Independent Wheel-Set Control for Large Vehicle Turning Radius
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Solution Overview
Problem
Large autonomous vehicles face challenges in maneuvering due to their large turning radius, which limits their ability to navigate tight spaces and curves, and existing technologies do not effectively utilize independently actuated wheels to optimize turning radius and navigation.
Innovation Solution
The implementation of a system with multiple independently actuated wheels, controlled by an on-board computer system using sensor data to adjust wheel positions and orientations for optimal route planning and navigation, allowing for precise control of turning radius, object avoidance, and improved maneuverability in tight spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only the front wheel set is used for steering, then the vehicle structure is simple, but the turning radius is large which limits maneuverability in tight spaces
Solution Approach 1:
The steering system is segmented into multiple independent wheel sets, where each wheel set can be steered independently. This allows the vehicle to achieve tight turning radii by coordinating the steering angles of different wheel sets, effectively dividing the steering function across multiple segments rather than relying on a single front wheel set.
Solution Approach 2:
The steering system transitions from a static configuration to a dynamic one where wheel sets can change their steering angles independently based on driving conditions. The control system dynamically adjusts the steering angles of individual wheel sets to optimize turning radius and maneuverability in real-time.
2Ease of operation
If multiple independently actuated wheels are used, then the turning radius is optimized and maneuverability is improved, but the device complexity increases
Solution Approach 1:
The control system serves multiple functions: it manages sensor data processing, plans routes, controls steering angles of multiple wheel sets, and coordinates acceleration and deceleration. By making the control system universal and multi-functional, the patent reduces the need for separate dedicated systems for each function, thereby managing complexity while achieving optimized turning radius and maneuverability.
Solution Approach 2:
The patent merges the steering control of multiple wheel sets into a unified control architecture that manages all wheel sets through a single control system. This consolidation integrates what could have been separate steering mechanisms into one coordinated system, reducing overall device complexity while maintaining the benefits of independent wheel actuation.
3Stability of the object's composition
If the vehicle uses a large turning radius configuration, then the vehicle structure is stable, but the ability to navigate curves and tight locations is limited
Solution Approach 1:
The vehicle's steering configuration transitions from a fixed, stable structure to a dynamic system where wheel sets can independently adjust their angles. This allows the vehicle to adapt its effective turning radius dynamically - maintaining structural stability while achieving the adaptability needed to navigate curves and tight locations by coordinating wheel set angles during turns.
Solution Approach 2:
The system changes the steering angle parameters of individual wheel sets based on driving conditions. By adjusting these parameters dynamically, the vehicle can optimize its turning radius for different scenarios - using larger effective turning radii for stability during straight travel and smaller effective turning radii by coordinating wheel angles when navigating curves and tight spaces.
Data Source
AI summary
The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.