117 results about "Active steering" patented technology

The invention discloses an integrated front-end driving, active steering and visual digestive tract catheterization system, which belongs to the field of medical apparatus and instruments, and comprises a guide arm comprising a pull wire and an elastic arm, the guide arm is provided with a first end and a second end deviating from each other, and one end of the pull wire is fixedly connected to the first end; the lens is arranged at the first end; the driving part comprises a first annular balloon, a second annular balloon and a cylindrical balloon, and the first annular balloon and the second annular balloon are fixedly connected to the two sides of the cylindrical balloon in the axial direction respectively; when the annular balloon is full, the outer wall expands in the radial direction; when the cylindrical balloon is full, the outer wall extends in the axial direction; the fixing sleeve comprises a flexible sleeve and a connecting base which are fixedly connected, the connecting base is connected with the second end of the guide arm and the first annular balloon, and the end, deviating from the connecting base, of the flexible sleeve penetrates through the driving part and extends in the direction deviating from the guide arm. Through the arrangement, the front end of the nasointestinal tube can be guided and driven at the epiglottis of the nasal cavity and the upper and lower digestive tracts.

The invention discloses an active steering and braking integrated control system based on roll angle feedback, and belongs to the technical field of vehicle dynamics control. In order to solve the problems of slow control response and multi-actuator action conflict of the vehicle under the limit working condition, the method quantifies the comprehensive instability risk of the whole vehicle by constructing a dynamic virtual potential field. The potential field is based on key state variables such as a roll angle and a side slip angle, and the topological structure (namely the weight of each variable) of the potential field is remodeled in real time by a dynamic risk factor reflecting the intention urgency degree of a driver and the environmental danger level. The system evaluates the instantaneous control efficiency by calculating the contribution degree of each actuator to the reduction of the potential field gradient in a distributed manner. According to the method, the complex control problem is converted into the process of finding the minimum potential energy point, prospective suppression of the instability trend and conflict-free efficient cooperation between the actuators are achieved, and the limit stability and safety of the vehicle are remarkably improved.

The invention discloses a layered vehicle stability brake control system and a brake control method. A layered vehicle stability braking control system is applied to a vehicle provided with a brake-by-wire system and a steering-by-wire system and comprises a chassis dynamics analysis module and a yawing moment instruction distribution module. The invention discloses a layered vehicle stability braking control method. The braking control step sequentially comprises the steps of determining the corrected yaw moment of a target vehicle, evaluating the availability and the permissibility of active steering control, determining a wheel steering control angle based on the availability and the permissibility of the active steering control, determining the steering corrected yaw moment based on the wheel steering control angle, and conducting braking control. Determining a residual corrected yaw moment based on the target vehicle corrected yaw moment and the steering corrected yaw moment, and determining a brake control instruction based on the residual corrected yaw moment; according to the method, the optimal distribution of the target correction yaw moment can be realized through the synergistic effect of active steering and brake-by-wire.

Example embodiments of systems, devices, and methods are provided for charging and discharging energy systems having multiple modules arranged in cascaded fashion for generating and storing power. Each module can include an energy source and switch circuitry that selectively couples the energy source to other modules in the system for generating power or for receiving and storing power from a charge source. The energy systems can be arranged in single phase or multiphase topologies with multiple serial or interconnected arrays. The embodiments are capable of being charged with multiphase AC charge signals, a single phase AC charge signal, and / or a DC charge signal. Embodiments implementing the modular energy system within a charge source for performing multiphase, single phase AC, or DC charging of electric vehicles are also disclosed. Also disclosed are multi-motor embodiments and embodiments with the capability to power active suspensions and active steering systems.

The present application relates to the technical field of multi-axle vehicle chassis control, in particular to a kind of multi-axle distributed drive vehicle steering system fault tolerant control method: based on fault identification and proportional controller real-time calculation each axle angle proportion relationship, and through wheel angle sensor real-time acquisition wheel angle signal, and according to target angle, the active steering torque of steering motor is calculated by PID controller, so that the angle of each wheel reaches target value. Ensure that multi-axle distributed steering vehicle still has the ability of autonomous movement when steering failure occurs, using the technical solution can improve the mobility of multi-axle steering vehicle when several different wheel steering failures occur, and provide additional protection for the vehicle to still have autonomous movement to repair under the condition of no external rescue.

