VEHICLE CONFIGURATION FOR IMPROVING LOW SPEED MANEUVERABILITY
First Claim
1. Apparatus to turn a vehicle in a low speed zero slip turning maneuver, comprising:
- a vehicle body;
a vehicle chassis comprising;
a plurality of wheels, wherein every wheel of the chassis is steerable; and
an electric propulsion system; and
a low speed turning maneuver module;
monitoring a desired low speed zero slip turning maneuver;
determining a desired instant center of rotation for the vehicle based upon the desired low speed zero slip turning maneuver;
determining a wheel orientation for each of the wheels perpendicular to the desired instant center of rotation; and
controlling each of the wheels according to the corresponding determined wheel orientation.
4 Assignments
0 Petitions
Accused Products
Abstract
An apparatus to turn a vehicle in a low speed zero slip turning maneuver includes a vehicle body and a vehicle chassis including a plurality of wheels, wherein every wheel of the chassis is steerable, and an electric propulsion system. The apparatus also includes a low speed turning maneuver module monitoring a desired low speed zero slip turning maneuver, determining a desired instant center of rotation for the vehicle based upon the desired low speed zero slip turning maneuver, determining a wheel orientation for each of the wheels perpendicular to the desired instant center of rotation, and controlling each of the wheels according to the corresponding determined wheel orientation.
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Citations
15 Claims
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1. Apparatus to turn a vehicle in a low speed zero slip turning maneuver, comprising:
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a vehicle body; a vehicle chassis comprising; a plurality of wheels, wherein every wheel of the chassis is steerable; and an electric propulsion system; and a low speed turning maneuver module; monitoring a desired low speed zero slip turning maneuver; determining a desired instant center of rotation for the vehicle based upon the desired low speed zero slip turning maneuver; determining a wheel orientation for each of the wheels perpendicular to the desired instant center of rotation; and controlling each of the wheels according to the corresponding determined wheel orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. Method to turn a vehicle in a low speed zero slip turning maneuver, comprising:
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monitoring a road geometry proximate to the vehicle; determining a projected path of travel based upon the road geometry; determining a desired instant center of rotation for the vehicle based upon the projected path of travel; determining a wheel orientation for each of the wheels perpendicular to the desired instant center of rotation; and controlling each of the wheels according to the corresponding determined wheel orientation. - View Dependent Claims (11, 12)
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13. Method to turn a vehicle in a low speed zero slip turning maneuver, comprising:
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monitoring a steering command; monitoring enablement of a low speed zero slip turning maneuver mode; comparing the steering command to a threshold steering command; determining a desired low speed zero slip turning maneuver based upon the comparing and the enablement of the low speed zero slip turning maneuver mode; determining a desired instant center of rotation for the vehicle based upon the desired low speed zero slip turning maneuver; determining a wheel orientation for each of the wheels perpendicular to the desired instant center of rotation; and controlling each of the wheels according to the corresponding determined wheel orientation. - View Dependent Claims (14, 15)
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Specification