Vehicle

Patent metadata

Field	Value
Publication number	US-12275472-B2
Application number	US-202118247643-A
Country	US
Kind code	B2
Filing date	Jul 8, 2021
Priority date	Oct 6, 2020
Publication date	Apr 15, 2025
Grant date	Apr 15, 2025

Abstract

A vehicle: finds a common central point at which a difference between a distance from a current position of a first tire and a distance from a target position of the first tire is within a predetermined range and a difference between a distance from a current position of a second tire and a distance from a target position of the second tire is within a predetermined range; and sets a steering angle of each of a plurality of tires so that the tire will be oriented in a direction of a tangent to a clearance circle whose center is the common central point or oriented in a direction whose angle difference from the direction of the tangent is within a predetermined range.

First claim

The invention claimed is:

1. A vehicle configured to travel on a preset travel route, the vehicle comprising:
a plurality of tires including a first tire and a second tire, and each configured to be set at a different steering angle; and
a processing device configured to set a steering angle of each of the plurality of tires,
wherein the processing device is configured to:
when the vehicle deviates from the travel route and returns to the travel route, determine a return position on the travel route, and calculate a target position of the first tire and a target position of the second tire that allow the vehicle to travel on the travel route when located at the return position;
find a common central point at which a difference between a distance from a current position of the first tire and a distance from the target position of the first tire is within a predetermined range and a difference between a distance from a current position of the second tire and a distance from the target position of the second tire is within a predetermined range; and
set the steering angle of each of the plurality of tires so that the tire will be oriented in a direction of a tangent to a clearance circle whose center is the common central point and whose radius is a distance to the common central point or oriented in a direction whose angle difference from the direction of the tangent is within a predetermined range.

2. The vehicle according to claim 1 , wherein, when determining the return position, the processing device is configured to determine a reference distance depending on a travel speed when the vehicle returns to the travel route, and determine the return position so that a distance from a current position of the vehicle to the return position will be the reference distance.

3. The vehicle according to claim 1 , wherein the processing device is configured to constantly update the return position and constantly update the set steering angle of each of the plurality of tires according to the updated return position until the vehicle that has deviated from the travel route returns to the travel route.

Assignees

• Jfe Steel Corp

Inventors

• Hirayama Hideki
• Kaneta Yusuke
• Nanba Shinji
• Sakai Haruhisa
• Kohara Toshiyuki

Classifications

• B60W10/12

  including control of differentials · CPC title

• B62D7/15

  characterised by means varying the ratio between the steering angles of the steered wheels {(B62D7/148 takes precedence)} · CPC title

• B62D6/002 Primary

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title

• B62D7/159

  characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title