The invention provides a vehicle control method and system and a vehicle, and the method comprises the steps that driving information of the vehicle is obtained, and the driving information comprises load information, braking information and speed information; according to the load and the braking state of each wheel, the total braking force is distributed to each wheel, and the target braking force of each wheel is obtained; determining a left-right side braking force difference of the vehicle according to the target braking force of each wheel, and determining a front wheel turning angle of the vehicle according to the left-right side braking force difference and the speed information; and according to the target braking force of each wheel and the front wheel rotation angle, braking and steering control of the vehicle is carried out. Under the braking failure working condition, the braking force requirement of the failed wheel can be transferred to other normal wheels, the braking efficiency and the braking effect are ensured, the phenomena of deviation and instability of vehicle braking are prevented by combining an active steering compensation mechanism, and the driving safety and stability of the vehicle are improved.

The invention provides a unified electric control method and device for turning and shimmy damping of a front wheel of an airplane, and solves the technical problems of high complexity and poor adaptability. The device comprises a voltage sensor used for collecting a bus voltage value of a DC power supply loop of an inverter; the power switch device is used for controlling the switch-in and switch-out of the energy consumption resistor R1 in the power supply loop; the relay is used for controlling the on-off of a power supply loop between the direct-current power supply and the inverter; and the logic control module is used for responding to a control requirement, outputting a PWM signal according to a preset control strategy of the corresponding control mode and performing power supply loop control. A turning / shimmy damping unified electric control framework based on electric control is formed to be matched with a unified electric control strategy, a hydraulic shimmy damping device is simplified, and meanwhile the weight and cost of an undercarriage are reduced. Through control mode switching, a PWM technology is adopted to drive the front wheel to actively steer in a control state, and shimmy damping is provided in a non-control state.

The present application relates to the technical field of automobile steering control, in particular to a layered architecture multi-target performance control method and system based on a steer-by-wire system, comprising obtaining vehicle-related parameters and tire-related parameters; obtaining a current driving mode of the automobile, obtaining a current target performance coefficient based on the driving mode, obtaining a vehicle performance target and a weight coefficient based on the target performance coefficient; compensating multiple targets based on the vehicle-related parameters, the tire-related parameters, the vehicle performance target and the weight coefficient. The above method of the present application realizes the control output of the front and rear wheels based on a unified control method, meets the vehicle performance requirements of different scenes and functions, and the whole system can meet the control of SBW front-wheel steer-by-wire, RWS rear-wheel active steering and four-wheel steer-by-wire. Only the performance target coefficient, the weight coefficient, the calibration parameter and the constraint parameter need to be set and debugged for different systems, which can greatly shorten the development cycle.

A modal antenna assembly is provided. The modal antenna includes an antenna element comprising a curved conical portion and a top portion, the top portion comprising an undulating annular ring disposed on the curved conical portion. The modal antenna further includes a parasitic element positioned at least partially within a gap defined in the curved conical portion of the antenna element.

The application relates to an indoor intelligent fire extinguishing robot and a chassis control method, which comprise a running system, a power supply system, a fire extinguishing system, a visual control system and a central controller; the running system is used for advancing, retreating and differential steering of the fire extinguishing robot; the power supply system is used for supplying power to the running system, the fire extinguishing system and the visual control system; the fire extinguishing system is used for extinguishing a fire source area; the visual control system is used for judging whether an obstacle can be normally passed when the robot runs, and if the obstacle cannot be normally passed, the local path needs to be re-planned to run to the fire disaster area, and the visual control system is used for identifying a fire source so that a fire extinguisher can be accurately sprayed to the fire source part; and the central controller is used for controlling the running system, the power supply system, the fire extinguishing system and the visual control system. The application has the advantages that rear wheel active steering and front wheel steering as an auxiliary are adopted, the differential steering has a small steering radius, and good steering stability is achieved.

This invention provides a method, device, and vehicle for aligning a vehicle steering wheel, belonging to the field of vehicle technology. It aims to adjust the steering wheel position without disassembling it when the steering wheel is misaligned. Applied to a front-wheel active steering system, the system includes an electric variable transmission motor for adjusting the angular transmission ratio between the steering wheel and the wheel steering mechanism. The method includes: determining the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; determining the triggered adjustment mode when the deviation angle is less than or equal to the preset angle; triggering a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy; and controlling the wheel steering mechanism to lock so that the wheel remains in the center position during the steering wheel return-to-center process.

