Modular eModule Steering Control for Vehicle Maneuverability
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Solution Overview
Problem
Conventional vehicle designs with fixed configurations and mechanically coupled steering, braking, and propulsion systems are less than optimal for drivers who need to navigate congested areas, transport multiple passengers or cargo, or switch between different drive modes.
Innovation Solution
A modular robotic vehicle with electrically driven, by-wire control systems using a distributed control network and self-contained eModules for independent control of steering, propulsion, and braking, allowing for multiple drive modes and redundancy in control systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional vehicle chassis with fixed configuration and mechanically coupled steering, braking, and propulsion systems is used, then the vehicle structure is simple and mechanically robust, but the vehicle cannot adapt to different driving scenarios such as congested areas, multiple passengers, or different drive modes
Solution Approach 1:
The vehicle is divided into four independent eModules, each containing its own steering, propulsion, and braking subsystems. This segmentation allows each module to be independently controlled and configured, enabling the vehicle to adapt to different driving scenarios by adjusting individual module behaviors rather than requiring complex mechanical reconfiguration of the entire vehicle system.
Solution Approach 2:
The vehicle employs dynamic control modes including two-wheel steering, four-wheel steering, and crab-stealing, allowing the steering characteristics to change dynamically based on driving conditions. The by-wire control system enables real-time adjustment of steering angles and forces across different eModules, providing adaptability without permanent mechanical changes.
2Ease of operation
If mechanically coupled steering, braking, and propulsion systems are used, then the system is mechanically robust, but the system cannot provide independent control of each wheel corner for enhanced maneuverability
Solution Approach 1:
The patent replaces traditional mechanical linkages with by-wire control systems. Electrical signals transmitted through the control network replace physical mechanical connections, allowing independent electronic control of each eModule's steering, propulsion, and braking functions without the constraints of mechanical coupling between components.
Solution Approach 2:
Each eModule contains universal subsystems for steering, propulsion, and braking that can be independently activated and controlled. This multi-functionality at the module level enables the entire vehicle system to perform various driving modes and maneuvers by coordinating different combinations of module functions.
3Adaptability or versatility
If a modular eModule design with independent control is used, then the vehicle achieves flexible and efficient control with improved maneuverability, but the device complexity and control system requirements increase
Solution Approach 1:
A central controller acts as an intermediary between the driver's inputs and the distributed eModules. The controller receives steering, acceleration, and braking commands, processes them according to the selected driving mode, and translates them into coordinated control signals for the appropriate eModules, simplifying the overall control architecture despite the modular design.
Solution Approach 2:
The system implements feedback mechanisms where sensors in each eModule monitor actual steering angles, wheel speeds, and brake application, reporting this data back to the controller. This feedback loop enables the controller to make real-time adjustments to maintain desired vehicle behavior across different driving modes and conditions.
Data Source
AI summary
A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.