Mobility Vehicle Steering With Independent Drive Wheel Control
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Solution Overview
Problem
Existing mobility vehicles, such as scooters, lack efficient steering mechanisms that allow independent control of drive wheels to enhance maneuverability and stability during turns, particularly in complex environments.
Innovation Solution
A mobility vehicle with a steering assembly that includes a steering input, a frame, and drive wheels, equipped with a steering position sensor and a controller that independently controls the first and second drive wheels based on steering input position, rate of change, and time, allowing for differential wheel speeds to improve turning dynamics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If independent control of drive wheels is implemented, then maneuverability and stability during turns are improved, but device complexity increases
Solution Approach 1:
The control system is segmented into multiple independent controllers, with each controller managing a specific drive wheel. This allows independent control of each wheel while distributing the control logic across separate units, thereby improving maneuverability without proportionally increasing overall system complexity.
Solution Approach 2:
The control system dynamically adjusts the speed and torque of each drive wheel based on real-time steering input and vehicle state. This dynamic control enables optimized turning performance and stability while using a unified control architecture that manages complexity through adaptive algorithms rather than static mechanical complexity.
2Speed
If differential wheel speeds are used, then turning dynamics are optimized, but control system complexity increases
Solution Approach 1:
The control system incorporates feedback from steering position sensors and wheel speed sensors to continuously monitor vehicle state. Based on this feedback, the controllers automatically adjust differential wheel speeds to optimize turning dynamics, achieving precise control through closed-loop feedback rather than complex open-loop mechanisms.
Solution Approach 2:
The system changes operational parameters (wheel speeds and torques) dynamically during turning maneuvers. By adjusting these parameters based on steering angle and vehicle velocity, the system optimizes turning performance without requiring complex mechanical differential mechanisms, using instead software-based parameter modulation.
3Measurement precision
If steering position sensor with rate of change detection is added, then steering precision is improved, but device complexity increases
Solution Approach 1:
The steering position sensor serves multiple functions: it detects absolute steering position, calculates rate of change of steering input, and provides feedback for control algorithms. This multi-functionality achieves high measurement precision without adding separate sensors for each parameter, thereby limiting the increase in device complexity.
Solution Approach 2:
The control system acts as an intermediary that processes raw sensor data and converts it into actionable control signals. By implementing the rate-of-change calculation and control logic in software rather than requiring additional hardware sensors, the system achieves enhanced measurement precision while minimizing hardware complexity increases.
Data Source
AI summary
In some embodiments, a vehicle may include a frame having longitudinal axis. The vehicle may include a steering assembly having a steering input and at least one wheel. The steering assembly may be coupled to the frame and configured to steer the vehicle based on input from a steering input. The vehicle may include a first drive wheel and a second drive wheel. The vehicle may include a steering position sensor configured to detect steering input including a position of the steering input and at least one of i) a rate of change of position of steering input and ii) steering position time. The vehicle may include at least one controller configured to process a signal from the steering position sensor and, in response to the processed signal, drive the first drive wheel and the second drive wheel, the first drive wheel being driven independent of the second drive wheel.