Coordinated Tire Angle Control for Yaw-Free Lateral Vehicle Movement

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Solution Overview

Problem

Conventional vehicle control systems experience yaw rotation during lateral or oblique movements due to misalignment of tire angles, leading to improper parking and maneuvering issues.

Innovation Solution

A vehicle travel control device that includes a movement direction indication unit, a target tire angle calculation controller, and a coordination tire angle calculation unit, which coordinates tire angles to reduce yaw rotation through coordination control, aligning all tire angles during lateral or oblique movements.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If conventional vehicle control systems move the vehicle in lateral or oblique direction for parking or maneuvering, then the vehicle can achieve movement in desired direction, but yaw rotation occurs due to misalignment of tire angles

Engineering Contradiction:

Improvelateral movement speedVSAvoidvehicle orientation stability

Core Design Contradiction:

SpeedVSStability of the object's composition

Solution Approach 1:

The system dynamically adjusts tire angle parameters during lateral or oblique movement. The coordination tire angle calculation unit computes optimal tire angles based on vehicle state (lateral/oblique movement) and continuously updates the target tire angles to maintain proper alignment, preventing yaw rotation while enabling controlled movement in desired directions.

Inventive Principle:

Principle #35Parameter changes

2Ease of operation

If the vehicle steers each wheel perpendicular to the center line for lateral movement, then the vehicle can move in lateral direction, but tire angle misalignment causes yaw rotation and improper parking

Engineering Contradiction:

Improvelateral movement capabilityVSAvoidparking position precision

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The system employs feedback control by continuously monitoring vehicle state and tire angles, then adjusting the coordination tire angle accordingly. The target tire angle calculation controller receives input about current vehicle conditions and adjusts tire angles in real-time to maintain proper alignment during lateral movement, ensuring both ease of operation and precise parking positioning.

Inventive Principle:

Principle #23Feedback

3Device complexity

If a simple target tire angle calculation is used for lateral movement, then the control system is simple, but tire angle coordination is insufficient leading to yaw rotation

Engineering Contradiction:

Improvecontrol system complexityVSAvoidtire angle coordination accuracy

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The control system is segmented into distinct functional units: a movement direction determination unit that identifies lateral or oblique movement, a coordination tire angle calculation unit that computes optimal tire angles based on movement type, and a target tire angle calculation controller that applies the coordination angles. This segmentation allows each unit to specialize in its function, achieving reliable tire angle coordination without excessive overall system complexity.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS12539912B2Vehicle travel control device

Publication Date: 2026.02.03 DENSO CORP

AI summary

A vehicle travel control device includes: a movement direction indication unit configured to provide an instruction indicating a direction of lateral movement or oblique movement; a target tire angle calculation controller configured to calculate a target tire angle; and a coordination tire angle calculation unit configured to calculate a coordination tire angle for coordination of a movement direction of each tire. The target tire angle calculation controller is configured to correct the target tire angle.