GUIDE LINE REFERENCED ELECTRONIC GUIDANCE SYSTEM FOR RUBBER-TIRED VEHICLES

Abstract

The invention relates to a guideline-referenced electronic steering system used in wheeled vehicles. The system consists of a guideline, a roller system, a movable part, an angle sensor, an electronic control unit, and an electric steering system. The roller system moves within the guideline, following its geometry, and the resulting angular movements are detected by the angle sensor. The data obtained is transmitted to the electronic control unit, and the electric steering system is controlled to steer the vehicle. The guideline does not directly generate mechanical steering force; it only serves as a reference line. This invention reduces mechanical wear, maintenance requirements, vibration, and noise; provides electronically controlled precise steering, compatibility with autonomous driving systems, and independent steering of the front and rear axles.

Description

1 TARIFF GUIDELINE REFERENCE FOR RUBBER-TIRED VEHICLES ELECTRONIC ROUTING SYSTEM TECHNICAL AREA 5 The invention relates to transportation systems, and specifically to rubber-wheeled public transport. in vehicles, battery-powered tram systems, semi-autonomous public transport vehicles and electronic guidance used in transportation vehicles operating on fixed routes It relates to their systems. 10 PREVIOUS TECHNIQUE In current guided transportation systems, vehicle guidance is generally mechanical. This is achieved with contact rail systems. In these systems, there are 15 rails located under the vehicle. Mechanical guide elements make contact with the physical rail or channel structure. It controls the vehicle's steering. In known systems, mechanical guide rollers, guide wheels or rails are used. Printing elements are used and the guiding process is done by physical contact force. 20 is being carried out. However, these systems have several technical disadvantages. Mechanical Wear occurs due to contact, maintenance costs increase, and there is vibration and noise. This is happening, and deformation can occur in the steering elements. 25 The system weight increases and mechanical stresses occur in the turning zones. It is coming. In addition, mechanical guidance systems require precise mechanical alignment. requires, creates high maintenance needs, and with autonomous driving infrastructures 30 It shows limited compatibility. 2 Also because the steering force is obtained via the physical rail. It is not possible to control the steering system electronically, or It remains quite limited. This is especially true in modern electric public transport systems, where flexibility, maintenance, 5 Key technical aspects in terms of control precision and autonomous driving integration. It causes problems. EXPLANATION OF THE INVENTION The purpose of the invention is to reduce wear and tear and maintenance issues encountered in existing mechanical steering systems. the need is to eliminate problems of vibration, noise and mechanical stress. The goal is to develop a routing system. Another purpose of the invention is to use the guide line only as a reference line and The goal is to provide a system where the routing process is carried out electronically. 15 Another aim of the invention is to create a semi-electric power steering system that works in conjunction with electric power steering systems. A routing system suitable for integration into autonomous and fully autonomous driving infrastructures. It is about creating architecture. In the system developed as part of the invention, vehicle guidance is achieved using physical rail force. No; guide line, pulley system, angle sensor, electronic control unit and electrical 20 This is done via the steering system. The sensor unit detects the position of the reference line, and the angle sensor controls the steering. It continuously measures the angle, and the electronic control unit processes this data to control the electricity. It controls the steering system. Thus, the vehicle has a mechanical system that involves physical contact. It proceeds in a controlled manner along the route without any guidance. 25 The invention offers the following advantages: • Mechanical friction and wear in the guide system are reduced to almost zero. • The number of movable mechanical steering elements is reduced. • Maintenance costs are reduced. 30 • Quieter operation is achieved. • Lower vibrations are achieved. • System weight is reduced. 3 • Precise steering is achieved through electronic control. • A structure suitable for autonomous driving infrastructure is created. • Steering control precision is increased. • Energy efficiency is increased. • A modular electronic infrastructure can be established. 5 • Integration with smart transportation systems is possible. • It can be adapted more easily to different route geometries. • The mechanical load on the physical rail is reduced. Figure Explanation 10 Figure 1. Schematic view of the system. Figure 2. Perspective view. Figure 3. View of the angle sensor and pulley system. Figure 4. Perspective view. Figure 5. Detail of the pulley system 15 Figure 6. Appearance of the system on the tire. Figure 7. Front view of the tire. Figure 8. View on the rail. Figure 9. Angular view. Reference List 1 Rubber wheel 2 Upper swing arm system 3 Hub system 4 Lower swing arm system 25 Custom-made part mounted on the hub. 6 Angle sensors 7. Movable part that can rotate freely in the XY plane. 8-pulley system 9 Guide line system 30 Ground surface 4 DETAILED DESCRIPTION OF THE INVENTION This detailed description refers to the guide line reference in rubber-wheeled vehicles, the subject of the invention. The electronic guidance system is solely for the purpose of better understanding the subject. It is explained as such and without creating any limiting effect. 5 - Rubber tires enable a vehicle to move and maintain contact with the road. - The upper control arm system controls the suspension and wheel movement geometry. does. - The hub system provides wheel connection and rotational movement. 10 - The lower control arm system forms the lower load-bearing element of the suspension system. - Custom-made part mounted on the hub, angle sensing via hub system. It establishes a connection between the mechanisms. The angle sensor operates in the XY plane. carrier of freely rotating movable parts and pulley system elements It provides the connection structure. 