301results about "Deflectable wheel steering" patented technology

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.

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 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.

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.

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.

A number of variations may include a system, method, a non-transitory computer readable medium having instructions thereon executable by an electronic processor to implement functionality comprising enhancing the curvature capability of a tertiary rack and pinion actuator by using brake-to-steer while the tertiary rack and pinion actuator is operating.

An independent steering control device can include a processor configured to analyze whether a wheel is abnormal based on a steering angle of each wheel, and correct the steering angle of normal wheels except for an abnormal wheel that has a failure according to a result of the analysis, and a wheel controller configured to control steering of the wheel according to the steering angle of the wheel input from the processor.

The application discloses a kind of drive-by-wire steering control method, device and electronic equipment, it is related to intelligent automobile field.The method comprises: obtaining the steering parameter of vehicle, wherein the steering parameter is the steering transmission ratio between steering wheel and tire;According to the steering parameter of vehicle, the steering signal of steering wheel is converted into the desired steering angle of vehicle;Based on the desired steering angle, the desired wheel speed of each wheel of vehicle is calculated, and the wheel speed control is carried out to each wheel of vehicle according to the desired wheel speed of each wheel.Based on the above method, the desired wheel speed of each wheel of vehicle is realized by calculation desired steering angle, and the wheel speed of each wheel of vehicle is further adjusted according to the desired wheel speed of each wheel of vehicle, so as to realize the drive-by-wire steering based on wheel speed control, to ensure that backup steering system can realize the steering control of vehicle when main steering system fails.

The present disclosure provides a vehicle and a control method, a control apparatus, and a storage medium thereof. The method includes: obtaining a wheel speed difference at a current vehicle speed when it is determined that a steer-by-wire system of the vehicle is failed; obtaining a positive kingpin offset value; and determining, based on the wheel speed difference and the positive kingpin offset value, a target steering angle of a vehicle wheel, and controlling the vehicle wheel based on the target steering angle. The method provided in the present disclosure can enables steering control of the vehicle based on the wheel speed difference and a positive kingpin offset when the steer-by-wire system fails, and no additional components are required. In this way, an off-system backup for the failed steer-by-wire system is achieved, improving vehicle safety and reducing costs.

The application provides a steering mode switching method and device, a vehicle and a storage medium. The vehicle is independently controlled by an electronic mechanical braking system for each wheel. The method is applied to the technical field of the vehicle. The method comprises the following steps: determining whether the expected steering mode of a user obtained and the current steering mode of the vehicle are the same. When the current steering mode and the expected steering mode are different, the current vehicle speed and the current wheel speed of each wheel are obtained. Then, it is determined whether the vehicle meets the steering switching condition. When the vehicle meets the steering switching condition, the vehicle is switched from the current steering mode to the expected steering mode by the braking force of the obtained multiple wheels of the vehicle. The method can make the vehicle switch from any steering mode to the expected mode required by the user when the switching condition is met, thereby effectively reducing the steering operation burden of the user, improving the stability of the vehicle steering and the driving experience of the user.

The invention relates to a method for the combined actuation of a plow brake and a drive / operation brake, in which a steered right wheel (108) and a steered left wheel (108) of the vehicle (100) are steered at opposite toe angles (110) in order to decelerate the vehicle (100) in the event of a low speed (106), and the steered right wheel (108) and the steered left wheel (108) are steered at opposite toe angles (110) in order to decelerate the vehicle (100) in the event of a low speed (106). In order to compensate for a pitching movement (122) of the vehicle caused by deceleration at least in proportion by means of a vertical movement (120) due to oppositely steered wheels (108).

A buttock steering device of a fresh tobacco leaf harvesting conveyor relates to the technical field of tobacco field conveying devices and comprises a vehicle body, a tobacco leaf bin is arranged on the vehicle body, a supporting cylinder is horizontally and fixedly connected to the tail of the vehicle body and extends in the length direction of the vehicle body, an extension frame is horizontally and slidably arranged in the supporting cylinder, and a supporting sleeve is vertically and fixedly connected to the outer end of the extension frame. A vertical shaft is coaxially and rotationally arranged in the supporting sleeve, the lower end of the vertical shaft is connected with a steering assembly, a supporting seat is fixedly connected to the side wall of the vertical shaft, a supporting seat is arranged on the supporting seat, and the gravity center of the supporting seat deviates from the center of the vertical shaft. The utility model solves the problems that in the working process of a tobacco leaf harvesting conveyor in the prior art, the steering of a vehicle body is controlled by two hands, so that the tobacco leaf harvesting work is certainly stopped by the two hands in the steering control process, and the tobacco leaf harvesting efficiency is reduced.

