Torque-Vector K-Turn Control for Tight-Corner Vehicle Pivoting
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Solution Overview
Problem
Modern vehicles struggle with navigating tight corners due to their inherent large turn radius, and turns on soft surfaces can cause wheels to sink, necessitating improved turning capabilities without ground penetration.
Innovation Solution
A K-turn mode is implemented using independent control of front and rear drive shafts, wheels, and brakes, allowing forward torque to the front wheels and backward torque to the rear wheels, enabling the vehicle to pivot around a point under the chassis for a significantly reduced turn radius.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If forward torque is provided to wheels on one side and backward torque to wheels on the other side, then turn radius is reduced, but wheels sink into soft ground
Solution Approach 1:
The patent applies reverse torque to the rear wheels (opposite direction to motion) while applying forward torque to the front wheels, creating a rotational moment that pivots the vehicle around its rear axle. This inverted approach to torque application enables the vehicle to achieve a dramatically reduced turn radius by rotating in place or with minimal forward movement, rather than following a conventional arc.
Solution Approach 2:
The patent applies different torque characteristics to different wheels: forward torque is applied to the front drive wheels to propel the vehicle forward, while reverse torque is applied to the rear drive wheels to create the pivoting action. This localized differentiation of torque application allows the vehicle to achieve tight turning radius without requiring all wheels to slip or dig into the ground.
2Ease of operation
If conventional turning is used with front wheels turned, then vehicle can turn, but turn radius remains large
Solution Approach 1:
Instead of relying solely on front wheel steering to achieve turns, the patent inverts the conventional approach by applying reverse torque to the rear wheels while applying forward torque to the front wheels. This creates a rotational moment that pivots the vehicle around its rear axle, enabling the vehicle to turn in place or with minimal forward movement, thereby achieving a dramatically reduced turn radius.
Solution Approach 2:
The patent dynamically adjusts torque application to front and rear wheels based on steering input. When the steering wheel is turned beyond a threshold angle, the system activates differential torque application: forward torque to front wheels and reverse torque to rear wheels. This dynamic response allows the vehicle to transition from conventional turning to a pivoting K-turn mode, significantly reducing turn radius while maintaining ease of operation.
Data Source
AI summary
Systems and methods are provided herein for operating a vehicle in a K-turn mode. The K-turn mode is engaged in response to determining that an amount that at least one of the front wheels of the vehicle is turned exceeds a turn threshold. While operating in the K-turn mode, forward torque is provided to the front wheels of the vehicle. Further, backward torque is provided to the rear wheels of the vehicle. Yet further, the rear wheels of the vehicle remain substantially in static contact with a ground while the front wheels slip in relation to the ground.