Folding Vehicle

Abstract

A disclosed folding vehicle may include a chassis comprising a static support, a dynamic chassis frame including at least two substantially opposing frame parts, a folding mechanism for decreasing or increasing a distance between the at least two substantially opposing frame parts across a transverse axis of the vehicle between a folded state and an unfolded state, and a controller for controlling the folding mechanism. A method for controlling folding and unfolding of a folding vehicle using a controller is also disclosed.

Description

[Technical field]

[0001] The present invention relates to vehicles, and more particularly to foldable vehicles. [Background technology]

[0002] As the number of vehicles per mile of road increases year by year with increasing demand, congestion and parking problems increase, especially in densely populated urban areas and large cities. Public transportation is an alternative to private transportation, but it does not cover rural areas and has shortcomings such as availability and comfort. Other alternative vehicles such as personal vehicles (e.g., minicars or motorcycles) have a smaller footprint on roads and parking lots, but they are fraught with safety risks. The stability of a vehicle can be correlated with its width, and typically, the narrower the vehicle, the higher the center of gravity, making the vehicle more susceptible to driving conditions, especially when traveling at high speeds. Although small vehicles are economical in terms of costs (e.g., price, gasoline, and parking space), the risks associated with operating a small vehicle may outweigh the benefits.

[0003] Adjustable width vehicles were introduced, which could provide comfort and safety in an extended position, or could be easily parked in the narrowest available space.

[0004] Classical steering systems typically rotate the wheels at an angle by rotating the wheels (e.g., with a wheel column) that are coupled to a wheel shaft. The wheel shaft is typically connected to the wheels (e.g., usually the front wheels) via a steering rack. The steering system of a vehicle with adjustable width may need to be redesigned to accommodate the change in the distance between the wheels.

[0005] Vehicles with adjustable dimensions (e.g., width, height, or length) may also require a designated controller. The controller may need to be adapted to control the various factors involved in adjusting the vehicle width. The controller may need to address various situations and risks associated with adjusting the vehicle width.

[0006] It may be desirable to provide a vehicle that is easily and efficiently foldable to allow parking in tight parking spaces, it may be desirable to provide a steering assembly that is adapted to narrow or widen to accommodate an adjustable distance between the wheels, and it may be desirable to provide a controller that is configured to safely control a folding vehicle. Summary of the Invention

[0007] Therefore, according to an embodiment of the present invention, there is provided a foldable vehicle including a chassis with static supports, a dynamic chassis frame coupled to the static supports and including at least two substantially opposing frame parts, a folding mechanism for reducing or increasing the distance between the at least two substantially opposing frame parts across a lateral axis of the vehicle between a folded state and an unfolded state, and a controller for controlling the folding mechanism.

[0008] According to some embodiments of the invention, the folding mechanism includes at least one carousel connected to at least one of the frame parts.

[0009] According to some embodiments of the invention, at least one carousel is connected to the static support and pivots about an axis perpendicular to the static support.

[0010] According to some embodiments of the invention, the at least one carousel is positioned substantially equal distances from the two frame parts.

[0011] According to some embodiments of the invention, the folding mechanism comprises one or more pistons connected to the static support, the pistons configured to drive the at least one carousel.

[0012] According to some embodiments of the invention, the frame parts retract onto the static support in the folded state.

[0013] According to some embodiments of the invention, the chassis comprises one or more tracks along which the at least two frame parts slide between the folded and unfolded states.

[0014] According to some embodiments of the present invention, the foldable vehicle further comprises a locking mechanism for locking the at least two substantially opposing frame parts in a state selected from the group of states consisting of an unfolded state, a folded state, and an intermediate state.

[0015] According to some embodiments of the present invention, the foldable vehicle further comprises a split steering mechanism comprising a split steering gearbox connectable to a steering wheel by a steering shaft, and two shafts, namely a first of the two shafts for connecting the split steering gearbox to a first front wheel of the vehicle and a second of the two shafts for connecting the split steering gearbox to a second front wheel of the vehicle, the split steering gearbox configured to transmit and split rotation of the steering shaft into rotation of a shaft, such that rotation of each of the shafts correlates with rotation of the steering shaft.

[0016] According to some embodiments of the present invention, the split steering mechanism comprises a shaft that extends and retracts as the distance between two frame parts of the foldable vehicle decreases or increases.

[0017] According to some embodiments of the present invention, the split steering mechanism is configured to maintain the rotation angle of the front wheels of the foldable vehicle while the distance between two frame parts of the foldable vehicle is decreased or increased.

[0018] According to some embodiments of the present invention, the split steering mechanism comprises a shaft that extends and retracts as the height of the folding vehicle decreases or increases.

[0019] According to some embodiments of the present invention, the split steering mechanism is configured to maintain the rotation angle of the front wheels of the foldable vehicle while the height of the foldable vehicle is decreased or increased.

[0020] According to some embodiments of the present invention, the foldable vehicle further comprises one or more sensors disposed in the vehicle for sensing parameters relevant to the assessment of risk to the vehicle.

[0021] Thus, according to an embodiment of the present invention, there is provided a method for controlling folding and unfolding of a foldable vehicle using a controller, the method comprising the steps of receiving a folding or unfolding command using the controller; obtaining, using the controller, sensed data from one or more sensors disposed in the vehicle for sensing parameters related to an assessment of a risk to the vehicle; assessing, using the controller, the risk; checking, using the controller, whether the risk is below a threshold; initiating folding or unfolding if the risk is below the threshold, using the controller; and checking, using the controller, whether folding or unfolding is completed.

[0022] According to some embodiments of the invention, the method further comprises aborting the folding or unfolding of the foldable vehicle if the risk is not below the threshold.

[0023] According to some embodiments of the invention, the method further comprises, after aborting the folding or unfolding, obtaining sensed data from one or more sensors, assessing the risk, and checking whether the risk is below a threshold.

[0024] According to some embodiments of the invention, the method further includes the steps of obtaining sensed data from one or more sensors if folding or unfolding is not completed, assessing the risk, and checking whether the risk is below a threshold until folding or unfolding is completed.

[0025] According to some embodiments of the invention, the method further comprises aborting the folding or unfolding of the foldable vehicle if the risk is not below the threshold.

[0026] According to some embodiments of the invention, the method further comprises, after aborting the folding or unfolding, obtaining sensed data from one or more sensors, assessing the risk, and checking whether the risk is below a threshold.

[0027] According to some embodiments of the present invention, the method further comprises limiting the speed of the foldable vehicle when the foldable vehicle is in the folded state.

[0028] According to some embodiments of the invention, the method further comprises autonomously generating the fold or unfold command using the controller.

[0029] According to some embodiments of the invention, the method further comprises resolving conflicts between received fold or unfold commands using the controller.

[0030] Thus, according to an embodiment of the present invention, there is provided a split steering mechanism comprising a split steering gearbox connectable to a steering wheel by a steering shaft and two shafts, i.e. a first of the two shafts for connecting the split steering gearbox to a first front wheel of the vehicle and a second of the two shafts for connecting the split steering gearbox to a second front wheel of the vehicle, wherein the split steering gearbox is configured to transmit and divide rotation of the steering shaft into rotation of shafts, such that rotation of each of the shafts correlates with rotation of the steering shaft.

[0031] According to some embodiments of the present invention, each of the shafts has a variable length.

[0032] According to some embodiments of the present invention, the split steering mechanism is configured to facilitate the shafts being of different lengths simultaneously.

[0033] According to some embodiments of the present invention, the split steering mechanism is configured to apply an Ackerman correction when turning the front wheels. [Brief description of the drawings]

[0034] In order to better understand the present invention and appreciate its practical applications, the following figures are provided and referenced below. It should be noted that the figures are given by way of example only and are not intended to limit the scope of the present invention in any way. Similar components are indicated by similar reference numerals.

