Independently Actuated Wheel Sets for Tight-Space Vehicle Maneuvering
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Solution Overview
Problem
Large autonomous vehicles face challenges in maneuvering due to their large turning radius, which limits their ability to navigate tight spaces and curves, and existing sensor systems do not effectively utilize the capabilities of independently actuated wheels to improve turning radius and navigation.
Innovation Solution
The implementation of a system with multiple independently actuated wheels, controlled by an on-board computer system using sensor data to adjust wheel positions and orientations, allowing for optimized turning radius, navigation through tight spaces, and avoidance of obstacles, including the ability to change trailer positions and alter pivoting axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only the front wheel set is able to turn, then the vehicle structure is simple, but the turning radius is large which makes it challenging to maneuver into and out of tight locations
Solution Approach 1:
The wheel actuation system is segmented into multiple independently controllable wheel sets. Instead of a single front wheel set turning, the patent enables individual control of front, rear, and intermediate wheel sets, allowing each to contribute to the turning motion and significantly reducing the overall turning radius.
Solution Approach 2:
The system transitions from a static wheel configuration to a dynamic one where wheel sets can independently adjust their orientation and position. The intermediate wheel sets can steer at different angles and the rear wheel sets can be actuated to provide additional turning capability, making the vehicle's maneuvering characteristics adaptable to different driving conditions.
2Ease of operation
If multiple sets of independently actuated wheels are used, then the turning radius is optimized and maneuverability is improved, but the device complexity increases
Solution Approach 1:
The intermediate wheel sets serve multiple functions: they can steer to reduce turning radius, they can be actuated to adjust vehicle attitude, and they can provide additional propulsion or braking forces. This multi-functionality justifies the added complexity by providing numerous benefits beyond just turning capability.
Solution Approach 2:
The system changes the operational parameters of the wheel sets dynamically. Intermediate wheel sets can steer at different angles depending on the maneuver required, and rear wheel sets can be actuated to different positions. This parameter variability allows the system to optimize performance for different driving scenarios while managing complexity through intelligent control.
3Ease of operation
If intermediate wheel sets are steerable, then the turning radius is reduced, but the control system complexity increases
Solution Approach 1:
The control system incorporates feedback mechanisms that monitor the vehicle's position, orientation, and the state of each wheel set. This feedback allows the control algorithm to calculate optimal steering angles for intermediate wheel sets and actuation forces for rear wheel sets, managing the complexity through intelligent coordination rather than simple mechanical linkages.
4Ease of operation
If rear wheel sets are actuated, then the vehicle can negotiate curves and tight spaces better, but the acceleration and deceleration system complexity increases
Solution Approach 1:
The patent merges the functions of steering and propulsion/deceleration into a unified control system. The rear wheel sets are equipped with both steering capability and independent actuation, allowing them to contribute to both directional control and speed management. This integration reduces the need for separate systems and manages overall complexity.
Data Source
AI summary
The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.