# US 9,434,431 B2 · Intuitive drive-by-wire steering with redundant mechanical control

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 9,434,431 B2
- Document ID: US9434431B2
- Status: Granted
- Kind: B2
- Application number: 14/537,835
- Filed: 2014-11-10
- Published: 2015-06-18
- Granted: 2016-09-06
- Earliest claimed: 2013-11-11
- Assignees: Lit Motors Corporation
- Applicants: Daniel Kee Young Kim; Colin Wade
- Inventors: Daniel Kee Young Kim; Colin Wade
- Web page: https://patentgrep.com/patent/US9434431B2

## CPC

- B62D 5/30: Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
- B62D 37/06: using gyroscopes
- B62D 61/02: with two road wheels in tandem on the longitudinal centre line of the vehicle
- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- B62K 21/00: Steering devices
- 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)
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE

## Abstract

A drive-by-wire steering system on a vehicle requiring counter-steering includes a driver input mechanism, for example, a steering wheel, joystick, voice command receiver, or keyboard, and a control system. A sensor receives driver input and sends that information to the control system. An engagement mechanism, for example, a clutch, separates the driver input mechanism from controlling the vehicle. The control system further includes at least one actuator, a wheel, and a mechanical linkage controllable via the engagement mechanism in order for the control system to articulate a steering mechanism, for example, the front wheel of the vehicle, as appropriate.

## Claims

### Claim 1

A drive-by-wire steering system on a vehicle, comprising:
a road wheel having a direction capable of adjustment a road wheel actuator coupled to the road wheel via a mechanical linkage to adjust the direction of the road wheel and thereby steer the vehicle;
a driver input mechanism to receive driver input for steering the vehicle;
an engagement-disengagement mechanism to mechanically couple and decouple the driver input mechanism to/from the road wheel, via the mechanical linkage, the driver input mechanism to adjust the direction of the road wheel, via the mechanical linkage, based on the driver input, when the driver input mechanism is mechanically coupled by the engagement-disengagement mechanism to the road wheel, via the mechanical linkage;
an electronic steering control system; and
a steering sensor to receive the driver input from the driver input mechanism and send the driver input to the electronic steering control system, the electronic steering control system to control the road wheel actuator to adjust the direction of the road wheel, based on the driver input, when the driver input mechanism is mechanically decoupled by the engagement-disengagement mechanism from the road vehicle.

### Claim 2 (depends on 1)

The drive-by-wire steering system of claim 1, wherein the engagement-disengagement mechanism to mechanically couple the driver input mechanism to the road wheel upon a failure of the electronic steering control system.

### Claim 3 (depends on 1)

The drive-by-wire steering system of claim 1, further comprising a haptic feedback system coupled to the driver input mechanism, the haptic system to generate torque and feedback to indicate driver effort and road conditions to a driver.

### Claim 4

A method for controlling a vehicle:
receiving user input from a steering mechanism, via a first sensor;
receiving vehicle state data via a second sensor;
receiving external data via a third sensor;
receiving and analyzing at a control processor coupled to the first, second and third sensor, the user input, vehicle state data, and external data; and
generating command signals to a steering actuator to actuate a road wheel direction of the vehicle in accordance with the user input.

### Claim 5

A control system comprising:
a processor;
a memory module;
a control algorithm stored in the memory module and executed via the processor to:
receive data from a plurality of sensors indicating driver input, orientation of a frame of a vehicle, orientation of a front wheel of the vehicle with respect to the frame, orientations and rotational speeds of a plurality of flywheels included in a gyroscope unit coupled to the frame, and a speed of the vehicle;
determine a current vehicle state based, at least in part, on the received data;
adjust an output torque of the gyroscope unit by adjusting a rotational velocity of a tilt of at least one of the flywheels from an axis of rotation normal to an axis of rotation of the front wheel of the vehicle based, at least in part, on the current vehicle state, wherein adjusting the rotational velocity of the tilt of at least one of the flywheels comprises increasing the rotational velocity of the tilt of the at least one of the flywheels to increase the output torque of the gyroscope unit, and wherein adjusting the rotational velocity of the tilt of at least one of the flywheels comprises minimizing the rotational velocity of the tilt of the at least one of the flywheels to use the output torque of the gyroscope unit for a prolonged period of time; and
adjust a direction of a wheel of the vehicle via electric command based, at least in part, on the current vehicle state.

### Claim 6 (depends on 5)

The control algorithm of claim 5, further executed via the processor to adjust the output torque of the gyroscope unit by adjusting the rotational velocity of the tilt of at least one of the flywheels from the axis of rotation normal to the axis of rotation of the front wheel of the vehicle based, at least in part, on the current vehicle state to stabilize or steer the vehicle.