[0035] [Figure 1A] FIG. 2 illustrates a top view of a folding vehicle chassis in an unfolded state according to some embodiments of the present invention. [Figure 1B] FIG. 1B is a top view of the chassis of the folding vehicle shown in FIG. 1A in a folded state. [Diagram 2]FIG. 1B is a bottom view of the folding mechanism of the chassis of the folding vehicle shown in FIG. 1A. [Diagram 3] FIG. 1 is a side view of a folding vehicle having a seat, showing several portions of the vehicle, according to some embodiments of the present invention. [Figure 4] FIG. 1 is a front view of a split steering mechanism connected to the front wheels of a foldable vehicle, according to some embodiments of the present invention. [Diagram 5] FIG. 2 is a side view of a chassis of a foldable vehicle having a controller according to some embodiments of the present invention. [Figure 6] 1 is a flowchart of a method for controlling the folding and unfolding process of a foldable vehicle according to some embodiments of the present invention. [Figure 7] FIG. 13 illustrates a bottom view of a split steering mechanism according to some embodiments of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, those skilled in the art will appreciate that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, modules, units, and / or circuits have not been described in detail so as not to obscure the present invention.

[0037] Although embodiments of the invention are not limited in this respect, for example, discussions utilizing terms such as "processing," "calculating," "computing," "determining," "establishing," "analyzing," "checking," etc., may refer to operations and / or processes of a computer, computing platform, computing system, or other electronic computing device that manipulates and / or transforms data represented as physical (e.g., electronic) quantities in the registers and / or memory of the computer into other data also represented as physical quantities in the registers and / or memory of the computer, or other information persistent storage medium (e.g., memory) that may store instructions for performing operations and / or processes. Although embodiments of the invention are not limited in this respect, the terms "plurality" and "a plurality" as used herein may include, for example, "multiple," or "two or more." The terms "plurality" and "a plurality" may be used throughout the specification to describe two or more components, devices, elements, units, parameters, etc. Unless expressly stated, method embodiments described herein are not constrained to a particular order or sequence. Furthermore, some of the described method embodiments or elements thereof may occur or be performed simultaneously, contemporaneously, or in parallel. Unless otherwise indicated, the term "or" as used herein should be understood to be inclusive (any or all of the described alternatives).

[0038] A folding vehicle according to some embodiments of the present invention is introduced, which may include systems and mechanisms for adjusting the width of the folding vehicle and controlling such adjustment. A folding vehicle may refer to a vehicle with an adjustable width or length, a vehicle with contractible and extendable elements, a vehicle whose dimensions are not fixed, etc., hereinafter referred to as a folding vehicle. A folding vehicle according to some embodiments of the present invention is configured to fold or unfold, thereby decreasing or increasing the lateral dimension (hereinafter width) of the vehicle. According to some embodiments of the present invention, increasing or decreasing the width of the vehicle includes decreasing or increasing the distance between opposing wheels (also referred to as left and right wheels). The width of the folding vehicle may be increased or decreased by increasing or decreasing the distance between opposing parts of the vehicle. For example, the folding mechanism of the folding vehicle may increase or decrease the distance between two substantially opposing frame parts that cross the lateral axis of the vehicle between the folded state and the unfolded state. According to some embodiments of the invention, increasing or decreasing the distance between opposing parts of the vehicle may increase or decrease the distance between opposing wheels. In the following, decreasing the width of the vehicle is referred to as folding and increasing the width of the vehicle is referred to as unfolding.

[0039] In some embodiments of the present invention, the collapsible vehicle or foldable vehicle may comprise a chassis. The chassis may comprise a static support, a dynamic chassis frame, and a folding mechanism. The dynamic chassis frame may include at least two substantially opposing frame parts. The folding mechanism may decrease or increase a distance between the at least two substantially opposing frame parts across a lateral axis of the vehicle between a folded state and an unfolded state.

[0040] A folding vehicle according to some embodiments of the present invention may be useful in areas where parking spaces are scarce. Folding the vehicle may reduce the width and therefore the width of the parking space required for the vehicle to park. A folding vehicle may also be easier to maneuver on narrow roads. When the width of the vehicle is reduced, the center of mass of the vehicle may be raised higher than the ground, reducing the stability of the vehicle. When in the folded state, a folding vehicle according to some embodiments of the present invention may be driven at a slow speed to avoid tipping over. For example, in the folded state, the controller of the folding vehicle may limit the driving speed of the folding vehicle. According to some embodiments of the present invention, the folding vehicle may unfold gradually during driving to maintain the stability of the folding vehicle (e.g., depending on parameters such as speed, road conditions, vehicle weight, turning radius, etc.).

[0041] According to some embodiments of the present invention, driving the foldable vehicle at a speed above a predetermined threshold speed may not be recommended, and in some embodiments, the foldable vehicle may be configured to avoid such speeds above a threshold speed limit, for example, by having the vehicle's controller prevent the vehicle from being driven at a speed above the threshold speed limit. When the foldable vehicle is in the unfolded state, the center of mass is lowered, which results in increased stability of the vehicle. For example, the foldable vehicle may be in the folded state while parked to save parking space or to park in a limited parking space. When the foldable vehicle leaves the parking space and starts moving at low to medium speeds (e.g., speeds up to 40 kilometers per hour), the vehicle may still remain in the unfolded state. According to some embodiments of the present invention, the foldable vehicle may be limited to be driven at a speed below or below a predetermined threshold speed (e.g., 40Km / h).

[0042] According to some embodiments of the present invention, the folding or unfolding process of the foldable vehicle may be initiated by a user (e.g., a driver) of the foldable vehicle, or automatically in the case of an autonomous foldable vehicle. In some embodiments, the folding or unfolding process may be restricted to start and complete only when the vehicle is in operation and traveling below or at a speed equal to or less than a predetermined speed. The folding or unfolding process may be controlled by a controller of the foldable vehicle.

[0043] In some embodiments of the invention, the folding vehicle may include a frame that defines a static support. The static support may be designed to support one or more seats, and may also be part of the passenger compartment (e.g., a floor) that includes a steering wheel, a windshield, one or more walls, one or more windows, one or more doors, a dashboard with various indicators, a screen, and other components that are typically part of the dashboard, as well as other components.

[0044] In some embodiments of the present invention, the static support may be coupled to the dynamic chassis, for example, by a connector. The dynamic chassis may include one or more movable frames, parts, structures, or assemblies that facilitate folding and unfolding of the foldable vehicle. In some embodiments of the present invention, the dynamic chassis may include two substantially opposing frame parts coupled to the static support, and each frame of the opposing frames may include or support a wheel. For example, the left frame may be coupled (e.g., via a suspension) to a left wheel (e.g., front left wheel, rear left wheel), while the right frame may be coupled (e.g., via a suspension) to a right wheel (e.g., right front wheel, right rear wheel). In the following, the wheels located on the same side (e.g., right or left) of the vehicle are referred to as the following wheels. In some embodiments of the present invention, the dynamic chassis may include a movable frame for each wheel of the foldable vehicle. For example, the dynamic chassis may include four movable frames, each supporting a different wheel of the foldable vehicle. The dynamic chassis may include one moveable frame, and a subset of the wheels may be coupled to static supports, and the remainder of the wheels may be coupled to the moveable frame.

[0045] In some embodiments of the present invention, the folding vehicle may include one or more folding mechanisms to facilitate folding and unfolding of the vehicle. The folding mechanism may include one or more actuators, drivers, motors, pistons, power trains, drive mechanisms, etc., hereinafter referred to as actuators. The folding mechanism according to some embodiments of the present invention may be used to couple a static support to a dynamic chassis. The folding mechanism may apply force to components of the dynamic chassis to pull them closer or push them apart to configure them into a folded or unfolded state, respectively, or an intermediate state therebetween. The width of the vehicle may be increased or decreased by operating the folding mechanism to increase or decrease the distance between the frame parts, respectively.

