when an abnormality occurs in a steering function of a steer-by-wire system, braking torque control for generating a yaw moment by a friction braking force applied to wheels of a vehicle is executed in accordance with a steering operation input to a steering wheel, and braking torque control for generating a yaw moment by the vehicle is executed in accordance with a steering operation input to the steering wheel. In the braking torque control, a braking force for a braking torque applied to a first wheel, which is a steering wheel, and a second wheel other than the steering wheel, is distributed in accordance with the state of the vehicle. As a result, even if the state of the vehicle changes, the braking torque control can be stably performed.

To provide a vehicle control device, a vehicle control method, and a vehicle control program that can transition to a lateral movement mode in a short time without unintended movement occurring. [Solution] The vehicle control device according to the embodiment is a vehicle control device that controls a motor for driving provided on each of a plurality of wheels, and has a controller. The controller includes a controller that controls the rotational speed of at least one of the motors to a target rotational speed until all of the plurality of wheels are simultaneously steered in the vehicle width direction when the vehicle's driving mode transitions to a lateral movement mode.

The present invention concerns a tilting and steerable suspension system with sustained driving (1) for a vehicle (2) comprising a chassis (23) and three or more wheels of which at least a first wheel (21) and a second wheel (22) are respectively arranged on opposite lateral sides of said vehicle (2). According to the invention, the system (1) comprises at least a first support arm (31, 33) and at least a second support arm (32, 34) adapted, at a respective inner end (35), to be hinged to said chassis (23) and adapted, at a respective outer end, to rotatably support, about a steering axis (S41, S42), respectively a first support element (41) of said first wheel (21) and a second support element (42) of said second wheel (22). The system (1) further comprises at least one pair of second arms (51, 52, 53, 54) hinged, at an outer end, to said first support element (41) and to said second support element (42), respectively, and hinged, at an inner end, to each other, wherein said system (1) comprises a shock absorber (7) hinged at a first end (70) to said chassis (23), said system (1) further comprising a pair of connecting rods (81, 82) hinged, at an inner end, to each other and to a second end (71) of said shock absorber (7) opposite said first end (70). The connecting rods of said pair of connecting rods (81, 82) are hinged, at an outer end, to a portion of said first support arm (31, 33) and to a portion of said second support arm (32, 34), respectively. The system (1) further comprising at least one abutting element (91, 92) configured to respectively abut said first support arm (31, 33) or said second support arm (32, 34) so as to block the possibility of rotation about the respective hinge constraint (C31, C32) present in the respective inner end, beyond a predefined angle of rotation associated with a first banking angle (α) of said vehicle (2).