The invention discloses a multi-stage electro-hydraulic steering system with an energy recovery function and an anti-rollover control method of the multi-stage electro-hydraulic steering system. The multi-stage electro-hydraulic steering system comprises a mechanical transmission module, a variable-transmission-ratio multi-stage electro-hydraulic power assisting module, a vibration energy recovery module and an active steering controller module. Vibration of the power cylinder shell can be effectively restrained and relieved by combining piezoelectricity; whether vibration energy is converted into usable electric energy or not can be determined according to the specific working state. When the vibration condition of the shell of the power cylinder is slight, electric energy conversion can be selected not to be performed temporarily, and only the piezoelectric technology is used for relieving vibration, so that stable operation of the power cylinder is ensured as a primary target; when the shell of the power cylinder vibrates strongly and other parts of the equipment or the external environment has the requirement for electric energy, the vibration energy can be efficiently converted into usable electric energy through the vibration energy recovery module at the moment, reasonable utilization and recovery of energy are achieved, and the energy utilization efficiency of the whole system is improved.

Apparatus and method for damping a steering movement in an active steering system of a vehicle, wherein a variable is determined which characterizes a force acting from outside the vehicle on the steering movement of the active steering system or a moment acting from outside the vehicle on the steering movement of the active steering system that has an accelerating effect on the steering movement of the steering system. The speed of the steering movement is limited as a function of the variable. Vehicle comprising said apparatus.

An anti-folding braking system comprises a sensing unit used for obtaining motion state information of an articulated vehicle in real time; the ECU is in signal connection with the sensing unit and used for calculating a folding risk index based on the motion state information and synchronously generating a braking control instruction and an active steering control instruction when the folding risk index exceeds a first threshold value; and the execution unit comprises an active steering system and an electronic braking system and is used for executing the braking control instruction and the active steering control instruction so as to realize cooperative inhibition of the folding trend of the vehicle. The invention further discloses a folding control method applied to the braking system. The folding risk is predicted in advance by monitoring the dynamic state of the vehicle in real time, and the braking system and the active steering system of the tractor are cooperatively controlled, so that the folding phenomenon is actively prevented and inhibited.

Steering intervention for a vehicle is disclosed, including methods (S100) and related aspects for performing steering intervention on a vehicle (1). In more detail, the steering capability of the vehicle is used to create a "camber-increasing path" (201) and a "camber-decreasing path" (203), which are then stitched together to form a complete steering intervention path (205) of the vehicle. The point at which the two paths are merged is then selected to define a point at which active steering is stopped.

The invention discloses a distributed unmanned aerial vehicle cluster cooperative motion planning method and device based on a floating framework and a medium, and the method comprises the steps: planning an ideal trajectory of an unmanned aerial vehicle cluster center, and generating a following speed instruction; establishing an unmanned aerial vehicle cluster aggregation model, and constructing an aggregation speed instruction; a coordination speed instruction is designed, so that actions of the unmanned aerial vehicles in the cluster tend to be consistent; based on the neighbor unmanned aerial vehicle and the local obstacle, an active steering separation speed instruction is constructed; and realizing automatic obstacle avoidance of the unmanned aerial vehicle cluster according to the unmanned aerial vehicle power limitation adjusting speed instruction, and simultaneously realizing cooperative flight along an ideal track. By constructing a tangential separation effect, the problem of an instantaneous local minimum value caused by the opposite separation effect and the movement direction is avoided, and by autonomously selecting a path through the unmanned aerial vehicle, the situation that the unmanned aerial vehicle is easily accumulated and deadlocked due to width shrinkage of a single path and the like is avoided; the method has the advantages of low calculation complexity, high environmental adaptability, high expandability of distributed deployment and the like.

The invention relates to a multifunctional operation vehicle and a multifunctional garden vehicle. The multifunctional garden vehicle comprises a vehicle frame, at least two functional mechanisms, a power system and a controller system. The functional mechanism is used for executing specific functions of the multifunctional garden vehicle, and the power system is used for supplying power to the functional mechanism; the controller system is used for controlling the functional mechanism to generate functional state change when the functional mechanism executes a specific function; the at least two functional mechanisms comprise a garden operation component and a walking assembly, and the garden operation component is used for garden operation; the walking assembly is used for driving the multifunctional garden vehicle to run. The control piece is arranged on the active steering assembly, so that the control piece can be conveniently and quickly controlled when the hand of a user holds the control handle; and when the user controls the control piece, the hand still holds the active steering assembly, that is, the danger caused by the fact that the active steering mechanism slips out of the hand when the user controls the vehicle through the control piece is avoided.

Methods and related aspects for executing a steering intervention for a vehicle and related aspects are disclosed. In more detail, a steering capability of the vehicle is used to generate a “ramp-in path” and a “ramp-out path”, which are then stitched together to form a complete steering intervention path for the vehicle. Then, the point where the two paths have been merged is selected to define a point at which the active steering is deactivated.