[0046] The folding mechanism may include tracks, rails, guides, transmission elements, linear transmission elements, etc. that move the moveable parts of the dynamic chassis to and between the folded and deployed states. The tracks may be used to guide the moveable parts along a predetermined path and to maintain the moveable parts substantially parallel and opposed to each other. The tracks may include sliding elements, bearings, linear bearings, magnets, lubricating materials, etc. The tracks may be provided on the static supports and / or on the dynamic chassis.

[0047] The dynamic chassis may include movable parts (e.g., substantially opposing frame parts) that fold into, over, or under the static support. The dynamic chassis may fold or unfold relative to the static support along the axis of rotation of the wheels or an axis parallel to the axis of rotation of the wheels.

[0048] In some embodiments of the present invention, the folding vehicle may be folded or unfolded without changing the overall height of the vehicle. The folding vehicle may maintain the center of mass of the folding vehicle along a vertical axis substantially perpendicular to a plane between the front and rear wheels of the vehicle during folding and unfolding of the folding vehicle.

[0049] In some embodiments of the present invention, the foldable vehicle may include one or more controllers (hereafter controllers for brevity). The foldable vehicle may also include one or more sensors. For example, the foldable vehicle may include sensors that measure speed, acceleration, position, temperature, number and physical position of passengers in the vehicle, wheel rotation, steering wheel rotation, distance of the vehicle from an object, distance between sets of parallel wheels, distance between moving parts of a dynamic chassis, and other vehicle and / or driving parameters. The controller may be connected to the sensors, obtain sensed data from the sensors, and process the obtained sensed data.

[0050] The controller may be configured to control the folding mechanism. The controller may be configured to receive input to initiate folding or unfolding of the folding vehicle. For example, a user of the vehicle, such as a driver, may initiate a signal that is issued to the controller to fold or unfold the vehicle. For example, the user may press a button, turn on a knob, press a virtual button on a touch screen, use a wireless communication device such as a smartphone, employ another means of user interface, and send a signal to the controller to fold or unfold the vehicle.

[0051] In some embodiments of the invention, the folding vehicle may be autonomous and / or remotely controllable. The controller may automatically generate or receive signals to fold or unfold the vehicle from a user or from a remote device, such as a computer, other controller, third party device, or other remote control device. For example, the controller may receive commands from the autonomous folding vehicle to fold and unfold the autonomous folding vehicle. In some embodiments of the invention, the controller may receive an unfolding signal (e.g., initiated by a user) and generate a command signal to the folding mechanism to unfold the vehicle only when the controller receives sensed data indicating that the vehicle is traveling at a speed below a predetermined speed limit threshold (e.g., 40Km / h), for example, between a first predetermined speed threshold and a second predetermined speed threshold that is higher than the first speed threshold and less than or equal to the predetermined speed limit threshold (e.g., 40Km / h). In some embodiments, the controller may limit the speed of the foldable vehicle (e.g., by controlling a motor or other portion of the vehicle's propulsion system) to remain at or below a predetermined speed limit threshold until the unfolding process is completed.

[0052] In some embodiments of the invention, the controller may receive or generate commands to partially fold and unfold the foldable vehicle. The foldable vehicle may be configured to have a relationship between the speed of the foldable vehicle and the width of the vehicle (e.g., the degree of unfolding). The controller (or a control unit of the autonomous vehicle) may determine the degree of unfolding as a function of the speed of the foldable vehicle. During folding, the controller may limit the speed of the foldable vehicle accordingly (e.g., limit the speed of the foldable vehicle as a function of the width of the vehicle). During folding or unfolding, the controller may limit or halt the folding or unfolding according to the speed of the foldable vehicle.

[0053] In some embodiments of the invention, the foldable vehicle may be autonomous. The foldable vehicle may send signals to a controller to control the folding and unfolding of the vehicle. The foldable vehicle may receive signals from sensors and autonomously control the foldable vehicle (e.g., control the speed, direction, folding and unfolding of the foldable vehicle).

[0054] Similarly, in some embodiments of the invention, the controller may receive a folding signal (e.g., initiated by a user) and generate a command signal to the folding mechanism to fold the vehicle only when, for example, it receives sensed data indicating that the vehicle is traveling below a predetermined speed limit threshold (e.g., 40Km / h).

[0055] In some embodiments, the controller may limit the speed of the foldable vehicle (e.g., by controlling a motor or other parts of the vehicle's propulsion system) to remain at or below a predetermined speed limit threshold until the folding process is complete.

[0056] In some embodiments of the invention, the controller may use the location data (e.g., GPS). The folding vehicle may use the location data to fold and unfold the folding vehicle. For example, the folding vehicle may detect a parking space near the folding vehicle and fold in preparation for parking. The folding vehicle may use the location data to detect that the folding vehicle is entering a highway and unfold in preparation for entering the highway. The folding vehicle may use the location data to detect areas with narrow roads so that the folding vehicle can fold (e.g., some narrow roads may only allow vehicles of a narrow width).

[0057] The controller may be configured to fold and unfold the moving parts of the dynamic chassis in a synchronized and stable manner, for example, the controller may operate a folding mechanism to move two opposing frame parts of the dynamic chassis simultaneously and move these parts at the same speed.

[0058] A folding vehicle may be configured (e.g., by using a designated controller) to fold and unfold only while moving, with the movement of opposing frame parts during folding and unfolding being along an axis substantially perpendicular to the general direction of travel of the vehicle.

[0059] For example, a vehicle may be designed to fold and unfold within a range of permissible speeds (e.g., 5.38Km / h to 40Km / h) while the vehicle is moving. The range of permissible speeds may be pre-determined. The range of permissible speeds may be determined according to regulatory, safety, manufacturing, business reasons, etc. The range of permissible speeds may be pre-determined by the vehicle manufacturer and any other authorized body (e.g., government agency, regulatory body, distributor). The range of permissible speeds may vary. For example, in some countries, the range of permissible speeds may be 5.38Km / h to 40Km / h, and in other countries, the range of permissible speeds may be 0 (the vehicle may remain unfolded at a very low speed) to 90Km / h (the vehicle may remain folded at a high speed). The range of permissible speeds may vary depending on driving conditions such as turning radius and speed during turning. The folding vehicle may be configured to prevent operation of the folding mechanism to fold or unfold the vehicle when the vehicle is stationary or traveling at very slow speeds (e.g., less than 5.38 Km / h).

[0060] The folding vehicle may be configured to fold and unfold while moving along a substantially straight path or while turning (e.g., when the front wheels are rotated at a sideways angle). For example, the front wheels may be rotated at an angle to turn the vehicle left or right, and the vehicle may fold or unfold while the front wheels remain rotated at an angle so that the vehicle may maintain its correct movement while folding or unfolding. Maintaining the rotation angle of the wheels regardless of folding and unfolding may be applied as a safety measure for the vehicle. For example, when the vehicle is turning, the wheels are rotated at an angle in a certain direction and unfolding is initiated (e.g., when the vehicle is turning and the vehicle is accelerating towards a high speed, unfolding is initiated automatically), and if the rotation angle is not maintained, the vehicle may change direction during the turn and crash. The folding vehicle may maintain the turning angle of the folding vehicle during folding and unfolding of the folding vehicle as well as during normal driving. The folding vehicle can maintain the turning angle of the folding vehicle when folding and unfolding of the folding vehicle is interrupted. For example, when the folding vehicle interrupts folding of the folding vehicle and the vehicle is between the folded and unfolded states, the user can maintain control over the steering of the folding vehicle and can maintain the turning angle of the folding vehicle. In some embodiments of the present invention, during turning while the folding vehicle is folded or unfolded, the folding vehicle may maintain the rotation angle of the wheels (e.g., steering radius) until a user (e.g., driver) of the vehicle makes some change (e.g., turns the steering wheel).