15 - The Angle Sensor detects the angular change caused by the movement of the guide line and It transmits data to the electronic control system. - Freely rotatable movable part in the XY plane, special hub mounted. It is attached to the manufactured part by a bearing system. Its movements within the guide line. It guides the pulley system by following it. 20 - The pulley system provides physical contact with the guide line in the XY plane. It moves and transmits the resulting change in direction to the angle sensor. - Guide Line System, the guidance that creates the vehicle's route reference. It is the line. - Ground Surface: The asphalt, concrete, paving stone, or 25 on which the system is located. It refers to a similar carrier surface. In the system of the invention, the rubber wheel (1) and the ground surface (10) during vehicle movement. It is moving on. The wheel system, hub system (3) via the upper swingarm. It is connected to the vehicle suspension structure with the system (2) and lower wishbone system (4). 30 Specially manufactured connecting piece (5) attached to the hub system (3), angle sensing It forms the main supporting element of the mechanism. On the custom-made connecting piece (5); • angle sensor (6), • A movable part that can rotate freely in the XY plane (7), • and pulley system (8) It is being assembled. The pulley system (8) is located within the guide line system (9) during vehicle movement. It moves and its direction in the XY plane depends on the geometry of the guide line. It is changing. Angular movements occurring in the pulley system (8) can rotate freely in the XY plane. The signal is transmitted to the angle sensor (6) via the moving part (7). The angle sensor (6) transmits the resulting changes in direction as electronic data to the vehicle control. It transmits this data to the system. The vehicle control system then processes this data and uses it to electrify the electrical system. directing the steering system and keeping the vehicle in a controlled manner throughout the route. It enables progress. Guide line (9) within the system, direct mechanical guiding force It does not create a line; it only serves as a reference line. 15 Thanks to this structure, it differs from traditional mechanical rail guiding systems. The steering process is carried out via an electronically controlled steering system. is being carried out. While the vehicle is moving in the system, the pulley system (8) is inside the guide line (9) 20 It is progressing. When the vehicle is moving straight along the route, the pulley system (8) is straight. It remains in position. No rotation, curvature, or change in direction occurs. When it arrives, the pulley system (8) follows the geometry of the guide line angularly It creates movement. These angular movements occurring in the pulley system (8) are caused by the moving part (7) The signal is transmitted to the angle sensor (6) via the pulley system. The angle sensor (6) receives the signal from the pulley system. It converts the incoming mechanical motion into angular position information. Thus, the guide... Directional information regarding the geometric structure of the line is converted into electronic data. The sensor data obtained is sent to the electronic control unit on the vehicle. is transmitted. The electronic control unit analyzes and processes the incoming data. It generates steering commands to the electric power steering motors. In this way... 6 The vehicle's tires are positioned to conform to the geometry of the guide line. It is being rotated. In the preferred applications of the invention, the system uses electric motors located on the front axle. It can operate with steering motors. In alternative applications, there are 5 front and rear steering motors. independent electric steering motors located on the axles together It is available for use. Thanks to the independent control of the front and rear axles, the vehicle's turning radius is reduced. It can be reduced, maneuverability can be increased, and it can be more precise in confined spaces. Movement is possible. 10 The system also allows the front and rear axles to be steered in the same phase, or in opposite phases. Different operation methods such as steering of the front axle or steering of only the front axle It can be operated in various modes. This feature is especially useful for nostalgic city cars that need low speeds and tight turning radii. It provides a significant advantage in wheeled vehicles similar to trams. The rear axle is 15 Thanks to its electronic control, its turning capability can be increased, tire wear can be reduced, the vehicle can be enabled to follow the guide line more precisely, and Maneuverability can be improved. Furthermore, the system can be improved with different control modes in later stages. For example: 20 • Front axle steering only, • Simultaneous steering of front and rear axles, • Reverse-phase four-wheel steering for tight turns, • in-phase steering at high speeds, • Driver-controlled manual mode, 25 • semi-autonomous mode with guideline following, • Remote control or fully autonomous driving mode Different business scenarios can be created, such as these. Within the scope of the invention, the data obtained from the angle sensor is only for orientation 30 not only for this purpose, but also for security and diagnostic purposes. It can be used. The electronic control unit uses sensor data to perform actual steering. By comparing the angles, it can continuously monitor system performance. Thus 7 Deviations that may occur in guide line tracking, pulley jamming, sensor failures or delays in the steering system are detected and the necessary safety measures are taken. It can be obtained. In conclusion, the invention involves the movement of a guide line 5 without the use of mechanical steering force. electronic processing of the obtained reference information and electric power steering based on the principle of transferring data to the system, reducing maintenance needs, and guidance. an electronic system that increases its sensitivity and works in compatibility with autonomous driving systems It provides a navigation system. 15 25

