A system developed for self-balancing of vehicles and operation method of this system

Abstract

The invention relates to a system developed to perform the basic functions of the vehicles requiring balancing, which will provide safe driving conditions without the need for driving skills and experience, such as counter steering, at all speed values and using a minimum number of sensors, and to an operation method of this system.

Description

[0001] DESCRIPTION

[0002] A SYSTEM DEVELOPED FOR SELF-BALANCING OF VEHICLES AND OPERATION METHOD OF THIS SYSTEM

[0003] Technical Field

[0004] The invention relates to a system developed to perform the basic functions of the vehicles requiring balancing, which will provide safe driving conditions without the need for special driving skills or experience, such as counter steering , at all speed values and using a minimum number of sensors, and to an operation method of this system. A self-balancing vehicle algorithm has been developed for at least three-wheeled vehicles, ensuring a balanced and safe driving experience in the vehicle.

[0005] State of the Art

[0006] The main problem with tilt control technology, especially for narrow-body vehicles that need balancing when turning or changing direction, is that the vehicle starts turning immediately when the driver gives the turn command by turning the steering wheel, but the calculation and control command required for the tilting to balance this turn is performed with a certain delay. It takes a certain amount of time for the steering angle, vehicle speed and the current tilt angle to be detected from the sensors and sent to the vehicle control unit, and for the necessary calculations to be made and for a command to be sent to the tilt motor driver and for this command to be executed by the motor. Meanwhile, the vehicle tilts to the opposite side due to the effect of centrifugal force and the suspension system. This causes the vehicle to become completely unstable, or even if the balance can be achieved, it results in low comfort and high tilt torque.

[0007] In the state of the art, the problem is solved by using a steer-by-wire system, in which the connection between the steering wheel and the wheel is electronically controlled to delay the vehicle’s turn, or by delaying the start of the turn of the vehicle by the mechanical means. However, the steer-by-wire systems are extremely expensive and require very strict functional safety measures due to the elimination of the mechanical connection between the steering wheel and the wheel. This leads to an increase in both development costs and product costs. At the same time, the vehicle’s maneuverability is reduced due to the delayed turn. In mechanical systems, the need for many additional mechanical parts leads to an increase in weight and a decrease in the maneuverability of the vehicle. However, the reliability of the mechanical system used is also important, which increases the costs even more.

[0008] In the state of the art, the patent US20180237065 uses a steer-by-wire system to prevent the control delay. In the patent US8249775, a torque sensor was used together with the steering angle sensor, but instead of estimating the next steering angle specified in the invention, a control system was used to try to reduce the steering torque to zero. In this system, the problem of the control delay could not be solved.

[0009] Another patent US2018264905A1 in the state of the art described the electro-mechanical balancing systems of at least 3-wheeled tilting vehicles, and in said system, the problem of tilting in the opposite direction to the desired direction under the effect of reverse centrifugal force due to the vehicle starting to rotate in the time until the data received from the sensors are processed and a control output is generated. Since the patent uses a steer-by-wire system, this problem is naturally solved, but the system is not safe and economical.

[0010] For this reason, it is necessary to develop a method that minimizes or eliminates the aforementioned disadvantages of the state of the art and a system that operates according to said method.

[0011] Summary of the Invention

[0012] One of the objects of the invention is to perform the basic functions of the vehicles requiring balancing, providing safe driving conditions without the need for driving effects requiring experience at all speed values and using a minimum number of sensors (steering angle and torque sensor, vehicle speed sensor). In the system, the steering torque is measured along with the steering angle to estimate the turning angle that the driver can apply at the next moment.

[0013] Another object of the invention is to increase the maneuverability of the vehicle as its rotation is not delayed.

[0014] Since the system is much simpler and less component-intensive than the existing solutions, it provides a more reliable and economical solution. Another object of the invention is that since the steering torque and angle sensor has long been widely used in EPS (Electronic Power Steering System) systems in the automotive industry, it provides a highly reliable and affordable alternative. On the other hand, since the mechanical connection between the steering wheel and the wheels is maintained, the extra functional safety measures will not be required as in the steer-by- wire systems.

