Multi-mode skid steering

• US 9,567,005 B1
• Filed: 08/20/2014
• Issued: 02/14/2017
• Est. Priority Date: 02/21/2003
• Status: Expired due to Fees

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Chun, Wendell H., Kaloust, Joseph H.
• Primary Examiner(s): Rocca, Joseph
• Assistant Examiner(s): Williams, Maurice
• Application Number:
  US14/463,762
• Time in Patent Office: 909 Days
• US Class Current: 1/1
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 2300/07 Off-road vehicles
• CPC Class Codes: B62D 1/283 for unmanned vehicles
• CPC Class Codes: B62D 11/001 control systems B62D11/183 takes precedence
• CPC Class Codes: B62D 11/003 Electric or electronic control systems
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: B62D 61/10 with more than four wheels tractors of the low ground pressure type B62D49/002
• CPC Class Codes: B62D 61/12 with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels for manoeuvring purposes only B60S

Abstract

A method includes operating a wheeled vehicle including an articulated suspension system; and articulating the suspension system to skid steer the vehicle. A wheeled vehicle having an articulated suspension system includes a skid steering controller capable of articulating the suspension system to skid steer the vehicle. The skid steering controller may be implemented in software and may, but does not necessarily, include three stages for applying a differential torque, varying the traction of at least one wheel, and finely adjusting the wheel'"'"'s suspension to approach a critical damped response of the vehicle turning rate with respect to its commanded rate, respectively.

Claims

1. A computer program product stored on a non-transitory computer-readable medium comprising instructions configured to cause at least one device to carry out the steps of:

receiving sensor data regarding a state of a vehicle;

receiving information associated with the vehicle;

receiving a steer command that commands that a turn be performed at a commanded turn rate;

determining an actual velocity of the vehicle and an actual turn rate of the vehicle; and

sending an articulation signal to cause articulation of at least one wheel of the vehicle to implement skid steering, wherein the articulation signal is based upon at least one of the actual velocity of the vehicle and the actual turn rate of the vehicle.

2. The computer program product of claim 1, wherein the information includes information pertaining to at least one of vehicle mass, body inertia, tire radius, and a desired course of the vehicle.

3. The computer program product of claim 1, further comprising:

comparing the actual turn rate of the vehicle with the commanded turn rate of the vehicle to determine a turn rate error.

4. The computer program product of claim 1, wherein sending the articulation signal to cause the articulation of the at least one wheel is performed in order to apply a differential torque to each of two sides of the vehicle to skid steer the vehicle.

5. The computer program product of claim 1, wherein the articulation of the at least one wheel includes an articulation of a suspension system to approach a critical damped response of the actual turn rate with respect to the commanded turn rate.

6. The computer program product of claim 1, wherein the articulation of the at least one wheel includes varying a height of the at least one wheel based on an aggregate of a coarse height adjustment based on a coarse height command and a fine height adjustment based on a fine height command.

7. The computer program product of claim 6, wherein the fine height adjustment is no more than approximately ten percent of the coarse height adjustment.

8. The computer program product of claim 6, wherein the fine height adjustment is no more than approximately five percent of the coarse height adjustment.

9. A skid steering controller, comprising:

a processor;

a bus system;

a storage configured to communicate with the processor over the bus system; and

a software application residing on the storage that, when invoked by the processor, is configured to articulate a suspension system of a vehicle to vary a height of at least one vehicle wheel with respect to a ground surface to skid steer the vehicle and to approach a critical damped response of a vehicle turning rate with respect to a commanded turning rate, wherein the height is varied based on an aggregate of a coarse height adjustment based on a coarse height command and a fine height adjustment based on a fine height command, wherein the fine height adjustment is no more than approximately ten percent of the coarse height adjustment.

10. The skid steering controller of claim 9, wherein the software application is further configured to apply a differential torque to each of two sides of the vehicle to skid steer the vehicle.

11. The skid steering controller of claim 9, wherein articulating the suspension system includes varying a traction of the at least one vehicle wheel responsive to a turn command.

12. A vehicle comprising:

a chassis;

a plurality of wheel assemblies;

a suspension system, wherein the plurality of wheel assemblies is operably connected to the suspension system and the suspension system is configured to vary a height of one or more wheel assemblies with respect to a ground surface; and

a skid steering controller configured to;

receive sensor data regarding a state of the vehicle;

receive information associated with the vehicle;

receive a steer command that commands that a turn be performed at a commanded turn rate;

determine an actual velocity of the vehicle and an actual turn rate of the vehicle; and

send an articulation signal to cause articulation of at least one wheel assembly of the vehicle to implement skid steering, wherein the articulation signal is based upon at least one of the actual velocity of the vehicle and the actual turn rate of the vehicle.

13. The vehicle of claim 12, wherein the information includes information pertaining to at least one of vehicle mass, body inertia, tire radius, and a desired course of the vehicle.

14. The vehicle of claim 12, wherein the articulation signal is sent in order to apply a differential torque to each of two sides of the vehicle to skid steer the vehicle.

15. The vehicle of claim 12, wherein the articulation of the at least one wheel assembly includes articulating the suspension system to approach a critical damped response of the actual turn rate with respect to the commanded turn rate.

16. The vehicle of claim 12, wherein the articulation of the at least one wheel assembly includes varying a height of the at least one wheel assembly based on an aggregate of a coarse height adjustment based on a coarse height command and a fine height adjustment based on a fine height command.

17. The vehicle of claim 16, wherein the fine height adjustment is no more than approximately ten percent of the coarse height adjustment.

18. The vehicle of claim 16, wherein the fine height adjustment is no more than approximately five percent of the coarse height adjustment.