Dynamic Vehicle Steering Control via Virtual Axis Inputs
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Solution Overview
Problem
Existing vehicle steering control methods require the selection of a fixed steering mode, limiting flexibility and ease of control, especially in vehicles with two or more steerable axes.
Innovation Solution
A method involving three steering inputs: defining a point of intersection between a virtual steering axis and a longitudinal center axis, setting an angle between the virtual steering axis and the longitudinal center axis, and determining the position of a center of rotation along the virtual steering axis, allowing for dynamic calculation and adjustment of steerable axis positions to achieve intended vehicle movement without the need for fixed steering modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed steering mode is selected among available steering modes, then the steerable axes can be controlled according to a determined mutual relationship, but the flexibility and ease of control are limited
Solution Approach 1:
The patent implements dynamic steering mode selection where the control system automatically transitions between different steering modes (front steering, rear steering, center steering, dog steering) based on real-time vehicle state and operator inputs, eliminating the need for manual mode selection and providing continuous adaptability
Solution Approach 2:
The system dynamically adjusts steering parameters including the mutual relationship between steerable axes, steering ratios, and axis positions based on vehicle speed, acceleration, and desired trajectory, allowing the same hardware to exhibit different steering characteristics without physical reconfiguration
2Adaptability or versatility
If multiple steering modes are provided for vehicles with two steerable axes, then more steering options are available, but the complexity of control increases due to requiring mode selection
Solution Approach 1:
The control system automatically determines the appropriate steering mode and configures the mutual relationship between steerable axes based on vehicle state and operator input, eliminating the need for manual mode selection and reducing control complexity while maintaining multiple steering options
Solution Approach 2:
The patent creates a universal control system that can perform multiple steering functions (front steering, rear steering, center steering, dog steering) through a single integrated control algorithm that adapts to different operating conditions, replacing the need for separate control systems for each steering mode
3Device complexity
If the steerable axes are controlled by a single steering input in vehicles with two steerable axes and no fixed axis, then the control system is simplified, but the precision of vehicle movement control is reduced
Solution Approach 1:
The patent segments the control of two steerable axes into independent controllable units, where each axis can be individually positioned and controlled based on the desired vehicle trajectory, allowing precise control of complex maneuvers while maintaining a relatively simple control interface
Solution Approach 2:
The control system introduces virtual steering axes and calculated intermediate positions as mediators between the operator's simple steering input and the actual wheel positions, enabling precise control of multiple steerable axes through simplified inputs by computing the appropriate distribution of steering angles
Data Source
AI summary
A method for controlling steering of a vehicle (1) is provided, the vehicle (1) defining two or more steerable axes, and the vehicle (1) comprising a number of wheels (2), each of said wheels (2) being associated with one of said steerable axes in such a manner that steering of a given wheel (2) is obtained by steering the steerable axis associated therewith. The method comprises providing a first, a second and a third steering input. The first steering input defines a point of intersection between a virtual steering axis (4) and a longitudinal center axis defined by the vehicle (1). The second steering input defines an angle between the virtual steering axis (4) and the longitudinal center axis. The third steering input defines a position of a center of rotation (5) along the virtual steering axis (4). A position for each of the steerable axes defined by the vehicle (1) is calculated, which causes the vehicle (1) to rotate about the center of rotation (5) defined by the first, second and third steering inputs, and each of the steerable axes is moved to the calculated position.