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1. WO2022006089 - FOUR-WHEEL STEERING

Publication Number WO/2022/006089
Publication Date 06.01.2022
International Application No. PCT/US2021/039590
International Filing Date 29.06.2021
IPC
B60W 60/00 2020.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
60Drive control systems specially adapted for autonomous road vehicles
B60W 10/20 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10Conjoint control of vehicle sub-units of different type or different function
20including control of steering systems
B60W 30/095 2012.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
08Predicting or avoiding probable or impending collision
095Predicting travel path or likelihood of collision
B62D 7/10 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
7Steering linkage; Stub axles or their mountings
06for individually-pivoted wheels, e.g. on king-pins
08the pivotal axes being situated in a single plane transverse to the longitudinal centre line of the vehicle
10with single-output steering gear
Applicants
  • ZOOX, INC. [US]/[US]
Inventors
  • FUNKE, Joseph
  • ZLOTNIK, David Evan
Agents
  • DIDAS, Michael J.
  • HARTMAN, Robert G.
Priority Data
16/917,43130.06.2020US
16/917,46230.06.2020US
16/917,49830.06.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) FOUR-WHEEL STEERING
(FR) DIRECTION À QUATRE ROUES
Abstract
(EN) Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.
(FR) La présente invention concerne une direction à quatre roues d'un véhicule, par exemple, dans laquelle des roues avant et des roues arrière sont dirigées indépendamment les unes des autres, ladite direction pouvant fournir une meilleure maniabilité et une meilleure stabilité. Un premier modèle de véhicule peut être utilisé pour déterminer des trajectoires pour une exécution par un véhicule équipé d'une direction à quatre roues. Un second modèle de véhicule peut être utilisé pour commander le véhicule par rapport aux trajectoires déterminées. Par exemple, le second modèle de véhicule peut déterminer des angles de direction des roues avant pour diriger les roues avant du véhicule et des angles de direction des roues arrière pour diriger les roues arrière du véhicule, indépendamment des roues avant.
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