This invention relates to the field of intelligent control technology for automotive rear wheels. Specifically, it relates to a performance evaluation method and system for an automotive rear-wheel active steering system. Based on the functional requirements of the entire vehicle and the standards and requirements for vehicle dynamics performance, a complete system and testing method for evaluating the function and performance of the rear-wheel steering system are established. This includes: functional scenarios, scenario conditions, condition evaluation indicators, and evaluation methods. These serve as preliminary evaluation standards in the control strategy software development stage, enabling virtual simulation verification and rapid strategy and software evaluation and optimization. They can also serve as the basis for test conditions and test cases in the controller hardware and software integration development stage, allowing for controller-in-the-loop semi-physical simulation testing and rapid verification of the controller software and hardware. Finally, they serve as the judgment standard for bench testing of the rear-wheel active steering physical system's function and performance, vehicle calibration, and test evaluation, providing a complete evaluation of the final achieved function and performance.

The invention discloses a multi-mode kingpin steering type high-integration traveling unit based on an active tie rod. The multi-mode kingpin steering type high-integration traveling unit comprises a wheel assembly, a kingpin steering system, a suspension system, an active steering tie rod system and a steering control mechanism. The high-integration driving unit can achieve various steering modes through a main pin steering motor in combination with a clutch set in an active steering tie rod system. All clutches are combined in a trapezoidal steering mode, and steering pull rods are fixedly connected into a whole; in the steering decoupling mode, mechanical constraint is disconnected, and independent steering of the left wheel and the right wheel is achieved through a main pin steering motor; the active toe-in mode improves high-speed handling stability by dynamically fine tuning wheel geometric parameters. In the safety level, the system covers a single-motor fault-tolerant mode, a fully-mechanized dual-motor fault-tolerant mode and a cross-system braking mode for generating frictional resistance by utilizing limit deflection of wheels on the two sides when a braking system fails. According to the invention, high-reliability redundancy and multi-dimensional motion control are realized, and the flexibility and safety of the vehicle are improved.

This invention discloses a hierarchical control method for vehicle lateral following based on virtual connections, relating to the field of intelligent control technology for mobile platforms. It solves the technical problem of inaccurate vehicle lateral following control methods under complex and changing traffic conditions. The key technical solution is a two-layer control system. The upper layer control is based on a vehicle lateral following model with virtual connections, introducing vehicle-to-everything (V2X) technology to improve the vehicle's environmental perception. Based on the perceived information of the surrounding environment and its own state, the vehicle adjusts the stiffness and damping parameters of the virtual connections to obtain the desired lateral acceleration that meets the vehicle's lateral following stability requirements. The lower layer control establishes a two-degree-of-freedom lateral model of the vehicle with front wheel sideslip angle and yaw rate as state variables, and designs a decoupled control strategy based on front wheel active steering. This achieves decoupling of lateral motion from longitudinal and yaw motions, enabling tracking of the desired lateral acceleration under different vehicle speeds.

The application relates to a steering semi-automatic control method and device for a telescopic forklift truck, wherein a front wheel steering mode, an all-wheel steering mode and a crab steering mode are preset, and an independent rear wheel steering mode is not set. The method comprises the following steps: receiving a target mode instruction; judging whether the target mode instruction is consistent with a current mode; when the target mode instruction is not consistent with the current mode, switching to a transition mode capable of driving the rear axle to actively steer first, and then performing a rear axle centering correction; switching to a front wheel mode capable of driving the front axle to actively steer; and automatically switching to the target mode after the switching is completed. The scheme simplifies operation, improves efficiency, eliminates safety hazards from the architecture, and reduces cost and failure rate.

Steerable endoscopes are provided with active steering control. The endoscope includes a flexible tubular body having a first articulating segment and a second articulating segment and a camera. In embodiments, the endoscope includes a direction sensor. A controller for the endoscope automatically analyzes the alignment between the motion axis of the endoscope and the viewing axis of the camera and actively steers the endoscope to improve the alignment.

The invention relates to the technical field of intelligent driving, and particularly discloses an active deviation correction method for avoiding collision of a VRU in an intersection scene, and the method comprises the steps: sensing a shielded VRU through the fusion of V2X communication and a vehicle-mounted sensor, and predicting a collision risk; when the collision risk exceeds a threshold value, a safe area is determined in the intersection range, and a transverse collision avoidance path is planned; through transverse and longitudinal cooperative control, the vehicle is driven to execute active steering and deceleration along the transverse collision avoidance path so as to bypass the VRU; and in the process of executing active steering and deceleration, early warning is given to a driver through a man-machine interface, and the vehicle control right is transferred when reverse intervention of the driver is detected. According to the method, through organic combination of key points such as predictive perception, intelligent decision making, accurate execution and man-machine co-driving, collision can be more effectively avoided in a limit ghost probe scene, and remarkable progress is made in decision making dimension and man-machine interaction friendliness.