[0015] Description of the Drawings

[0016] Fig. 1 : is a representative schematic view of the system of the invention developed for the self-balancing of the vehicles.

[0017] Fig. 2 : is a representative flow diagram of the operation method of the system of the invention developed for the self-balancing of the vehicles.

[0018] Description of the Reference Numbers in the Drawings

[0019] For a better understanding of the invention, the description of the numbers in the drawings is given below:

[0020] 100. System

[0021] 1. Vehicle body

[0022] 2. Tilt motor

[0023] 3. Electronic control unit

[0024] 4. Steering angle sensor

[0025] 5. Steering torque sensor

[0026] 6. Motor speed sensor

[0027] 7. Tilt angle sensor

[0028] 8. Tilt brake

[0029] 1001. Acquiring steering angle values from the steering angle sensor (4) and torque values from the steering torque sensor (5)

[0030] 1002. Estimating the future steering angle by processing the acquired angle and torque values 1003. Determining the ideal tilt angle by optimizing the steering angle estimation value with the vehicle speed information acquired from the motor speed sensor (6)

[0031] 1004. Tilting the vehicle body (1 ) to the ideal tilt angle value

[0032] 1005. Determining how many degrees the vehicle body (1 ) is actually tilted by means of the tilt angle sensor (7)

[0033] 1006. Generating the control signal by comparing the actual tilt angle with the ideal tilt angle

[0034] 1007. Operating the tilt angle applicator with the control signal

[0035] Detailed Description of the Invention

[0036] The example embodiments are described in more detail below with reference to the accompanying descriptions. Furthermore, the embodiments can be established in different forms and should not be interpreted as limited to the embodiments specified herein. Instead, these exemplary embodiments are provided for the completeness of this disclosure and to fully convey its scope to those skilled in the art.

[0037] The terminology used in this description is intended to describe a particular exemplary embodiment only and is not intended to be limiting. As used herein, the forms “a”, “at least”, “preferably” are intended to comprise the plural forms unless its context clearly indicates otherwise.

[0038] The invention relates to a system developed to perform the basic functions of the vehicles requiring balancing, which will provide safe driving conditions without the need for driving skills and experience, such as counter steering , at all speed values and using a minimum number of sensors, and to an operation method of this system. In this method, the data from the motor speed sensor (6), steering angle sensor (4), steering torque sensor (5) and tilt angle sensor (7) are processed in the vehicle electronic control unit (3), which is a computer containing at least one processor, to determine the appropriate tilt angle and to send a signal to the tilt motor (2) to bring the vehicle to the desired tilt angle. A system (100) developed for the self-balancing of the vehicles comprises

[0039] - at least one tilt motor (2), which rotates the vehicle body (1 ) by the tilt angle, and an electronic control unit (3), - at least one steering angle sensor (4) to acquire the steering angle from the steering wheel and at least one steering torque sensor (5) to obtain the torque value, at least one motor speed sensor (6) from which the vehicle speed information is acquired, at least one tilt angle sensor (6) to detect how many degrees the vehicle body (1 ) is actually tilted,

[0040] - at least one tilt brake (8) to balance the vehicle when the tilt motor (2) is inoperative.

[0041] An operation method of the system (100) developed for the self-balancing of the vehicles, in which the data from the motor speed sensor (6), steering angle sensor (4), steering torque sensor (5) and tilt angle sensor (7) are processed in the vehicle electronic control unit (3), which is a computer containing at least one processor, comprises the process steps of

[0042] - acquiring steering angle values from the steering angle sensor (4) and torque values from the steering torque sensor (5) (1001 ),

[0043] - estimating the future steering angle by processing the acquired angle and torque values (1002),

[0044] - determining the ideal tilt angle by optimizing the steering angle estimation value with the vehicle speed information acquired from the motor speed sensor (6) (1003),

[0045] - tilting the vehicle body (1 ) to the ideal tilt angle value (1004), determining how many degrees the vehicle body (1 ) is actually tilted by means of the tilt angle sensor (7) (1005),

[0046] - generating the control signal by comparing the actual tilt angle with the ideal tilt angle (1006),

[0047] - operating the tilt angle applicator with the control signal (1007).

