Four-Wheel Steering Control for Parallel, Diagonal, and In-Place Driving
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Solution Overview
Problem
Current four-wheel steering systems lack the ability to independently control the steering of all four wheels, limiting vehicle maneuverability and stability, especially in tight spaces and special driving conditions like parallel and diagonal parking.
Innovation Solution
A four-wheel independent steering control apparatus and method that uses a Bicycle model to calculate target angles for each wheel based on a command front wheel angle, turning radius, and rotation angles, allowing for independent control of all four wheels through a controller, with modes for general, in-place, parallel, and diagonal driving.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If two-wheel steering is used, then the system is simple and easy to control, but the vehicle cannot achieve parallel driving, diagonal driving, or turning in place
Solution Approach 1:
The patent divides the steering control into four independent wheel control channels, allowing each wheel to be controlled separately. This segmentation enables the vehicle to perform multiple driving modes (parallel driving, diagonal driving, turning in place) by coordinating different wheel angles, while maintaining a relatively simple overall system architecture through modular control units.
2Adaptability or versatility
If four-wheel independent steering is implemented, then parallel driving, diagonal driving, and turning in place become possible, but the system complexity increases significantly
Solution Approach 1:
The patent implements a universal steering control system that can perform multiple driving functions (parallel driving, diagonal driving, turning in place, and conventional steering) through a single integrated control apparatus. The control unit selects appropriate driving modes based on vehicle speed and steering angle conditions, allowing the same hardware to achieve diverse driving capabilities without requiring separate systems for each mode.
3Reliability
If four-wheel independent steering is used, then vehicle maneuverability and stability are improved, but the control system becomes more complex
Solution Approach 1:
The patent employs feedback control mechanisms where the control unit continuously monitors vehicle speed, steering angle, and other parameters to dynamically adjust wheel angles. This feedback ensures vehicle stability during transitions between different driving modes and maintains optimal steering performance across various operating conditions, compensating for the increased system complexity through intelligent control algorithms.
Data Source
AI summary
An apparatus including a command front wheel angle acquirer to acquire a command front wheel angle, a four-wheel target angle calculator to calculate a turning radius, which is a distance from a center of rotation when a vehicle is turning to a center of gravity in a Bicycle model, using the model in a state in which a front wheel angle of the model is simulated as the command front wheel angle, to calculate a rotation angle at the center of gravity of the model on the basis of a ratio of rotation angles of front and rear wheels of the vehicle calculated from a state parameter of the vehicle, and to calculate a target angle of each of the four wheels on the basis of the turning radius and the rotation angle, and a controller to independently control steering of the four wheels using the calculated each target angle.