The application relates to a switching structure and a steering wheel module and an automatic guided vehicle applying the same, which comprises a bearing part, a steering frame, a steering worm, a first connecting rod, a second connecting rod and a steering shaft. When the steering shaft is pulled up to make the second engaging part enter the first engaging part and engage with the first engaging part, the steering shaft is moved along the first direction through the first connecting rod and the second connecting rod to make the steering wheel move, so that the rolling shaft of the steering wheel is located directly below the steering shaft, and the steering wheel is switched to the active steering wheel. When the steering shaft is pressed down to make the second engaging part separate from the first engaging part and enter the ring structure and stop at the steering frame, the steering shaft is moved along the second direction through the first connecting rod and the second connecting rod to make the steering wheel move, so that the rolling shaft of the steering wheel is offset and not located directly below the steering shaft, the steering wheel is switched to the passive steering wheel, and the second direction is opposite to the first direction. The steering wheel combined with the switching structure of the application can perfectly combine the respective advantages of the active steering wheel and the passive steering wheel.

The application discloses a kind of commercial vehicle multifunctional double motor coupling active steering system and its control method, comprising: the angle of collection vehicle steering wheel, torque signal;According to the signal calculated, vehicle stability margin is calculated, and the state of electromagnetic actuator is determined;Limiting the transmission ratio required under working condition is calculated;The angle value required by auxiliary motor is calculated, and control signal is sent to auxiliary motor;The assist torque value required by main motor is calculated, and control signal is sent to main motor;The torque distribution value of auxiliary motor and main motor under ordinary working condition is calculated, and is sent to auxiliary motor and main motor respectively;Output corresponding torque or angle, complete vehicle steering.The application can improve the lightness of steering at low speed under ordinary working condition by double motor assist coupling;Under limiting working condition, main motor is assisted alone, and auxiliary motor is compensated to driver steering angle by double-row planetary gear module, can realize stepless variable transmission ratio, realizes active rollover control.

An antenna configured to operate at millimeter wave frequencies is provided. The antenna includes a substrate and a ground plane. The antenna includes one or more active patch antenna elements that collectively define four corners, wherein the active patch antenna element(s) are positioned on a first surface of the substrate. The antenna includes four parasitic patch elements coplanar to the active patch antenna element(s) and adjacent to each respective corner of the active patch antenna element(s). The antenna includes a switching circuit configured to dynamically couple, to the ground plane, the first parasitic patch element, the second parasitic patch element, the third parasitic patch element, and / or the fourth parasitic patch element.

The invention belongs to the technical field of vehicle dynamics control and drive-by-wire chassis, and particularly relates to a vehicle rear wheel active steering control system and method based on single motor driving and differential braking. The control system comprises a sensing module, a control unit and an execution mechanism; the sensing module and the executing mechanism are in electric signal connection with the control unit; the sensing module comprises a steering wheel angle sensor and a vehicle state sensor; the control unit comprises a vehicle dynamics controller, and the vehicle dynamics controller comprises a vehicle motion controller and a coordination distributor; and the executing mechanism comprises a rear axle driving motor and a controller thereof. According to the technical scheme, motor driving and braking are stacked into a unified rear wheel steering force generation unit, a layered coordination control strategy is formed, a whole set of mechanical execution mechanism needed by rear wheel steering is omitted, and only an existing driving motor and an existing braking system of the vehicle are utilized. Through a control strategy, multiple modes that the steering angle of the rear wheel changes along with the vehicle speed are easily achieved, and mode switching is seamless and smooth.

The invention discloses a lane assistance system optimization method and a related device, and the method comprises the steps: obtaining the state data of a driver of a vehicle, and obtaining the state confidence level of a target state corresponding to the state data according to the state data; and obtaining the probability value that the driver does not turn on the steering lamp in the lane changing process in the vehicle driving process, and determining the lane changing habit grade of the driver according to the probability value. And outputting a target confidence level according to the state confidence level of the target state and / or the lane changing habit level, and determining whether to suppress a lane keeping function and a lane departure alarm function of the lane assistance system according to the target confidence level, by combining the target state of the vehicle driven by the driver and the probability that the steering lamp is not turned on during lane changing, whether the driver is driving intensively or not and whether active steering lane changing is performed or not can be deduced, and the intervention degree of the lane auxiliary system due to active steering lane changing of the driver is reduced. The purpose of optimizing the lane auxiliary system is achieved.