[0061] In some embodiments of the present invention, the folding vehicle may prevent acceleration or deceleration during folding and unfolding. Alternatively or additionally, the folding vehicle may allow acceleration or deceleration during folding and unfolding. For example, the folding vehicle may accelerate or decelerate during folding or unfolding within a predetermined acceleration and / or speed range. In some embodiments of the present invention, the user of the vehicle may maintain control over the speed, acceleration, and deceleration (e.g., gas pedal and brake pedal) of the folding vehicle during folding and unfolding. The folding vehicle may allow the use of a handle to steer the folding vehicle during folding and unfolding. In some embodiments of the present invention, during folding, the folding vehicle may allow acceleration (e.g., speed increase), for example, if the speed does not exceed a predetermined limit (e.g., depending on the width of the vehicle at that moment).

[0062] In some embodiments of the invention, the split steering mechanism may adjust the front wheels for Ackermann correction, which includes adjusting the rotation angle of the front wheels when the vehicle is turning. For example, during a left turn, the left front wheel may travel a shorter distance than the right front wheel, and Ackermann correction adjusts the rotation angle of the front wheels to account for the difference in distance traveled during the vehicle turn. The split steering mechanism may rotate the left front wheel at one angle and the right front wheel at a different rotation angle to adjust for Ackermann correction. In some embodiments of the invention, Ackermann correction may also be active during folding and unfolding of the vehicle.

[0063] In some embodiments of the invention, the split steering mechanism may adjust according to the width of the vehicle (e.g., folded and unfolded) and / or according to the height of the vehicle (e.g., the height of the vehicle may be adjustable and / or variable). The vehicle may adjust its height and the split steering mechanism may maintain the rotation angle of the wheels at different heights of the vehicle. For example, the split steering mechanism may maintain the rotation angle of the wheels before, during and after a height adjustment of either the vehicle or the wheels. The split steering mechanism may maintain the rotation angle of the wheels while accommodating height differences between different sides of the vehicle.

[0064] In some embodiments of the invention, the split steering mechanism may adjust the front wheels for Ackermann correction in relation to the height of the vehicle and / or any of the wheels of the vehicle. For example, the split steering mechanism may adjust the front wheels for Ackermann correction if the height of one side of the vehicle is different from another side of the vehicle. The split steering mechanism may adjust the front wheels for Ackermann correction if the height of at least one of the wheels (e.g., one of the front wheels) is different from the height of another wheel (e.g., one wheel is higher and all other wheels are at the same height). For example, the split steering mechanism may adjust the front wheels for Ackermann correction before, during and after adjusting the height of either the vehicle or the wheels. The split steering mechanism adjusts the front wheels for Ackermann correction while allowing for the height difference between the different sides of the vehicle.

[0065] 1A is a top view of a chassis of a folding vehicle in an unfolded state according to some embodiments of the present invention. The folding vehicle 100 may include a static support 20. The static support 20 may be rectangular, but may be formed in another shape. The static support 20 may have a flat surface to provide linear displacement of one or more parts dynamically coupled to the static support 20. A driver's seat may be mounted on the static support 20. Additionally, one or more passenger seats may also be supported by the static support 20.

[0066] The static support may also include a passenger compartment (not shown in this figure for simplicity) including a steering wheel 50, a windshield, one or more walls, one or more windows, one or more doors, a dashboard with various indicators, a screen, and other components that are typically part of the dashboard, as well as other components.

[0067] The static support 20 and other parts of the folding vehicle 100 may be assembled from multiple parts. For example, the static support 20 may be welded or assembled from multiple bars or rods made from metal, metal composite, carbon fiber, or composite materials, or other rigid materials. The static support 20 and other parts of the folding vehicle 100 (e.g., frame parts 22a and 22b) may be manufactured from a lightweight material or materials to reduce the weight of the vehicle. For example, the stationary frame 20 may be manufactured from aluminum to increase the strength-to-weight ratio.

[0068] The folding mechanism according to some embodiments of the present invention may include one or more actuators 30. The folding mechanism 31 may include one or more actuators 30. In some embodiments of the present invention, two actuators are provided, located at the front and rear ends of the static support 20. The actuators 30 may be bolted, welded, assembled, screwed, or attached or otherwise coupled to the static support 20. In some embodiments of the present invention, the one or more actuators may be coupled to the frame parts 22a and / or 22b. The folding mechanism may be configured to facilitate folding and unfolding of the foldable vehicle 100. The folding mechanism may be configured to move the frame parts 22a and 22b along substantially parallel axes. In some embodiments of the present invention, the parallel axes may be substantially perpendicular to the general direction of travel of the vehicle. For example, the folding mechanism and the actuators 30 are parallel to an axis between the centers of the front wheels, such that the front wheels can be pulled or pushed along said axis during folding and unfolding of the foldable vehicle 100.

[0069] The actuator 30 may include a piston 32. The actuator 30 may drive the piston 32 using hydraulics, pneumatics, mechanical drivers, and / or electrical components. The piston 32 may extend and retract. For example, the piston 32 may extend fully or partially, or retract fully or partially. The piston 32 may be connected to the carousel 34 via a pivot joint 36. The piston 32 may be welded, assembled, or connected to the carousel 34. The linear motion of the piston 32 may rotate the carousel 34 clockwise or counterclockwise about an axis of rotation.

[0070] The carousel 34 may be connected to shafts 40a and 40b via pivot joints 38a and 38b, respectively. The carousel 34 may be connected to one or more shafts. For example, the carousel 34 may be connected to one or more movable frame parts. The carousel 34 may apply a pulling or pushing force to the movable frame parts via one or more shafts. Each of the carousels 34 may be located along the central longitudinal axis of the stationary base 20 or at another location. For example, the first carousel 34 may be located midway between the front wheels and the second carousel 34 may be located midway between the rear wheels. Each carousel 34 may apply a symmetrical and opposite force to the opposing frame parts 22a and 22b to decrease or increase the distance between the frame parts. The carousel 34 may be located at different positions between the frame parts 22a and 22b. For example, a first carousel 34 connected at a distal portion of the stationary frame 20 may be positioned closer to frame part 22a, and a second carousel 34 connected at a proximal portion of the stationary frame 20 may be positioned closer to frame part 22b.

[0071] The shafts 40a and 40b may be connected to the frame parts 22a and 22b, respectively. The shafts 40a and 40b may be of similar or different lengths. For example, if the carousel 34 is centered between the frame parts 22a and 22b, the shafts 40a and 40b may be connected at opposite locations on the frame parts 22a and 22b, respectively, and the shafts 40a and 40b may have similar lengths. For example, if both carousels 34 are located closer to the frame part 22a than to the frame part 22b, the shafts 40a and 40b may have different lengths as a result. The shafts 40a and 40b may be extendable (e.g., extendable poles, pistons, length-adjustable shafts). The shafts 40a and 40b may vary in length relative to the intended maximum range of the folded and unfolded states. The shafts 40a and 40b may be used to limit the range of unfolding and folding of the foldable vehicle 100. For example, the length of shafts 40a and 40b may limit how far apart frame parts 22a and 22b can move when deployed. If shafts 40a and 40b are shorter, frame parts 22a and 22b can move a shorter distance between the folded and deployed states. If shafts 40a and 40b are longer, frame parts 22a and 22b can move a longer distance between the folded and deployed states.

