Independent control of vehicle wheels

Patent metadata

Field	Value
Publication number	US-10821981-B1
Application number	US-201715787418-A
Country	US
Kind code	B1
Filing date	Oct 18, 2017
Priority date	Oct 18, 2017
Publication date	Nov 3, 2020
Grant date	Nov 3, 2020

Abstract

An over actuated system capable of controlling wheel parameters, such as speed (e.g., by torque and braking), steering angles, caster angles, camber angles, and toe angles, of wheels in an associated vehicle. The system may determine the associated vehicle is in a rollover state and adjust wheel parameters to prevent vehicle rollover. Additionally, the system may determine a driving state and dynamically adjust wheel parameters to optimize driving, including, for example, cornering and parking. Such a system may also dynamically detect wheel misalignment and provide alignment and/or corrective driving solutions. Further, by utilizing degenerate solutions for driving, the system may also estimate tire-surface parameterization data for various road surfaces and make such estimates available for other vehicles via a network.

First claim

What is claimed is:

1. A system comprising:
one or more processors;
memory communicatively coupled to the one or more processors, the memory storing instructions that, when executed by the one or more processors, causes a computing device to perform operations comprising wheel controller operations comprising:
controlling at least one wheel parameter associated with a tire of a vehicle, the at least one wheel parameter comprising at least one of: a caster angle, a camber angle, or a toe angle of at least one wheel;
inducing a change of at least one wheel parameter associated with the tire;
based at least in part on the change of the at least one wheel parameter, receiving a signal indicative of a change of state of the vehicle, the change of state comprising at least one of: a direction of travel of the vehicle, a speed of the vehicle, a steering angle of the vehicle, or an instability of the vehicle; and
estimating tire-surface parameterization data associated with the tire and the surface based at least in part on the signal and another signal indicative of the induced change.

2. The system of claim 1 , wherein the tire is a first tire and the system further comprises:
a first steering assembly configured to be coupled to the first tire proximate to a first end of the vehicle;
a first brake configured to be coupled to the first tire and slow rotation of the first tire;
a second steering assembly configured to be coupled to a second tire of the vehicle; and
wherein the wheel controller operations further comprise:
activating at least one of the first steering assembly to change a steering angle associated with the first tire or activate the first brake to slow rotation of the first tire; and
causing at least one of: the second steering assembly to change a steering angle associated with the second tire to resist at least one of a change of speed or a change of direction of travel of the vehicle caused by activation of the first steering assembly or the first brake; and

wherein the operations further comprise tire-surface parameterization estimation operations comprising:
causing a signal indicative of at least one of the steering angle associated with the first tire or a speed of rotation of the first tire upon activation of at least one of the first steering assembly or the first brake, respectively;
receiving a signal indicative of the steering angle associated with the second tire; and
estimating tire-surface parameterization data associated with the first tire and the surface based at least in part on the signals.

3. The system of claim 1 , wherein the tire is a first tire and the system further comprises:
a first steering assembly configured to be coupled to a first tire proximate to a first end of the vehicle;
a first brake configured to be coupled to the first tire and slow rotation of the first tire;
a second steering assembly configured to be coupled to a second tire of the vehicle; and
a motor configured to be coupled to the second tire and supply torque to the second tire,
wherein the operations further comprise wheel controller operations comprising:
activating at least one of the first steering assembly to change a steering angle associated with the first tire or activate the first brake to slow rotation of the first tire; and
causing at least one of the second steering assembly to change a steering angle associated with the second tire or the motor to supply rotational torque to the second tire, to resist at least one of a change of speed or a change of direction of travel of the vehicle caused by activation of the first steering assembly or the first brake; and

wherein the operations further comprise tire-surface parameterization estimation operations comprising:
receiving a signal indicative of at least one of the steering angle associated with the first tire or a speed of rotation of the first tire upon activation of at least one of the first steering assembly or the first brake, respectively;
receiving a signal indicative of at least one of the steering angle associated with the second tire or the torque applied to the second tire; and
estimating tire-surface parameterization data associated with the first tire and the surface based at least in part on the signals.

4. The system of claim 3 , wherein the wheel controller operations further comprise activating the first brake to cause the first tire to reach its friction limit, and the tire-surface parameterization estimation operations further comprise receiving a signal indicative of the speed of rotation of the first tire and determining the tire-surface parameterization data based at least in part on the signal indicative of the speed of rotation of the first tire and the signal indicative of at least one of the steering angle associated with the second tire or the torque applied to the second tire.

5. The system of claim 3 , wherein the tire-surface parameterization estimation operations further comprise estimating a coefficient of friction between the first tire and the surface based as least in part on the tire-surface parameterization data.

6. The system of claim 3 , wherein the wheel controller operations further comprise activating the first brake to cause the first tire to stop rotating, and the tire-surface parameterization estimation operations further comprise determining the tire-surface parameterization data based at least in part on the signal indicative of at least one of the steering angle associated with the second tire or the torque applied to the second tire.

7. The system of claim 6 , wherein the tire-surface parameterization estimation operations further comprise estimating non-linear tire-surface parameterization between the first tire and the surface based as least in part on slip between the first tire and the surface on which the vehicle travels.

8. The system of claim 1 , further comprising a reporting component in communication with a communication network and configured to communicate, to one or more of network-based data stores or other vehicles, data correlating a location of the vehicle and the tire-surface parameterization data via the communication network.

9. A method comprising:
controlling at least one wheel parameter associated with a tire of a vehicle, the at least one wheel parameter comprising at least one of: a steering angle, caster angle, camber angle, toe angle, or wheel speed of at least one wheel;
inducing a change of at least one wheel parameter associated with the tire;
based at least in part on the change of the at least one wheel parameter, receiving a signal indicative of a change of state of the vehicle, the change of state comprising at least one of a direction of travel of the vehicle, a speed of the vehicle, a steering angle of the vehicle, or an instability of the vehicle;
estimating tire-surface parameterization data associated with the tire and the surface based at least in part on the signal and another signal indicative of the induced change; and
estimating a coefficient of friction between the tire and the surface based as least in part on the tire-surface parameterization data.

10. The method of claim 9 , wherein:
the tire is a first tire of the vehicle and inducing the change of at least one wheel parameter comprises:
at least one of:
activating at least one of a first steering assembly coupled to the first tire of the vehicle to change a steering angle associated with the first tire; or
activating a brake coupled to the first tire to slow rotation of the first tire; and
causing at least one of:
a second steering assembly coupled to a second tire to change a steering angle associated with the second tire; or
a motor to supply rotationa

Assignees

• Zoox Inc

Inventors

• Funke Joseph
• Edren Johannes
• Javidan Ali

Classifications

• B60W40/112

  Roll movement · CPC title

• B60W40/101

  Side slip angle of tyre · CPC title

• B60W40/068

  Road friction coefficient · CPC title

• B60W30/18172 Primary

  Preventing, or responsive to skidding of wheels · CPC title

• B60T2260/024

  Yawing moment compensation during mu-split braking · CPC title