414results 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.

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.

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

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 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.

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.

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 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.

Disclosed is a corner module apparatus for a vehicle. The corner module apparatus includes processors configured to obtain a steering angle, obtain a lever ratio indicating whether a front wheel and a rear wheel of a bicycle model defined with respect to a vehicle are inphase or reverse-phased and indicating a steering angle ratio. The corner module apparatus also includes a controller configured to calculate a front wheel heading angle of the bicycle model from the steering angle, calculate a rear wheel heading angle of the bicycle model based on the calculated front wheel heading angle and the lever ratio, calculate first to fourth target angles of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel of the vehicle by expanding the bicycle model to a four-wheel vehicle model, and independently control steering of each of the four wheels.

An unmanned mining truck combining two-way unloading and four-wheel steering comprises a truck frame, a truck hopper, a front duplex unloading hydraulic cylinder, a rear duplex unloading hydraulic cylinder, hydraulic drive type independent steering front wheels, hydraulic drive type independent steering rear wheels, a control room and an automatic driving system. The frame, the front duplex unloading hydraulic cylinder, the car hopper and the rear duplex unloading hydraulic cylinder are matched to form a four-bar mechanism; and environment sensing modules are arranged around the frame. Bidirectional unloading of the truck head and the truck tail is supported, the truck does not need to turn around before entering an unloading station, the truck can directly enter the unloading station, ore raw material unloading can be completed from the direction of the truck tail or the truck head, and the whole unloading process is time-saving and energy-saving; four-wheel steering of front wheels and rear wheels is supported, the turning radius can be effectively reduced, and the steering flexibility under complex road conditions is improved; unmanned driving is supported, unloading operation and steering operation are both completed through an automatic driving system, and the problems of serious fatigue feeling and health of truck drivers caused by manned driving are solved.

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 vehicle control method. The method is applied to a vehicle with four-wheel steering and independent drive for front and rear axles. The method comprises: when a zero-radius turning mode of the vehicle is activated, controlling front and rear wheels to turn in the same direction to respective corresponding target angles; controlling front and rear drive electric motors to output torques of the same magnitude but opposite directions; acquiring the lateral and longitudinal accelerations of the vehicle; determining magnitude relationships between the lateral and longitudinal accelerations and a preset acceleration threshold; and on the basis of the magnitude relationships, adjusting the torques output by the front and rear drive electric motors, the turning angles of the front and rear wheels and the yaw rate of the vehicle, so that longitudinal forces applied to the front and rear axles in a longitudinal direction have the same magnitude but are in opposite directions, and lateral forces applied to the front and rear axles in a lateral direction form a pair of couple. The method can realize the zero-radius turning of the vehicle, solving the problem of difficult U-turns on narrow roads. A vehicle and a computer-readable storage medium are further comprised.

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.