[0072] The actuator 30 can extend the piston 32 and rotate the carousel 34. When rotating in one direction, the carousel 34 can push the shafts 40a and 40b apart. When the shafts 40a and 40b are pushed apart, the distance between the frames 22a and 22b increases, resulting in the folding vehicle 100 unfolding. When the carousel 34 rotates in a second direction opposite the first direction, it can pull the shafts 40a and 40b together. When the shafts 40a and 40b are brought closer, the distance between the frames 22a and 22b decreases, resulting in the folding vehicle 100 folding.

[0073] The actuator 30 may have a locking mechanism for locking the vehicle 100 in the fully unfolded state, the fully folded state, and any intermediate state. The folding mechanism may include one or more latches, stoppers, locks, switches, sensors, controllers, limiters, and other elements for locking or otherwise restricting the folding mechanism. For example, the folding mechanism may have stops to prevent the frame parts 22a and 22b from extending or retracting beyond a certain limit to avoid disassembly of the frame parts. According to some embodiments of the present invention, the folding mechanism may include latches for locking the frame parts 22a and 22b in the folded state, the unfolded state, and any intermediate state between the folded state and the unfolded state. According to some embodiments of the present invention, the folding mechanism may electronically lock the folding vehicle 100 in the fully unfolded state, the fully folded state, and any intermediate state (e.g., by controlling how much the pistons of the folding mechanism extend and retract).

[0074] The vehicle 100 may be propelled by an electric motor, an internal combustion engine, or a hybrid propulsion unit. The vehicle 100 may have front wheels 10a and 10b and rear wheels 10c and 10d. The vehicle 100 may have a split steering mechanism. The split steering mechanism may include a steering wheel 50. The steering wheel 50 may be coupled to a steering shaft 52. The steering shaft 52 may be connected to a steering assembly 54 (e.g., a power steering unit). The steering assembly 54 may include an electric motor and gears to assist the driver in turning the steering wheel 50. The steering assembly 54 and / or the steering shaft 52 may be connected to a steering shaft 58 via a universal joint 56. The steering shaft 58 may transmit the forward rotational motion of the steering wheel 50 to a split steering gear box 62 via a universal joint 60. The universal joint 65 may be connected to a steering box 66 by a shaft 64. The shaft 64 may extend or retract as the vehicle unfolds or folds, respectively. The shaft 64 can maintain the rotation state of the split steering mechanism, and thus the rotation angle of the wheels, during unfolding or folding of the vehicle 100. The steering box 66 is connected to the front wheels 10a and 10b via tie rods 68.

[0075] The first suspension 67a and the second suspension 67b (shown in FIG. 4) can connect the wheels of the vehicle to the dynamic frame. The first suspension 67a and the second suspension 67b can define an axis that is substantially perpendicular to the first suspension 67a and the second suspension 67b. The wheel 10a (and the other wheels) can pivot about the perpendicular axis (e.g., when the vehicle turns and the wheels turn an angle). The tie rod 68 can move relative to the frame 22a to cause the wheel 10a to turn an angle, and the first suspension 67a (and the second suspension 67b) can remain stationary relative to the frame 22a while the wheel 10a turns an angle.

[0076] FIG 1B is a top view of the chassis of the folding vehicle shown in FIG 1A in a folded state. The folding vehicle 100 can be folded when the actuator 30 retracts the piston 32. When the piston 32 retracts, the carousel 34 is rotated to pull the shafts 40a and 40b, which in turn pull the frames 22a and 22b together. The front wheels 10a and 10b may be pivoted at an angle and may maintain that angle of rotation during folding or unfolding of the vehicle 100.

[0077] In some embodiments of the present invention, the folding vehicle 100 can maintain the rotation angle of the front wheels 10a and 10b while adjusting for Ackermann correction of the relative rotation angle between the wheels 10a and 10b. The split steering mechanism may be used in folding vehicles and small vehicles. It may be difficult to implement a steering system (e.g., a steering system that adjusts the wheels for Ackermann correction) in folding vehicles and small vehicles. Typically, the steering system may require space in front of the vehicle. In small vehicles, implementing typical steering (e.g., with adjustment for Ackermann correction) may be difficult due to design constraints (e.g., placing pedals and other elements in the front of the vehicle). The split steering mechanism can adjust for Ackermann correction and available space in front of the vehicle (e.g., pedals).

[0078] FIG. 2 is a bottom view of a folding mechanism of a folding vehicle according to some embodiments of the present invention. The static support 20 may include a plate 24 extending laterally across the static support 20. The carousel 34 may be pivotally connected to the static support 20 on the plate 24 so that the carousel 34 can rotate at a location of rotation substantially perpendicular to the static support 34. The static support 34 may have one, two, or more folding assemblies, one folding assembly may be positioned at a proximal end of the static support 34 and the other folding assembly may be positioned at a distal end of the static support 34 for efficient and uniform power distribution during folding and unfolding of the dynamic chassis frame parts 22a and 22b. In some embodiments of the present invention, the folding mechanism may include one, two, or more pairs of opposing folding assemblies for smooth operation to conserve power and distribute momentum evenly on the dynamic chassis frame parts 22a and 22b.

[0079] The folding mechanism may include one or more rails 44 and a number of sliding elements 46. The sliding elements 46 may be connected to the dynamic chassis frame parts 22a and 22b to facilitate sliding of the frame parts 22a and 22b along the rails 44.

[0080] 3 is a side view of a chassis of a folding vehicle with seats, according to some embodiments of the present invention. The vehicle 100 may have one or more front seats 98 and one or more rear seats 99. The vehicle 100 may have multiple seats in multiple arrangements. For example, the vehicle 100 may have three rows of seats with two chairs in each row. During folding and unfolding of the vehicle 100, the seats 98 can remain at a fixed distance from the handle 50. The handle 50 can be rotated and remain in a desired rotated position during folding or unfolding of the vehicle 100.

[0081] 4 is a front view of a split steering mechanism connected to the front wheels of a folding vehicle, according to some embodiments of the present invention. A handle 50 may be connected to a steering shaft 52.

[0082] The steering assembly 54 and / or steering shaft 52 may be connected via a universal joint 56 to a steering shaft 58, which transmits forward rotational movement of the steering wheel 50 to a split steering gearbox 62 via a universal joint 60.

[0083] The split steering gearbox 62 may be connected to each of two opposing shafts 64 via universal joints 63. Each shaft 64 may be connected to a steering box 66 of one of the wheels via a universal joint 65. The split steering gearbox 62 may be configured to transmit rotation of the steering wheel 50 to the wheels 10a and 10b via each of the two shafts 64. The shafts 64 extend and retract with the unfolding and folding of the vehicle to facilitate turning the wheels 10a and 10b at an angle when the vehicle is in the folded state, or the unfolded state or an intermediate state. The split steering gearbox 62 may be configured to translate rotation of the steering wheel 50 to the wheels 10a and 10b while maintaining the Ackermann angle between the wheels 10a and 10b. A suspension 69 may suspend the wheels 10a (and other wheels) to the frame 22a. In some embodiments of the present invention, the shafts 64 may not be extendable and the steering system may be a split steering system. For example, the shaft 64 may have a fixed length. The shaft 64 may have a fixed length and may adjust the Ackermann angle and / or maintain the rotational angle of the vehicle's front wheels. For example, a split steering system may be useful for small micro cars where the shaft length is fixed. A split steering system may preserve space for the driver's feet and any other front passengers.

