Road vehicle with all wheel steering, and process for steering

• US 5,586,031 A
• Filed: 09/20/1994
• Issued: 12/17/1996
• Est. Priority Date: 09/20/1993
• Status: Expired due to Fees

• Current Assignee: Kroll Fahrzeugbau-Umwelttechnik GmbH (Helmut Rothenberger, PhD)
• Original Assignee: Kroll Fahrzeugbau-Umwelttechnik GmbH (Helmut Rothenberger, PhD)
• Inventors: Fussl, Heinrich
• Primary Examiner(s): Teska, Kevin
• Assistant Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/309,047
• Time in Patent Office: 819 Days
• Field of Search: 364/424.05, 364/424.01, 364/424.02, 180/140, 180/79.1, 180/169, 180/282, 180/168, 180/297, 180/142, 180/219, 180/226, 180/227, 180/213, 180/307, 180/413-415, 180/404-415, 180/422, 280/91, 280/6.11, 280/112.2, 280/91-92, 280/707, 318/587, 356/152.3, 356/375, 356/141.4, 356/140, 356/3.09, 250/559.33
• US Class Current: 701/41
• CPC Class Codes: B62D 7/142 specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
• CPC Class Codes: B62D 7/148 provided with safety devices
• CPC Class Codes: E01H 1/00 Removing undesirable matter from roads or like surfaces, with or without moistening of the surface for snow or ice E01H5/00; cleaning tramway rails E01H8/00; obstruction removers on vehicles B60R19/00; in combination with application of bitumen or the like E01C19/16; in combination with application of traffic line E01C23/16 ; Sweeping apparatus, particularly for lawns A01G20/30, A01G20/40; removing undesirable matter from floors and similar surfaces A47L5/00 - A47L13/00
• CPC Class Codes: E01H 1/08 Pneumatically dislodging or taking-up undesirable matter or small objectsE01H1/006 and E01H1/005 take precedence; suction cleaners in general A47L5/00 - A47L9/00; sucking-off liquids or semi-liquids E01H1/108; Drying by heat only or by streams of gas permanently-installed heating or blowing devices E01C11/26; heating or drying for road- building or repairing E01C23/14; devices for melting snow or ice in situ E01H5/10, E01H8/08; for scorching undesirable vegetation E01H11/00; Cleaning by projecting abrasive particles sand-blasting in general B24C; roughening of road surfaces E01C23/08; cleaning of road joints E01C23/0906

Abstract

A process for steering a road vehicle having all wheel steering for placing the vehicle into, within, and out of constricted spaces and small, constricted travel areas, the vehicle having a front, a rear, a longitudinal axis, front wheels steerable rear wheels, the all wheel steering being proportional between the front and rear wheels for turning the vehicle about a turning radius, apparatus for determining the distance of the vehicle from an obstacle, and apparatus for restricting or disabling the steerability of the rear wheels in response to the proximity of the obstacle, by driving the vehicle to the proximity of the obstacle, determining the distance of the vehicle from a location on the obstacle when the vehicle approaches the obstacle closer than by a predetermined distance, determining the relative angle of the longitudinal axis to the location on the obstacle, and adjusting the steering of the rear wheels in response to changes in the angular position to move the vehicle along the obstacle without the wheels contacting the obstacle. The road vehicle of the present invention has a longitudinal axis, apparatus for steering the vehicle along an obstacle a reference plane, with steerable front wheels mounted from a front axle, selectively steerable rear wheels mounted from a rear axle and adapted to be steered around a turning radius, on all wheel steering that is proportional between the front and rear wheels, apparatus for restricting or disabling the steerability of the rear wheels in response to the proximity of the reference plane, a front sensor for determining the proximity of the reference plane to the front of the vehicle, a rear sensor for determining the proximity of the reference plane to the rear of the vehicle, a computer adapted to receive signals from the front sensor and the rear sensor for determining the angle of the longitudinal axis to the reference plane, and apparatus for actuating the apparatus for restricting or disabling the steerability of the rear wheels toward the reference plane when the proximity to the reference plane falls below a predetermined distance at the rear of the vehicle.

