Wheel Corner Assembly Self-Alignment Using Zero Yaw Steering
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Solution Overview
Problem
The absence of a convenient reference frame for vehicle wheel alignment complicates post-build alignment procedures, especially in vehicles with multiple actuatable wheels, and existing wheel alignment systems are bulky, expensive, and require skilled personnel.
Innovation Solution
A method using sensors and a computing device to measure and determine steering angles for wheel corner assemblies to drive a vehicle platform in zero yaw or zero thrust angles, controlling steering actuators to align wheels automatically, eliminating the need for dedicated alignment systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dedicated wheel alignment systems are used, then wheel alignment precision is improved, but device complexity and cost increase
Solution Approach 1:
The vehicle uses its own actuatable wheels and sensors to perform self-alignment. The computing device controls the actuatable wheels to move the vehicle platform, and sensors measure parameters during these movements to automatically determine alignment status and adjust wheel angles, eliminating the need for external dedicated alignment systems.
Solution Approach 2:
The patent replaces complex mechanical alignment measurement systems with a computational approach using sensors to measure vehicle movement parameters and a computing device to calculate alignment status based on these measurements, substituting mechanical measurement infrastructure with electronic sensing and computation.
2Measurement precision
If dedicated wheel alignment systems are used, then wheel alignment precision is improved, but operational cost and skill requirement increase
Solution Approach 1:
The alignment system is fully automated with the computing device independently controlling actuatable wheels, processing sensor data, determining alignment status, and adjusting wheel angles without human intervention, making the operation simple and eliminating the need for skilled personnel.
Solution Approach 2:
The system continuously measures vehicle movement parameters using sensors during automated movements, processes this feedback data to determine alignment status, and automatically adjusts wheel angles based on the determined status, creating a closed-loop control system that simplifies operation.
3Device complexity
If vehicle symmetry plane is used as reference frame, then alignment reference is simplified, but alignment accuracy deteriorates due to assembly tolerances
Solution Approach 1:
The system performs preliminary automated movements of the vehicle platform using actuatable wheels before final alignment determination. These preliminary actions include moving the vehicle forward, backward, and rotating wheels to gather measurement data that compensates for assembly tolerances and establishes accurate alignment status.
Solution Approach 2:
The system uses sensor measurements taken during automated vehicle movements as feedback to determine alignment status. By measuring parameters during multiple different vehicle positions and wheel configurations, the system compensates for attachment point tolerances and calculates accurate alignment status without relying on the imperfect vehicle symmetry plane.
Data Source
AI summary
A method of automatically aligning wheel corner assemblies (WCAs) of a vehicle platform may include: measuring, by sensors of at least one of front WCAs, rear WCAs, a vehicle platform, or any combination thereof, a set of parameters; determining, by a computing device, steering angles for wheels of the front WCAs and wheels of the rear WCAs to drive the vehicle platform in a zero yaw rate and/or a zero thrust angle based on the measured set of parameters; and controlling, by the computing device, steering actuators of the front WCAs and the rear WCAs based on the determined steering angles to drive the vehicle platform in the zero yaw rate and/or the zero thrust angle.