[0048] In the operation method of the system (100) developed for the self-balancing of the vehicles, a self-balancing vehicle algorithm is developed for at least three-wheeled vehicles, which estimates the next angle value of the steering wheel according to the angle values received from the steering angle sensor (4) and the torque values received from the steering torque sensor (5), and determines the tilt angle of the vehicle by processing this estimated value together with the vehicle speed data received from the motor speed sensor (6), thus providing a balanced and safe driving experience. At least three-wheeled vehicles requiring balancing have a body configured to rotate around a longitudinal axis relative to the road surface to enable a balancing process. With the algorithm developed for at least three-wheeled vehicles in need of balancing, the angle and torque values are continuously monitored during driving with the help of the steering angle sensor (4) and steering torque sensor (5). With the help of this data, the future angle of the steering wheel is estimated by determining how much the vehicle tilts when turning or changing direction and in which direction it travels. The speed of the vehicle is also included in these calculations to determine the ideal tilt angle for the vehicle body (1 ) to ensure a balanced driving.

[0049] The vehicle body (1 ) is tilted up to the ideal tilt angle with the help of electric, hydraulic or pneumatic driven mechanisms on the vehicle and the actual tilt angle value obtained at the end of this tilting process is measured with the help of at least one tilt angle sensor (7) to check whether the ideal tilt angle is reached, and the necessary corrections are made. Said tilt angle sensor (7) measures a certain angle in the vehicle suspension system and calculates the tilt angle of the vehicle. Thus, the slope of the vehicle relative to the ground is calculated.

[0050] A tilt angle sensor (7) on the vehicle ensures that the vehicle body (1 ) is also balanced in the parked state according to the slope of the road surface. Finally, the tilt brake (8) is activated to prevent the vehicle body (1 ) from idling and tilting and locks the vehicle body (1 ) in position.

[0051] Industrial Applicability of the Invention

[0052] The system of the invention and the operation method of this system is a self-balancing vehicle algorithm for at least three-wheeled vehicles, which provides a balanced and safe driving experience in the vehicle to perform the basic functions of the vehicles requiring balancing, and is applicable to the industry. The invention is not limited to the above exemplary embodiments, and the person skilled in the art can readily present other different embodiments of the invention. These should be considered within the protection scope of the invention claimed by the claims.

Claims

CLAIMS1. A system (100) developed for the self-balancing of the vehicles, characterized in that it comprises- at least one tilt motor (2), which rotates the vehicle body (1 ) by the tilt angle, and an electronic control unit (3),- at least one steering angle sensor (4) to acquire the steering angle from the steering wheel and at least one steering torque sensor (5) to obtain the torque value,- at least one motor speed sensor (6) from which the vehicle speed information is acquired, at least one tilt angle sensor (7) to detect how many degrees the vehicle body (1 ) is actually tilted, at least one tilt brake (8), which locks the vehicle body in position when the tilt motor (2) is inoperative and thus prevents it from idling and tilting.

2. An operation method of the system (100) developed for the self-balancing of the vehicles, characterized in that it comprises the process steps of- acquiring steering angle values from the steering angle sensor (4) and torque values from the steering torque sensor (5) (1001 ),- estimating the future steering angle by processing the acquired angle and torque values (1002),- determining the ideal tilt angle by optimizing the steering angle estimation value with the vehicle speed information acquired from the motor speed sensor (6) (1003),- tilting the vehicle body (1 ) to the ideal tilt angle value (1004),- determining how many degrees the vehicle body (1 ) is actually tilted by means of the tilt angle sensor (7) (1005),- generating the control signal by comparing the actual tilt angle with the ideal tilt angle (1006),- operating the tilt angle applicator with the control signal (1007).

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