Independent Wheel Speed Control for Zero-Radius Vehicle Turning
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Solution Overview
Problem
Vehicles face difficulties in making turns on narrow roads and maintaining control on uneven and variable friction surfaces due to limited wheel turn radii and variable wheel speeds caused by surface conditions.
Innovation Solution
A speed control system that adjusts the torque to each wheel based on the accelerator pedal input, monitoring wheel speeds, and adapting to differences in friction surfaces to maintain a target wheel speed, allowing for independent control of front and rear wheels and enabling zero-radius turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle uses traditional steering with limited wheel turn radii, then the vehicle structure is simple, but the vehicle cannot perform turns on narrower roads or paths
Solution Approach 1:
The vehicle control system is segmented into independent wheel control units, where each wheel can be controlled individually for speed and torque. This allows the vehicle to perform complex maneuvers like zero-radius turns by differentiating wheel speeds, while maintaining a relatively simple overall system architecture based on existing vehicle components.
Solution Approach 2:
The system dynamically adjusts wheel speeds and torques in real-time based on steering input and surface conditions. The control system continuously monitors wheel performance and modifies torque distribution to achieve desired turning radii, enabling adaptive turning capability without fixed mechanical constraints.
2Reliability
If the vehicle uses gas pedal to adjust engine output power, then the control system is simple, but the wheel speed becomes variable based on surface conditions due to wheel slip
Solution Approach 1:
The system implements closed-loop feedback control by continuously monitoring actual wheel speeds and comparing them to target speeds derived from accelerator pedal input. The control system adjusts torque to each wheel based on the difference between target and actual speeds, compensating for wheel slip and varying surface friction to maintain precise speed control.
Solution Approach 2:
The control system applies different torque characteristics to different wheels based on their individual surface conditions. Each wheel receives customized torque adjustment to achieve its target speed, allowing the vehicle to maintain controlled acceleration even when wheels encounter different friction surfaces.
3Adaptability or versatility
If the vehicle operates on uneven and variable friction surfaces, then the vehicle must adapt to different terrains, but the wheel speeds become uncontrolled and variable
Solution Approach 1:
The system dynamically changes torque parameters for each wheel based on detected surface conditions and wheel performance. By adjusting torque as a variable parameter in response to surface friction changes, the system maintains consistent wheel speeds across diverse terrains including ice, snow, gravel, and pavement.
Data Source
AI summary
Systems and methods are provided herein for controlling the speed on each wheel of a vehicle, possibly operating a vehicle in a speed control mode. In response to receiving input to engage speed control mode and receiving an accelerator pedal input, the system determines a target wheel speed based on the accelerator pedal input, monitors wheel speed of each of a plurality of wheels and determines, for each monitored wheel, a difference based on the monitored wheel speed and the target wheel speed. A torque is provided to each of the plurality of wheels based on the respective difference to achieve the target wheel speed.