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 method for vehicle steering control includes estimating a target steering metric using at least one vehicle signal associated with a vehicle, the target steering metric associated with a requested steering maneuver. The method further includes estimating an instantaneous braking steering metric using the at least one vehicle signal; and determining whether a braking steering function of a steering system of the vehicle can achieve the target steering metric based on the target steering metric and the instantaneous braking steering metric. The method further includes calculating a brake steering capability state of the brake steering function; and, in response to determining that the braking steering function can achieve the target steering metric, generating a first braking steering capability indication, and providing the first braking steering capability indication.

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.

Safety device for a vehicle, in particular motor vehicle, comprising a steering gear (3), and a load path extension element (4, 5) which is configured to absorb an impact force resulting from a frontal impact of the vehicle on an obstacle (10) with a lateral overlap of the vehicle with the obstacle (10) within a predetermined area with respect to one vehicle width, wherein the impact force is transmitted by the load path extension element (4, 5) at least partially transversely to a longitudinal direction (X) of the vehicle towards a lateral outer edge of the vehicle located away from the obstacle (10) to the steering gear (3), characterized by that the load path extension element (4, 5) is connected to the steering gear (3) in such a way that an impact force absorbed by the load path extension element (4, 5) in the frontal impact with lateral overlap is directed in a direction transverse to the longitudinal direction of the vehicle onto the steering gear (3) in such a way that the steering gear (3) is thereby displaced in the direction of the lateral outer edge of the vehicle located furthest from the obstacle (10).

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.

To improve the stability and handling of three-wheel motor vehicles with two front wheels. [Solution] The motor vehicle comprises a front carriage frame, a pair of front wheels kinematically connected to the front carriage frame by an articulated quadrilateral, a steering bar mechanically associated with the handlebar, and wheel support elements for each wheel via first and second roll hinges and first and second steering hinges, and when the wheels are straight and parallel to the forward direction, the first and second steering hinges are offset in the longitudinal direction from the cross member of the articulated quadrilateral, and with respect to a projection plane parallel to the ground, the straight lines connecting the steering axes (S'-S', S''-S'') of the wheels and the first and second steering hinges intersect at the support points of the rear wheels on the ground.

A steering mechanism that steers a pair of front wheels (10) of an electric mobility vehicle, wherein the steering mechanism is capable of steering an inner wheel and an outer wheel such that a steering angle difference between an inner wheel steering angle and an outer wheel steering angle when the inner wheel steering angle is a second angle which is within a range of 90° or greater is at least five times the steering angle difference when the inner wheel steering angle is a first angle which is within a range of 40° to 45°, wherein the inner wheel steering angle is a steering angle of the inner wheel and the outer wheel steering angle is a steering angle of the outer wheel.

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 suspension device according to the present invention comprises: a link member that is connected between a vehicle body structure and a suspension arm providing suspension for a wheel, includes a first coupling point coupled to the vehicle body structure side, a second coupling point coupled to the suspension arm side, and a third coupling point coupled to a damper for absorbing impact transmitted to the wheel, and rotates around a prescribed rotation axis; and an actuator that is provided between the first coupling point and the vehicle body structure and rotates the link member around the prescribed rotation axis. The link member is rotated in a first direction, thereby changing the position of the second coupling point to increase the negative camber of the wheel, and changing the position of the third coupling point to increase the vehicle height. The link member is rotated in a second direction opposite the first direction, thereby changing the position of the second coupling point to reduce the negative camber of the wheel, and changing the position of the third coupling point to reduce the vehicle height.

Feedforward compensation for managing longitudinal disturbances during braking-steering. Several illustrative variations may include a system and method for controlling vehicle deceleration while implementing braking-steering functionality. This system and method may include providing a feedforward gain on the vehicle's propulsion torque to achieve or maintain a target longitudinal acceleration and replicate the behavior of a vehicle not using braking-steering. The system may manipulate the vehicle's propulsion to manage longitudinal acceleration and velocity disturbances during braking-steering.

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 disclosure generally relates to a method (50) for operating a vehicle (10) having an auxiliary steering system (12), and an auxiliary steering system (12) for a vehicle. The vehicle (10) has a plurality of drive units (18) and / or deceleration devices (20) associated with respective wheels (16) of the vehicle (10). A malfunction of an electronic steering system (14) of a vehicle (10) is detected. The auxiliary steering system (12) is activated on the basis of the plurality of drive units (18) and / or the reduction gear (20). The auxiliary steering system (12) has a control device (40, 44) which, by means of torque control, enables lateral control of the vehicle (10) by means of different wheel-specific torques of the plurality of drive units (18) and / or of the reduction gear (20). At least one steering angle or a corresponding measured variable of the wheel (16) is recorded by an additional sensor (30) of the auxiliary steering system (12), the additional sensor is associated with the wheel (16), and the recorded steering angle or the corresponding measured variable is forwarded to a control device (40, 44) of the auxiliary steering system (12).

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.