Integrated clutch steering system

Patent metadata

Field	Value
Publication number	US-10099723-B2
Application number	US-201615239056-A
Country	US
Kind code	B2
Filing date	Aug 17, 2016
Priority date	Dec 22, 2015
Publication date	Oct 16, 2018
Grant date	Oct 16, 2018

Abstract

An integrated clutch steering mechanism for an autonomous vehicle (AV) can include a steering clutch coupled to a steering column of the AV, and an AV steering motor coupled to the steering clutch. The AV steering motor can apply torque to the steering column via the steering clutch to control steering of the AV. When a predetermined amount of torque is exceeded on the steering column, the steering clutch slips to enable manual steering of the AV.

First claim

What is claimed is:

1. An integrated clutch steering mechanism for an autonomous vehicle (AV) comprising:
a steering clutch coupled to a steering column of the AV, the steering clutch being engaged to enable autonomous steering of the AV;
an offset gear coupling the steering clutch to the steering column; and
an AV steering motor coupled to the steering clutch, the AV steering motor to apply torque to the steering column via the engaged steering clutch to control steering of the AV;
wherein when a predetermined amount of torque is exceeded on the steering column, the steering clutch enables manual steering of the AV.

2. The integrated clutch steering mechanism of claim 1 , wherein a steering wheel is coupled to a proximal end of the steering column, and wherein a steering actuator is coupled to a distal end of the steering column, the steering actuator to engage a pair of wheels to steer the AV in response to the torque applied to the steering column by the AV steering motor.

3. The integrated clutch steering mechanism of claim 2 , wherein the integrated clutch steering mechanism is coupled to a mid-shaft of the steering column, the mid-shaft being between the steering wheel and the steering actuator.

4. The integrated clutch steering mechanism of claim 1 , further comprising:
a torque sensor that measures torque on the steering column.

5. The integrated clutch steering mechanism of claim 4 , further comprising:
an AV control system to:
autonomously control steering operations of the AV using the AV steering motor;
monitor the torque sensor; and
when a measured torque applied to the steering column exceeds the predetermined amount of torque, release the steering clutch to hand over control of the steering operations to a human driver.

6. The integrated clutch steering mechanism of claim 5 , wherein the AV control system is further to:
process sensor data from a plurality of on-board sensors, the sensor data representing a driving environment of the AV; and
based on the processed sensor data, autonomously operate acceleration and braking systems of the AV;
wherein the AV control system further autonomously controls the AV steering motor based on the processed sensor data.

7. The integrated clutch steering mechanism of claim 6 , wherein the AV control system further hands over manual control of the acceleration and braking systems to the human driver when the measured torque applied to the steering column exceeds the predetermined amount of torque.

8. The integrated clutch steering mechanism of claim 1 , wherein the steering clutch continuously engages the AV steering motor to the steering column when torque applied to the steering column is less than the predetermined amount of torque.

9. An autonomous vehicle (AV) comprising:
an integrated clutch steering mechanism that includes a steering clutch coupled to a steering column of the AV, an offset gear coupling the steering clutch to the steering column, and an AV steering motor coupled to the steering clutch, the steering clutch being engaged to enable autonomous steering of the AV, the AV steering motor to apply torque to the steering column via the engaged steering clutch to control steering of the AV; and
an AV control system to process sensor data from a plurality of on-board sensors in order to autonomously operate the AV;
wherein when a predetermined amount of torque is exceeded on the steering column, the steering clutch enables manual steering of the AV.

10. The AV of claim 9 , wherein a steering wheel is coupled to a proximal end of the steering column, and wherein a steering actuator is coupled to a distal end of the steering column, the steering actuator to engage a pair of wheels to steer the AV in response to the torque applied to the steering column by the AV steering motor.

11. The AV of claim 10 , wherein the integrated clutch steering mechanism is coupled to a mid-shaft of the steering column, the mid-shaft being between the steering wheel and the steering actuator.

12. The AV of claim 9 , further comprising a torque sensor that measures torque on the steering column.

13. The AV of claim 12 , wherein the AV control system is further to:
based on the processed sensor data, autonomously control steering operations of the AV using the AV steering motor;
monitor the torque sensor; and
when a measured torque applied to the steering column exceeds the predetermined amount of torque, release the steering clutch to hand over control of the steering operations to a human driver.

14. The AV of claim 13 , wherein the AV control system is further to:
based on the processed sensor data, autonomously operate acceleration and braking systems of the AV; and
when the measured torque applied to the steering column exceeds the predetermined amount of torque, hand over manual control of the acceleration and braking systems to the human driver.

15. The AV of claim 9 , wherein the steering clutch continuously engages the AV steering motor to the steering column when torque applied to the steering column is less than the predetermined amount of torque.

Assignees

• Uber Technologies Inc

Inventors

• Meyhofer Eric
• Rice David

Classifications

• B62D5/043

  characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear · CPC title

• F16D2500/30421

  Torque of the output shaft · CPC title

• F16D48/06

  Control by electric or electronic means, e.g. of fluid pressure · CPC title

• B62D6/10 Primary

  characterised by means for sensing {or determining} torque · CPC title

• B62D1/286 Primary

  Systems for interrupting non-mechanical steering due to driver intervention · CPC title