# US 2014/0190759 A1 · Autonomous vehicle braking and steering system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0190759 A1 - Document ID: US20140190759A1 - Status: Published application - Kind: A1 - Application number: 14/151,290 - Filed: 2014-01-09 - Published: 2014-07-10 - Earliest claimed: 2013-01-09 - Assignees: Continental Automotive Systems, Inc. - Applicants: Continental Automotive Systems, Inc. - Inventors: David Leslie Agnew; Jeremy J. McClain; Jeffrey William Weber - Web page: https://patentgrep.com/patent/US20140190759A1 ## CPC - B62D 9/005: {Emergency systems using brakes for steering} - B60T 8/1755: Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02) - B60T 8/885: {using electrical circuitry} - B60T 2260/02: Active Steering, Steer-by-Wire - B60T 2270/402: Back-up - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES ## Abstract A steering system for a vehicle includes a front wheel supported for rotation about a first axis and a pivot axis transverse to the first axis and spaced inboard of a centerline of the front wheel. The front wheel is movable about the pivot axis to change direction of the vehicle. A brake coupled to the front wheel provides braking rotation of the front wheel and a controller controls operation of the brake to generate a desired braking force in a direction determined to adjust a vehicle direction. ## Claims ### Claim 1 A steering system for a vehicle comprising: a front wheel supported for rotation about a first axis; a pivot axis transverse to the first axis and spaced inboard of a centerline of the front wheel, wherein the front wheel is movable about the pivot axis to change direction of the vehicle; a brake coupled to the front wheel for braking rotation of the front wheel; a controller controlling operation of the brake to generate a desired braking force in a direction determined to adjust a vehicle direction. ### Claim 2 (depends on 1) The steering system as recited in claim 1, wherein the controller operates to apply a braking force to the front wheel that generates a desired force in a direction operable to change a direction of the vehicle. ### Claim 3 (depends on 1) The steering system as recited in claim 1, wherein the controller operates to apply a braking force to the front wheel to generate a moment about the pivot axis in a direction outboard of the vehicle. ### Claim 4 (depends on 1) The steering system as recited in claim 1, wherein the braking force generates a first moment about a center point of the vehicle and a second moment about the pivot axis, wherein the first moment and the second moment are in a common direction. ### Claim 5 (depends on 1) The steering system as recited in claim 1, including a primary steering system for guiding the vehicle that utilizes electric motors for rotating the front wheel about the pivot axis. ### Claim 6 (depends on 1) The steering system as recited in claim 1, wherein the pivot axis is disposed vehicle forward of the first axis. ### Claim 7 (depends on 1) The steering system as recited in claim 1, wherein the controller is operable to control a direction of the vehicle without operator input. ### Claim 8 A steering system for a motor vehicle comprising: a front wheel rotatable about an axis of rotation; a pivot axis transverse to the axis of rotation, the pivot axis disposed inboard of a centerline of the front wheel; an electric motor coupled to the front wheel for rotating the front wheel about the pivot axis; a brake coupled to the front wheel for controlling rotation of the front wheel about the axis of rotation; and a controller for controlling the brake to generate a braking force on the front wheel to generate a change in vehicle direction responsive to the electric motor failing to provide a desired control of the front wheel. ### Claim 9 (depends on 8) The steering system as recited in claim 8, wherein the pivot axis is disposed vehicle forward of the axis of rotation. ### Claim 10 (depends on 8) The steering system as recited in claim 8, wherein the braking force generates a first moment about a center point of the vehicle and a second moment about the pivot axis, wherein the first moment and the second moment are in a common direction. ### Claim 11 A method steering a vehicle comprising the steps of: supporting a front wheel for rotation about a first axis and pivotal movement about a pivot axis transverse to the first axis, wherein the pivot axis is disposed inboard of a centerline of the front wheel; and generating a braking force on the front wheel to generate a desired first moment force about a center point of the vehicle and a second moment force on the front wheel about the pivot axis. ### Claim 12 (depends on 11) The method as recited in claim 11, including controlling the braking force on the front wheel with a controller. ### Claim 13 (depends on 11) The method as recited in claim 11, wherein the pivot axis is disposed vehicle forward of the first axis. ### Claim 14 (depends on 11) The method as recited in claim 11, wherein the front wheel includes a left front wheel and a right front wheel and generating a braking force on the left front wheel to steer the vehicle left, and a generating a braking force on the right front wheel to steer the vehicle right. ### Claim 15 (depends on 11) The method as recited in claim 11, including generating a braking force on a rear wheel in addition to the front wheel to generate the desired first moment force.