[0084] FIG. 6 is a flow chart of a method for folding and unfolding a folding vehicle according to some embodiments of the present invention. The folding and unfolding method may include using a controller. The controller may receive 602 a folding or unfolding command. For example, the controller may receive a command to fold or unfold the vehicle from a user of the vehicle, such as a driver. Additionally, the controller may generate or receive the folding or unfolding command. For example, if the folding vehicle is autonomous, the controller may autonomously generate and / or receive the folding or unfolding command. The folding or unfolding method includes step 604 of obtaining sensed data (e.g., measurements and signals) from one or more sensors (e.g., sensors located on the vehicle and / or external sensors) for sensing parameters relevant to assessing risks to the vehicle both outside and inside the vehicle that may impede the folding or unfolding process. For example, the controller may obtain sensed data from one or more proximity sensors to assess the risk of colliding with a nearby obstacle, one or more acceleration sensors (e.g., gyro sensors) to identify risky maneuvers or dangerous accelerations, one or more speed sensors to identify dangerous speeds, one or more imaging sensors (e.g., cameras, lidar) to obtain images of the vehicle's proximal vicinity and process the images to identify risks, one or more location sensors (e.g., GPS sensors), and any other one or more sensors to measure data regarding the degree of folding and unfolding and any associated potential risks. The controller may obtain the sensed data to assess the risks.

[0085] The controller may assess 606 a risk associated with folding and unfolding. The risk may be assessed by evaluating whether the sensed data is within a predefined limit. For example, the controller may assess whether the speed of the foldable vehicle is within a non-hazardous range (e.g., between 5.38 Km / h and 40 Km / h). The controller may assess whether the vehicle is accelerating or decelerating rapidly. The controller may assess whether the foldable vehicle is in an unsafe position for folding or unfolding. The controller may assess the risk of acceleration associated with folding and unfolding during a sharp turn.

[0086] To assess the risk (e.g., a composite risk), the controller may have a composite risk assessment, where the controller may combine risk assessment categories. The controller may assess whether the risk is below a threshold in each risk assessment category (e.g., speed, acceleration, proximity to other vehicles). The controller may have a pass / fail criterion for each risk assessment category. The controller may assess the composite risk by checking whether at least one of the risk assessment categories poses a risk above a threshold. The controller may assess the risk by assigning a risk index (e.g., a value of the assessed risk) for each risk assessment category. The controller may assess the composite risk by combining the risk indexes of the risk assessment categories.

[0087] The controller may receive commands to fold and unfold the vehicle from another device (e.g., a vehicle computer, a safety controller, an autonomous control unit) or a remote device (e.g., a remote computer, a cloud system, a remote monitoring system, a remote control system, an autonomous driving remote control, etc.). The controller may also generate folding or unfolding commands in one or more specific situations (e.g., an unfolding command when the speed of the vehicle is approaching a predefined speed limit threshold). According to some embodiments of the present invention, the controller may be configured to resolve conflicts between competing commands. For example, if the controller receives a command from a user (e.g., a driver) to start folding the vehicle and at the same time the folding mechanism is executing an unfolding command, the controller may be configured to resolve conflicts between the competing commands according to a conflict resolution rule or set of rules. The controller may be configured to evaluate risk, priority, safety, vehicle status, system status, vehicle surroundings, road conditions, speed, acceleration, and other factors, and resolve conflicts between the received and / or generated commands based on the evaluated risk.

[0088] The controller can check 608 whether the risk is below a threshold. For example, the controller may check whether a risk assessment category is below a threshold. The controller may check whether a composite risk assessment is below a threshold.

[0089] If the risk falls below a threshold, the controller may initiate 610 the folding or unfolding. The controller may be configured to provide feedback to a user of the vehicle and / or other parties (e.g., another computing system, a remote computer, an autonomous controller) regarding various aspects and steps. For example, the controller may be configured to cause the driver to present an indication regarding whether the vehicle is folding or unfolding. The controller may be configured to cause the driver or a third party (e.g., a device, software, a cloud controller, a server, etc.) to present an indication that there is a risk that would prevent the folding or unfolding process from starting. The controller may be configured to cause the driver to present an indication that the folding or unfolding process has been aborted. The controller may be configured to cause the driver to present an indication that the folding or unfolding process has been completed. The controller may be configured to provide feedback regarding the folding position of the vehicle. For example, the controller may cause the driver to present an indication that the vehicle is in a folded state, an unfolded state, or an intermediate position between the folded state and the unfolded state.

[0090] If the risk is not below the threshold 608, the controller may abort the folding or unfolding 612. For example, the controller may delay, pause, cancel, and ignore the received command 602 to fold or unfold. After the controller aborts the folding or unfolding 612, the controller may return to steps 604-608 until the risk is below the threshold.

[0091] The controller may check 614 whether the folding or unfolding is complete. If the folding or unfolding is not complete, the controller may return to step 604 of acquiring sensed data, step 606 of assessing risk, and step 608 of checking risk below threshold (repeat steps 604-608). For example, if the risk is not below the threshold during folding and unfolding, the controller may halt the folding or unfolding until the risk is below the threshold. During folding or unfolding, the controller may repeat step 604 of acquiring sensed data, step 606 of assessing risk, and step 608 of checking risk below threshold until the folding or unfolding is complete. For example, if the risk is not below the threshold 608, the controller may halt 612 the folding or unfolding and repeat steps 604-608 until the risk is below threshold. Once the risk is below threshold 608, the controller may begin 610 the folding or unfolding until the folding or unfolding is complete.

[0092] When folding or unfolding is complete 614, the controller can receive a new command to fold or unfold 616. Upon receiving a new command, the controller proceeds to step 602, continues to step 604, and so on.

[0093] The controller may receive new commands during folding or unfolding (e.g., during step 610). The controller may be configured to resolve conflicts between folding and unfolding commands. For example, during any of steps 604-614, the controller may ignore or abort any new commands until folding or unfolding is complete.

[0094] In some embodiments of the invention, the folding vehicle may have a locking mechanism, and the controller may operate said locking mechanism to lock the vehicle in the folded or unfolded state once folding is complete. In some embodiments of the invention, the locking mechanism may lock the vehicle in a position between the folded and unfolded states (e.g., when the controller pauses folding or unfolding until the risk falls below a threshold).

[0095] In some embodiments of the present invention, the folding and unfolding may be automated. For example, when a predetermined speed is reached, the foldable vehicle may automatically unfold. In some embodiments of the present invention, the foldable vehicle may be configured to abort the folding and unfolding of the foldable vehicle. For example, a sharp turn of the vehicle (e.g., a user of the vehicle steering too quickly) may lead the foldable vehicle to abort the folding and unfolding of the foldable vehicle. Furthermore, upon excessive acceleration and deceleration, the foldable vehicle may abort the folding and unfolding. In some embodiments of the present invention, during panic steering (e.g., unexpected maneuvers) or emergency braking, the folding mechanism may stop the folding and unfolding of the foldable vehicle and lock the folding mechanism.

[0096] 5 shows a side view of a chassis of a foldable vehicle with a controller, according to some embodiments of the present invention. The foldable vehicle 100 may include a controller 300. The controller 300 may be configured to control the folding and unfolding of the vehicle 100. The foldable vehicle 100 may include one or more sensors. The controller 300 may be connected to the sensors. The controller 300 may read measurements from the sensors.

[0097] The controller 300 may evaluate based on measurements from sensors risk factors related to folding or unfolding of the vehicle 100. For example, the controller 300 may read measurements from sensors to evaluate whether the folding vehicle 100 may collide with a vehicle near the folding vehicle 100 when unfolding if another vehicle is too close to the folding vehicle 100, and further, the controller 300 may read measurements from sensors related to acceleration to determine that the vehicle 100 is turning with dangerously high acceleration.

[0098] Based on the calculated risk factor, the controller 300 may determine whether to initiate folding and unfolding of the vehicle 100. For example, if the risk factor is high, the controller 300 may prevent the folding or unfolding from being initiated, in addition, if the controller 300 detects a high risk during folding or unfolding of the vehicle 100, the controller 300 may pause the folding or unfolding at an intermediate position, and the controller 300 may initiate the folding or unfolding after the risk is mitigated.

