An indoor four-wheel individual steering and driving vehicle with full electronics was built for evaluation of the system's ability and the performance in practical use. Mechanical parts such as the connecting rod and the differential gear are not provided for this vehicle. Rotating radius (R) of the vehicle was taken for the steering command parameter, but it was found to not be an appropriate parameter for driving operation. The reasons are as follows: 1) R has a much different sense of driving conformability for the driver, because it does not refer to the running direction, but to the rotating radius of crosswise direction. 2) Sensitivity of each wheel steering angle versus R differs over double figures in the full range of R. 3) R changed from plus to minus and also vice versa in most practical situations around straight-go operation. For these reasons, the steering command parameter was changed from R to alpha , where alpha is the angle between the vehicle lengthwise direction and the moving direction. The steering control algorithm using alpha has been proven to solve the three above-mentioned problems.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Control for four-wheel individual steering and four-wheel driven electronic vehicle


    Contributors:
    Oshima, H. (author) / Tani, M. (author) / Kobayashi, N. (author) / Ishii, A. (author) / Imai, K. (author)

    Published in:

    Publication date :

    2005


    Size :

    8 Seiten, 7 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    FOUR WHEEL STEERING VEHICLE

    YAMAZAKI RYOSUKE / INAGAKI TAKUMI | European Patent Office | 2020

    Free access

    FOUR-WHEEL STEERING VEHICLE

    YAMAZAKI RYOSUKE / INAGAKI TAKUMI | European Patent Office | 2020

    Free access

    FOUR-WHEEL STEERING VEHICLE

    TOTSUKA YUJI | European Patent Office | 2019

    Free access

    Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle

    QIN YUGUI / WANG KAIYUAN / LIU HUAN et al. | European Patent Office | 2023

    Free access