Claims

1. A process for steering a road vehicle having all wheel steering for placing the vehicle into, within, and out of constricted spaces and small, constricted travel areas, said vehicle having a front, a rear, a longitudinal axis, front wheels, steerable rear wheels, said all wheel steering being proportional between said front and rear wheels for turning the vehicle about a turning radius, means for determining the distance of said vehicle from an obstacle, and means for restricting or disabling the steerability of said rear wheels in response to the proximity of the obstacle, the process comprising driving the vehicle to the proximity of said obstacle, determining the distance of the vehicle from a location on the obstacle when said vehicle approaches said obstacle closer than by a predetermined distance, determining the relative angle of said longitudinal axis to the location on the obstacle, and adjusting the steering of the rear wheels in response to changes in said angular position to move the vehicle along said obstacle without the wheels contacting the obstacle.

2. The process of claim 1, wherein said determining the distance is carried out by one or more (i) mechanical contacting sensors adapted resiliently to contact the obstacle, or (ii) contactless optical or electronic sensors attached from the vehicle.

3. The process of claim 1, further comprising adjusting the rear wheels to a turning radius extending beyond the obstacle when the rear wheels move the rear of the vehicle to said predetermined distance, and when the longitudinal axis is substantially parallel to the obstacle.

4. The process of claim 1, further comprising deactivating the sensing of the distance during turning until completion of the turn, when the front wheels are turned at a larger angle than the rear wheels and said location is outside the turning radius.

5. The process of claim 1, further comprising steering the rear wheels for movement of the rear of the vehicle to said predetermined distance when the longitudinal axis is at an acute angle to the reference plane and a rear wheel of the vehicle is at said predetermined distance.

6. The process of claim 1, further comprising blocking the steerability of the rear wheels from further approaching the obstacle when the vehicle approached the obstacle beyond said predetermined distance.

7. The process of claim 6, further comprising releasing the blocked steerability of the rear wheels when said relative angle is determined to be greater than a predetermined acute angle.

8. The process of claim 1, further comprising terminating said proportional steering between said front and said rear wheels with said rear wheels being held in the position in which they were at the time of said terminating, when said vehicle moved closer than said predetermined distance, and reestablishing said proportional steering when said vehicle moved further than said predetermined distance.

9. The process of claim 1, wherein said vehicle further comprises a computer, and wherein said determining of distance is carried out from both sides of said vehicle by the use of said computer for adjustment of said all wheel steering to avoid the obstacle.

10. The process of claim 1, further comprising suspending said determining of distance outside of the turning radius when the front and rear wheels are steered for turning along a curve and the front wheels are steered around a turning radius that is smaller than that of the rear wheels, said suspending taking place until the turning around the curve is completed.

11. The process of claim 1, further comprising disengaging the steerability of said rear wheels when said obstacle is approached closer than said predetermined distance, whereby the rear wheels remain fixed at the steering angle in which they were at the time of the disengaging, and optionally manually reengaging the steerability of the rear wheels to a proportional steering ratio between the front and rear wheels when the vehicle moved further than said predetermined distance.

12. The process of claim 1, further comprising terminating the steerability of said rear wheels in a position parallel to said longitudinal axis, when said vehicle moved further than said predetermined distance.

13. A road vehicle for travel into, within, and out of constricted places and small, constricted travel areas and being steerable without contacting any obstacle, said vehicle having a front, a rear, a longitudinal axis, front wheels, rear wheels, and all wheel steering that is proportional between said front and rear wheels for turning the vehicle about a turning radius, the improvement which comprises means for determining the distance of said vehicle from said obstacle, means for restricting or disabling the steerability of said rear wheels in response to the proximity of the obstacle, a front sensor for determining the distance between the front of the vehicle and the closest point on the obstacle to the front of the vehicle, a rear sensor for determining the distance between the rear of the vehicle and the closest point on the obstacle to the rear of the vehicle, a computer for receiving signals from said front sensor and said rear sensor for determining the relative angle of said longitudinal axis to a line defined by each of said points, and means for actuating said means for restricting or disabling the steerability of said rear wheels toward the obstacle when at the rear of the vehicle said distance to the obstacle falls below a predetermined value.

14. The road vehicle of claim 13, wherein said rear sensor is attached to the vehicle forward of the rear wheels.

15. The road vehicle of claim 13, wherein said front and rear sensors are mechanical sensors for contacting the obstacle, contactless optical sensors, or electronic sensors disposed on both sides of the vehicle.