[0099] The controller 300 may evaluate based on measurements from sensor limits related to folding or unfolding of the vehicle 100. For example, the controller 300 may read the speed of the vehicle 100 and decide whether to initiate unfolding (e.g., when the speed is approaching 40 Km / h during acceleration).

[0100] In some embodiments of the invention, the controller may obtain data on road conditions and friction between the wheels and the road. The controller may adjust the upper limit of the speed of the vehicle in the folded state. The obtained data on the road conditions and the traction of the wheels may provide an assessment of the risk of exceeding the threshold. The controller may lower the limit of the permitted vehicle speed (e.g., the vehicle may run up to 30Km / h in the folded state instead of 40Km / h). The controller may adjust the parameters of the folding vehicle according to the obtained data. For example, if the road conditions are bad, the controller may adjust the parameters of the brake pedal and the accelerator pedal to take the road conditions into account. In some embodiments of the invention, the controller may change the parameters of the vehicle (or motor) speed and brake to compensate for the road conditions (e.g., if there is a difference in the traction or friction coefficient between the left and right wheels relative to the road).

[0101] In some embodiments of the present invention, the controller may have a manual mode and an automatic mode. In the manual mode, the controller may receive commands from a user of the foldable vehicle to fold and unfold the foldable vehicle. For example, in the manual mode, the user may press a button to fold or unfold the foldable vehicle. In the automatic mode, the foldable vehicle can continuously collect and analyze data from the sensors and automatically generate commands to fold or unfold the foldable vehicle.

[0102] FIG. 7 is a bottom view of a split steering mechanism according to some embodiments of the present invention. The split steering mechanism may include a split steering gearbox 62. The split steering gearbox 62 may be connectable to the steering wheel by a steering shaft 58. The split steering mechanism may include two shafts 64 connected to the split steering gearbox 62. The split steering gearbox 62 may include a central gear connected to the steering shaft 58 and two peripheral gears connected to the shafts 64. The central gear may transmit and divide the rotation of the central gear into the rotation of the peripheral gears. The split steering gearbox 62 may be configured to transmit and divide the rotation of the steering shaft 58 into the rotation of the shafts 64, such that the rotation of each of the shafts 64 is substantially correlated (e.g., substantially identical) to the rotation of the steering shaft 58. The shafts 64 may connect to a steering box 66.

[0103] In some embodiments of the present invention, the steering box 66 may be connected to a frame part of the vehicle via a bracket 66a (e.g., to one of two substantially opposing frame parts). The steering box 66 may move apart when the foldable vehicle unfolds. The steering box 66 may move closer to each other when the foldable vehicle folds. The steering box 66 may be connected to the lever 61 by a first joint 61a of the lever 61. The steering box 66 may include two gears, namely, a first gear connected to the shaft 64 and a second gear connecting the first joint 61a of the lever 61. The steering box 66 may transmit the rotation of the shaft 64 to the lever 61 (via the first gear and the second gear), so that the lever 61 may rotate when the handle rotates. For example, the lever 61 may rotate in a direction opposite to the direction of rotation of the handle.

[0104] In some embodiments of the invention, the lever 61 may connect the steering box 66 to a tie rod 68 by means of a second joint 61b of the lever 61. When the lever 61 is rotated, the tie rod 68 may rotate the front wheels of the vehicle. For example, when the vehicle is in a folded state, the steering box 66 may remain stationary (e.g., connected to a frame part having a protruding element 66a), and the rotation of the steering shaft 58 may rotate the steering box 61 such that the tie rod 68 moves (e.g., according to the Ackermann correction), which may change the rotation angle of the front wheels of the vehicle.

[0105] Typically, in vehicles where the steering rod is connected to the front of the axle between the front wheels of the vehicle, the front wheels may be rotated at an angle that does not comply with Ackermann correction (e.g., reverse Ackermann). In some embodiments of the invention, the lever 61 may connect the tie rod 68 to the front of the axle between the front wheels of the vehicle to apply Ackermann correction. The lever 61, the tie rod 68, and the front wheels may be arranged along an imaginary rectangle that complies with Ackermann correction. The dimensions (and angles) of the imaginary rectangle may be adapted to the length of the lever 61, the length of the tie rod 68, the distance between the front wheels of the vehicle, and other dimensions of the vehicle to apply Ackermann correction.

[0106] In some embodiments of the present invention, the length of the lever 61 and the tie rod 68 may be determined according to the Ackermann correction. The lever 61 may extend from the steering box 66 toward the proximal direction of the vehicle (e.g., toward the front of the vehicle). The lever 61 may be located in front of the axis between the front wheels of the vehicle (e.g., closer to the front of the vehicle). The length of the lever 61 may be determined according to the distance between the front wheels of the vehicle and other dimensions of the vehicle (e.g., the length of the vehicle, the distance from the center of the vehicle to the front wheels of the vehicle, etc.). The length of the lever 61 may be determined according to the Ackermann correction when the vehicle is in a folded state. The length of the lever 61 may be determined according to the Ackermann correction when the vehicle is in an unfolded state. The length of the lever 61 may be determined according to the Ackermann correction depending on any state between the folded state and the unfolded state. For example, the length of the lever 61 may be determined according to the mathematical average of the distance between the front wheels of the vehicle in the folded state and the unfolded state.

[0107] In some embodiments of the invention, a vehicle (e.g., small vehicle, micro vehicle) may have a split steering system. The split steering system may adjust the front wheels for Ackermann correction. The split steering system may rotate the left front wheel at a first rotation angle and the right front wheel at a second, different rotation angle to adjust for Ackermann correction. Typically, in small and micro vehicles, there is not enough space for the driver's feet. A split steering system can provide valuable space, e.g., space for the driver's and front passenger's feet.

[0108] In some embodiments of the invention, the split steering system may adjust according to the width of the vehicle (e.g., folded and unfolded) and / or according to the height of the vehicle. The vehicle may adjust its height and the split steering system may maintain the rotation angle of the wheels at different heights of the vehicle. For example, the split steering system may maintain the rotation angle of the wheels before, during and after adjusting the height of either the vehicle or the wheels. The split steering system may maintain the rotation angle of the wheels while accommodating height differences between different sides of the vehicle.

[0109] In some embodiments of the invention, the split steering system may adjust the front wheels for Ackermann correction in relation to the height of the vehicle and / or any of the wheels of the vehicle. For example, the split steering system may adjust the front wheels for Ackermann correction if one side of the vehicle is at a different height than the other side of the vehicle. The split steering system may adjust the front wheels for Ackermann correction if at least one of the wheels (e.g., one of the front wheels) is at a different height than the other wheels (e.g., one wheel is higher and all other wheels are at the same height). For example, the split steering system may adjust the front wheels for Ackermann correction before, during and after adjusting the height of either the vehicle or the wheels. The split steering system adjusts the front wheels for Ackermann correction while allowing for height differences between different sides of the vehicle.

[0110] In some embodiments of the invention, the split steering mechanism may include a split steering gearbox connectable to a steering wheel by a steering shaft. The split steering mechanism may include two shafts, a first of the two shafts for connecting the split steering gearbox to a first front wheel of the vehicle, and a second of the two shafts for connecting the split steering gearbox to a second front wheel of the vehicle. The split steering gearbox may be configured to transmit and divide a rotation of the steering shaft into a rotation of the shafts, such that the rotation of each of the shafts correlates with (e.g. is substantially identical to) the rotation of the steering shaft. For example, when a user of the vehicle rotates the steering wheel, the rotational motion is transmitted to the split steering gearbox, which may be configured to transmit and divide the rotation of the steering shaft into a rotation of the shafts.

