Vehicle platform with automatic wheel corner assemblies aligning capabilities
AssigneeRee Automotive Ltd
InventorDamian Andrew HARTY
Life of this patent
Estimating the term…
Abstract
A method of automatically aligning wheel corner assemblies (WCAs) of a vehicle platform may include: measuring, by sensors of at least one of front WCAs, rear WCAs, a vehicle platform, or any combination thereof, a set of parameters; determining, by a computing device, steering angles for wheels of the front WCAs and wheels of the rear WCAs to drive the vehicle platform in a zero yaw rate and/or a zero thrust angle based on the measured set of parameters; and controlling, by the computing device, steering actuators of the front WCAs and the rear WCAs based on the determined steering angles to drive the vehicle platform in the zero yaw rate and/or the zero thrust angle.
Claims22
A method of automatically aligning wheel corner assemblies (WCAs) of a vehicle platform having front WCAs, rear WCAs, and steering actuators coupled to the front WCAs and rear WCAs, wherein each of the front WCAs and each of the rear WCAs comprises a wheel, the method comprising:
- measuring, by sensors of at least one of the front WCAs, the rear WCAs, the vehicle platform, or any combination thereof, a set of parameters;
- determining, by a computing device, steering angles for the wheels of the front WCAs and the wheels of the rear WCAs to drive the vehicle platform in at least one of a zero yaw rate or a zero thrust angle based on the measured set of parameters;
- and
- controlling, by the computing device, the steering actuators of the front WCAs and the steering actuators of the rear WCAs based on the determined steering angles to drive the vehicle platform in at least one of the zero yaw rate or the zero thrust angle.
A method of automatically aligning wheel corner assemblies (WCAs) of a vehicle platform having front WCAs, rear WCAs, and steering actuators coupled to the front WCAs and rear WCAs, wherein each of the front WCAs and each of the rear WCAs comprises a wheel, the method comprising:
- controlling, by a computing device, the steering actuators associated with at least one of the front WCAs or the rear WCAs of the vehicle platform to steer their respective wheels to drive the vehicle platform in a zero yaw rate;
- determining, by the computing device, first steering angles of the wheels of the rear WCAs to steer the rear WCAs to rotate in planes that are parallel with respect to each other;
- determining, by the computing device, a thrust angle of the rear WCAs based on the determined first steering angles;
- determining, by the computing device, second steering angles of the wheels of the front WCAs to steer the wheels of the front WCAs to rotate in planes that are parallel with respect to each other;
- determining, by the computing device, a thrust angle of the front WCAs based on the determined second steering angles;
- controlling, by the computing device, the steering actuators associated with at least one of the front WCAs or the rear WCAs to steer their respective wheels to align the thrust angle of the front WCAs and the thrust angle of the rear WCAs with respect to each other;
- determining, by the computing device, third steering angles of the wheels of the front WCAs and the wheels of the rear WCAs to drive the vehicle platform in a zero thrust angle;
- and
- controlling, by the computing device, the steering actuators associated with at least one of the front WCAs or the rear WCAs based on the determined third steering angles to drive the vehicle platform in the zero thrust angle.
22-37. (canceled)
Dependencies are inferred from the claim text.