Independent Wheel Steering Control for Multi-Wheel Vehicle Maneuverability
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Solution Overview
Problem
Conventional steering devices for vehicles with three or more wheels lack the ability to independently control each wheel's turning angle, limiting their maneuverability and turning center settings, especially in urban driving scenarios where high degrees of freedom are required.
Innovation Solution
A steering device comprising an operation determination unit, a coordinate determination unit, and a turning angle calculator, which determines vehicle operation modes and calculates turning angle command values for each wheel based on the vehicle's state, allowing for independent steering of all wheels and expanding the range of turning center settings beyond conventional limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If wheels are mechanically constrained to each other, then the steering device structure is simpler, but the maneuverability and turning center settings are limited
Solution Approach 1:
The patent divides the steering control into independent units for each wheel. Each wheel has its own turning angle calculation and control, allowing independent manipulation of each wheel's steering angle. This segmentation enables complex maneuvers like lateral movements and various turning modes without mechanical constraints between wheels.
Solution Approach 2:
The patent implements dynamic switching between different vehicle operation modes (forward turning mode, non-forward turning mode, lateral movement mode) based on real-time vehicle state detection. The control system adapts the steering strategy dynamically according to the detected mode, enhancing maneuverability while managing system complexity through intelligent control rather than mechanical complexity.
2Adaptability or versatility
If conventional steering control is used, then the control system is simpler, but the turning center setting range is limited
Solution Approach 1:
The patent changes the control parameters from fixed mechanical constraints to variable coordinate-based control. The coordinate determination unit calculates optimal turning center coordinates based on the detected vehicle operation mode, allowing the turning center to be dynamically positioned anywhere in the desired range. This parameter change approach expands versatility while managing complexity through mathematical modeling rather than mechanical complexity.
3Ease of operation
If independent wheel steering is implemented, then the maneuverability in urban driving is improved, but the control calculation complexity increases
Solution Approach 1:
The patent incorporates vehicle state detection as feedback to the control system. The operation determination unit uses detected vehicle state information to identify the current operation mode, which then feeds into the coordinate determination unit to calculate appropriate turning centers. This feedback mechanism enables autonomous adaptation to driving conditions, enhancing operational freedom while managing calculation complexity through mode-based decision trees.
Data Source
AI summary
A steering device controls a turning angle of each wheel in a vehicle. The vehicle has wheels, which are not mechanically constrained to each other. The wheels are steered independently. The steering device includes an operation determination unit, a coordinate determination unit, a turning angle calculator, and steering actuators. The operation determination unit determines a vehicle operation mode based on the vehicle state. The coordinate determination unit determines the coordinates of the turning center of the vehicle based on the vehicle operation mode. The turning angle calculator calculates a turning angle command value for each wheel based on the coordinates of the turning center. The steering actuators are provided correspondingly to the respective wheels. These steering actuators steer the respective wheels according to the turning angle command values.