[0111] In some embodiments of the invention, the split steering mechanism may be configured to facilitate variable lengths of each of the shafts. For example, the shafts may be telescopic and the length of the shafts may vary according to the height of the wheels and / or the width of the vehicle. The split steering mechanism can change the rotation angle of the wheels while facilitating the change in length of each of the shafts.

[0112] In some embodiments of the invention, the split steering mechanism may be configured to facilitate the shafts being at different lengths simultaneously. The length of the first shaft may be different from the length of the second shaft when one or more wheels of the vehicle are at a different height than the remaining wheels (e.g., the vehicle is parked at a curb, the front wheels of the vehicle are elevated, the vehicle is ascending an uneven ramp, etc.). The split steering mechanism may be configured to facilitate different lengths of the shafts when one or more wheels of the vehicle are at a different height than the remaining wheels. The length of the first shaft may be different from the length of the second shaft when frame parts of the vehicle extend at a different rate or to a different extent than other frame parts. The split steering mechanism may be configured to facilitate different lengths of the shafts when frame parts of the vehicle have different distances from the center of the vehicle at the same time.

[0113] In some embodiments of the present invention, the split steering mechanism may be configured to apply Ackermann correction when turning the front wheels.

[0114] In some embodiments of the invention, the foldable vehicle may include a split steering mechanism comprising a split steering gearbox connectable to a steering wheel by a steering shaft. The split steering mechanism may also include two shafts, a first of the two shafts for connecting the split steering gearbox to a first front wheel of the vehicle, and a second of the two shafts for connecting the split steering gearbox to a second front wheel of the vehicle. The split steering gearbox may be configured to transmit and split a rotation of the steering shaft into a rotation of a shaft, such that a rotation of each of the shafts is correlated (e.g., substantially identical) to a rotation of the steering shaft.

[0115] Different embodiments are disclosed herein. Features of a particular embodiment may be combined with features of other embodiments. Thus, a particular embodiment may be a combination of features of more than one embodiment. The foregoing description of the embodiments of the present invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. It should be appreciated by those skilled in the art that many modifications, variations, substitutions, changes, and equivalents are possible in light of the above teaching. It should therefore be understood that the appended claims are intended to cover all such modifications and variations that fall within the true spirit of the present invention.

[0116] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents will occur to those skilled in the art. It is therefore to be understood that the appended claims are intended to cover all such modifications and changes that fall within the true spirit of the invention.

Claims

1. A folding vehicle, A chassis, A static support; a dynamic chassis frame coupled to the static support, the dynamic chassis frame including at least two substantially opposing frame parts; a folding mechanism that reduces or increases a distance between the at least two substantially opposing frame parts transverse to a lateral axis of the folding vehicle between a folded state and an unfolded state; a chassis comprising: A controller for controlling the folding mechanism; A folding vehicle comprising:

2. The folding vehicle of claim 1 , wherein the folding mechanism comprises at least one carousel connected to at least one of the frame parts.

3. The folding vehicle of claim 2 , wherein the at least one carousel is connected to the static support and pivots about an axis perpendicular to the static support.

4. 4. A folding vehicle as claimed in claim 2 or claim 3, wherein the at least one carousel is positioned at substantially equal distances from the two frame parts.

5. 4. A folding vehicle as described in claim 2 or claim 3, wherein the folding mechanism comprises one or more pistons connected to the static support, the pistons configured to drive the at least one carousel.

6. The folding vehicle according to any one of claims 1 to 3, wherein the frame parts contract onto the static support in the folded state.

7. 4. The folding vehicle according to claim 1, wherein the chassis comprises one or more tracks, and the at least two frame parts slide along the tracks between the folded state and the unfolded state.

8. 4. The folding vehicle according to claim 1, further comprising a locking mechanism for locking the at least two substantially opposing frame parts in a state selected from a group of states consisting of the unfolded state, the folded state, and an intermediate state.

9. 4. The folding vehicle of claim 1, further comprising a split steering mechanism comprising a split steering gearbox connectable to a steering wheel by a steering shaft, and two shafts, namely a first shaft of the two shafts for connecting the split steering gearbox to a first front wheel of a vehicle, and a second shaft of the two shafts for connecting the split steering gearbox to a second front wheel of the vehicle, wherein the split steering gearbox is configured to transmit and split a rotation of the steering shaft into a rotation of the shafts, such that the rotation of each of the shafts correlates with the rotation of the steering shaft.

10. 10. The foldable vehicle of claim 9, wherein the split steering mechanism comprises a shaft that extends and contracts as the distance between the two frame parts of the foldable vehicle decreases or increases.

11. 10. The foldable vehicle of claim 9, wherein the split steering mechanism is configured to maintain a rotation angle of a front wheel of the foldable vehicle while the distance between the two frame parts of the foldable vehicle decreases or increases.

12. 10. The folding vehicle of claim 9, wherein the split steering mechanism comprises a shaft that extends and retracts as the height of the folding vehicle decreases or increases.

13. 10. The foldable vehicle of claim 9, wherein the split steering mechanism is configured to maintain a rotational angle of a front wheel of the foldable vehicle while a height of the foldable vehicle is decreased or increased.

14. 4. A foldable vehicle according to any one of claims 1 to 3, further comprising one or more sensors disposed on the foldable vehicle for sensing parameters relevant to an assessment of a risk to the foldable vehicle.

15. 1. A method for controlling folding and unfolding of a foldable vehicle using a controller, comprising: receiving a fold or unfold command using the controller; using the controller to obtain sensed data from one or more sensors disposed on the foldable vehicle for sensing parameters relevant to an assessment of a risk to the foldable vehicle; assessing the risk using the controller; checking, using the controller, whether the risk is below a threshold; using the controller to initiate the folding or unfolding if the risk is below a threshold; checking, using said controller, whether said folding or unfolding is complete; A method comprising:

16. 16. The method of claim 15, further comprising aborting the folding or unfolding of the foldable vehicle if the risk is not below a threshold.

17. 17. The method of claim 16, further comprising the steps of: after aborting the folding or unfolding, obtaining sensed data from the one or more sensors; evaluating the risk; and checking whether the risk is below a threshold.

18. 18. The method of any one of claims 15 to 17, further comprising the steps of: if the folding or unfolding is not completed, obtaining sensed data from the one or more sensors; assessing the risk; and checking whether the risk is below a threshold until the folding or unfolding is completed.

19. 20. The method of claim 18, further comprising aborting the folding or unfolding of the foldable vehicle if the risk is not below a threshold.

20. 20. The method of claim 19, further comprising the steps of: after aborting the folding or unfolding, obtaining sensed data from the one or more sensors; evaluating the risk; and checking whether the risk is below a threshold.

21. The method of any one of claims 15 to 17, further comprising the step of limiting the speed of the foldable vehicle when the foldable vehicle is in a folded state.

22. The method of any one of claims 15 to 17, further comprising the step of autonomously generating folding or unfolding commands using the controller.

23. The method of any one of claims 15 to 17, further comprising the step of resolving conflicts between received fold or unfold commands using the controller.

24. A split steering mechanism comprising: a split steering gearbox connectable to a steering wheel by a steering shaft; two shafts, a first of the two shafts for connecting the split steering gearbox to a first front wheel of a vehicle and a second of the two shafts for connecting the split steering gearbox to a second front wheel of the vehicle, the split steering gearbox being configured to transmit and divide a rotation of the steering shaft into a rotation of the shafts, such that the rotation of each of the shafts correlates with the rotation of the steering shaft; A split steering mechanism comprising:

25. 25. The split steering mechanism of claim 24, wherein each of the shafts has a variable length.

26. 26. A split steering mechanism as claimed in claim 25, configured to facilitate the shafts being of different lengths simultaneously.

27. A split steering mechanism as claimed in any one of claims 24 to 26, configured to apply Ackermann correction when turning the front wheels.

Images