Wheel Slip Control for Autonomous Vehicle Mobility on Severe Terrain

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Solution Overview

Problem

Conventional methods for analyzing vehicle mobility performance focus on energy efficiency rather than technical productivity and efficiency, which is inadequate for autonomous ground vehicles operating in dynamic and severe terrain conditions.

Innovation Solution

The proposed solution involves receiving technical parameters such as wheel circumferential force and velocity to estimate and optimize vehicle mobility performance. This includes determining a maximum mobility performance and comparing it to the actual performance to control the vehicle for optimal tire slippage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Use of energy by moving object

If conventional energy efficiency analysis is used to evaluate vehicle mobility, then energy consumption is optimized, but technical productivity and mission performance are compromised

Engineering Contradiction:

Improveenergy efficiencyVSAvoidtechnical productivity

Core Design Contradiction:

Use of energy by moving objectVSProductivity

Solution Approach 1:

The patent changes the evaluation parameters from energy efficiency metrics to technical productivity metrics. It introduces a mobility performance index based on wheel circumferential force and velocity parameters, fundamentally altering how vehicle performance is measured and optimized for autonomous operation in severe terrains

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent replaces the conventional energy-based analysis system with a new mechanics-based performance evaluation system. It uses wheel circumferential force and velocity to directly assess mobility performance, substituting the traditional energy efficiency framework with a more direct measure of technical productivity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Use of energy by moving object

If energy efficiency is prioritized in vehicle operation, then energy consumption is reduced, but the vehicle's ability to perform primary missions in severe terrains is compromised

Engineering Contradiction:

Improveenergy efficiencyVSAvoidmission capability

Core Design Contradiction:

Use of energy by moving objectVSReliability

Solution Approach 1:

The patent implements dynamic adjustment of wheel circumferential force based on real-time terrain conditions and vehicle state. The control system continuously adapts the force distribution to maintain optimal mobility performance index, enabling the vehicle to respond dynamically to changing severe terrain conditions while prioritizing mission capability

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent establishes a feedback control loop that continuously monitors wheel circumferential force, velocity, and mobility performance index. The system uses this feedback to adjust wheel forces in real-time, ensuring the vehicle maintains reliable operation in severe terrains by constantly optimizing performance based on actual conditions

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS12330654B2Optimizing vehicle mobility performance

Publication Date: 2025.06.17 THE UAB RESEARCH FOUNDATION INC

AI summary

A method of optimizing vehicle mobility performance includes receiving technical parameters for each wheel associated with wheel power of the particular wheel on a particular terrain. The method includes determining an optimal vehicle mobility performance by determining an optimal tire slippage for one wheel based on the set of technical parameters for the wheel and individually determining an optimal tire slippage for another wheel based on the set of technical parameters for the other wheel. A system may utilize such a method to control mobility performance in a vehicle such as, but not limited to, an autonomous ground vehicle.