Independent Wheel Pivot Turning for Narrow-Space Parallel Parking
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Solution Overview
Problem
Conventional vehicle parking systems face difficulties in performing forward parallel parking in narrow spaces due to uneven tire rotation centers, leading to increased skidding loads and loss of driving force, making it challenging to control the vehicle's trajectory.
Innovation Solution
A vehicle travel control device that allows independent turn of each wheel and pivot turning, using a turn instruction unit, pivot turn instruction unit, turn wheel angle control unit, and brake and drive force control unit to calculate and execute precise wheel angles and directions for efficient forward parallel parking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If conventional parking systems are used for forward parallel parking, then the vehicle can be parked, but the required parking space is large and the operation is difficult in narrow spaces
Solution Approach 1:
The vehicle's wheel steering system is segmented to allow independent control of each wheel's turning angle. The control device can set different turn wheel angles for left and right wheels, enabling sophisticated maneuvering patterns like pivot turns that reduce the space needed for parallel parking while maintaining ease of operation
Solution Approach 2:
The system changes the steering parameter by allowing dynamic adjustment of individual wheel turn angles beyond conventional unified steering. By varying the turn wheel angle of each wheel independently, the vehicle can execute compact turning patterns that fit narrow parking spaces while remaining easy to operate through automated control
2Area of stationary object
If left and right front wheels are driven in different directions by hub motors, then parking in narrow spaces becomes possible, but skidding loads increase and driving force is lost
Solution Approach 1:
The system applies local quality by providing independent drive control to specific wheels (left and right front wheels) rather than uniform drive to all wheels. This localized independent control allows differential driving actions that enable narrow space parking while minimizing overall energy loss by only applying differential drive where necessary for the maneuver
3Measurement precision
If pivot turn is executed with one wheel as turning center, then trajectory control is improved, but complex calculation of turn wheel angles and drive directions is required
Solution Approach 1:
The control device performs self-service by automatically calculating the complex turn wheel angles and drive directions required for pivot turns. The system includes a calculation unit that computes the necessary parameters based on the desired pivot center and target position, eliminating the need for manual complex calculations and reducing operational complexity while maintaining precise trajectory control
Data Source
AI summary
A vehicle travel control device controls an independent turn wheel vehicle or a swivel three-wheeled vehicle having three or more wheels. The device instructs a turn with a normal driving operation, instructs a pivot turn for setting one wheel as a turning center and driving other wheels using a target instruction value, turns each wheel individually according to the turning center of the pivot turn, and brakes and drives each wheel individually. Further, the device acquires vehicle characteristics from a vehicle characteristic storage device, and calculate a turn wheel angle and a drive direction of each wheel based on the target instruction value to execute the pivot turn of the vehicle.