Claims

8 REQUESTS 1. The invention relates to electronic guidance with guide line reference in wheeled vehicles. It is a system and its features are; rubber wheels (1), at least one upper swing arm system (2), hub system (3), at least one lower swingarm system (4), hub system (3) on 5 a custom-made connecting piece (5), the said custom-made an angle sensor (6) attached to the connector (5), an XY with a movable part (7) and pulley system (8) that can rotate freely in the plane a guide line system (9) in which the pulley system (8) moves It includes. 10 2. The invention relates to guideline reference in rubber-wheeled vehicles, according to Claim 1. It is an electronic steering system, its feature is the hub system (3) and the angle sensor (6), movable part (7) that can rotate freely in the XY plane and a special fabrication to provide carrier connection between pulley system (8) It includes a connecting piece (5). 15 3. The invention relates to guideline reference in rubber-wheeled vehicles, according to Claim 1. It is an electronic guidance system, and its feature is that it is in the guide line system (9) To enable the detection of angular movements resulting from changes in direction. It includes an angle sensor (6).

4. The invention relates to 20 guideline references on rubber-wheeled vehicles, according to Claim 1. It is an electronic steering system, its feature is; pulley system (8) with angle To ensure motion transmission between the sensor (6) in an XY plane It contains freely rotating movable parts (7).

5. The invention relates to guideline reference in rubber-wheeled vehicles, according to Claim 1. It is an electronic guidance system, its feature is; guide line system (9) 25 moving within it, the direction depends on the geometry of the guide line. a pulley system (8) to enable the creation of changes It includes.

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