Steered Wheel Controller for Vehicle Stability
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Solution Overview
Problem
Existing vehicles face instability during low-speed and high-speed traveling due to response delays in sensor-based steering control and complex operation requirements, leading to unstable traveling over the entire vehicle speed range.
Innovation Solution
A vehicle with a steered wheel controller that adjusts steering based on operation input at low speeds and allows free turning at high speeds, combined with a lean mechanism that inclines the vehicle body, ensuring stability through two distinct modes of operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensor-based steering control is used to calculate inclination angle and steering angle, then traveling stability can be maintained, but response delay occurs during high-speed traveling
Solution Approach 1:
The patent applies dynamics by switching between two control modes based on vehicle speed: open-loop control for low speeds and closed-loop sensor-based control for high speeds. This dynamic adaptation allows the system to optimize response time at low speeds while maintaining stability at high speeds, resolving the contradiction between response delay and traveling stability.
2Adaptability or versatility
If both first steering mechanism and second steering mechanism are operated, then turning performance is improved, but operation becomes complicated
Solution Approach 1:
The patent merges the functions of the first steering mechanism (for vehicle body inclination) and the second steering mechanism (for steered wheel turning) into a unified control system. By integrating both mechanisms under single control logic that adapts to vehicle speed, the system achieves improved turning performance while avoiding the complexity of independent dual-mechanism operation.
3Loss of time
If steered wheel is made freely turnable at high speed, then response delay is reduced, but steering control precision is lost
Solution Approach 1:
The system dynamically adjusts the degree of steering freedom based on vehicle speed. At low speeds, the steered wheel operates in open-loop mode with full controller precision. At high speeds, it transitions to closed-loop mode where sensor feedback maintains precision while allowing more responsive turning. This dynamic adjustment resolves the contradiction between response time and steering precision.
Data Source
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AI summary
To provide a vehicle capable of ensuring traveling stability over the entire vehicle speed range. A vehicle according to the present invention includes: a vehicle body having three or more wheels including at least a steered wheel with a trail and a pair of wheels provided in the vehicle width direction; an operation input part that inputs a turning direction when being operated; an inclining part that inclines the vehicle body; and a steered wheel controller that controls the steering angle of the steered wheel. When the vehicle speed of the vehicle is lower than a predetermined vehicle speed, the vehicle travels in a first mode in which the steered wheel controller controls the steering angle of the steered wheel according to an input from the operation input part, and the inclining part inclines the vehicle body according to an input from the operation input part. On the other hand, when the vehicle speed is equal to or higher than the predetermined vehicle speed, the vehicle travels in a second mode in which the steered wheel controller makes the steered wheel freely turnable irrespective of the operation input part, and the inclining part inclines the vehicle body according to an input from the operation input part.