A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.
B62D 6/00 - Dispositions pour la commande automatique de la direction en fonction des conditions de conduite, qui sont détectées et pour lesquelles une réaction est appliquée, p. ex. circuits de commande
B62D 5/04 - Direction assistée ou à relais de puissance électrique, p. ex. au moyen d'un servomoteur relié au boîtier de direction ou faisant partie de celui-ci
B62D 37/06 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension au moyen de masses mobiles en utilisant des gyroscopes
B60W 10/20 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de direction
An apparatus for controlling a direction and speed of travel an autonomous vehicle or driver assisted autonomous vehicle (AV). A GPS and map module receive a start location and a destination location for the AV. A plurality of sensors identify a current and a proposed lane for the AV. A database of AV baseline maneuver profiles used to control one or more of direction and speed of travel of the AV is provided. A trajectory profile generator module generates a planned path for the AV with lateral acceleration less than 2 Hz, based on the start location, the destination location, the current and proposed lane for the AV, and a selected AV baseline maneuver profile from the database. A steering control module controls the direction of travel of the AV based on the generated AV planned path, and a supervisory control module controls the speed of the AV based on the generated AV planned path and inner ear constraints.
A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.
B62D 61/02 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec deux roues en tandem disposées sur l'axe longitudinal du véhicule
G01C 19/00 - GyroscopesDispositifs sensibles à la rotation utilisant des masses vibrantesDispositifs sensibles à la rotation sans masse en mouvementMesure de la vitesse angulaire en utilisant les effets gyroscopiques
G01C 19/30 - Dispositifs de redressage, c.-à-d. dispositifs pour ramener l'axe du rotor à une position désirée
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
Produits et services
Parts and fittings for land vehicles, namely, gyroscopic stabilization systems primarily composed of gyroscopes, gyroscope control systems primarily composed of gyroscopes, batteries and battery chargers Vehicles, namely, automobiles, motorcycles and motor scooters; land vehicle parts, namely, motors, vehicle wheels, fitted covers for land vehicles, land vehicle bodies; parts and fittings for land vehicles, namely, structural parts for automobiles, motorcycles and motor scooters; power train mechanism comprised of a clutch, transmission, drive shaft, and differential; shock absorbers and torsion bars for land vehicles; steering and suspension systems and parts for steering and suspension systems for land vehicles, namely, electronic stability controllers sold as an integral component of land vehicles, stabilizer bars, springs, steering systems, steering linkages and suspensions; chassis for land vehicles
6.
Integrated control method for balancing a two-wheeled vehicle using control moment gyroscopes and drive-by-wire steering systems
Steering is used to augment the CMG-based balance control of a two-wheeled vehicle, e.g., a bicycle, electric bicycle (“ebike”), scooter, electric scooter, moped, or motorcycle. A control architecture enables a two wheeled vehicle with simultaneously or alternating mechatronic attitude control systems to balance autonomously at rest or while dynamically driven with mechatronic command.
B60G 21/08 - Systèmes d'interconnexion à plusieurs roues conjuguées suspendues élastiquement, p. ex. pour stabiliser la caisse du véhicule eu égard aux forces d'accélération, de décélération ou aux forces centrifuges caractérisées par l'emploi de gyroscopes
An apparatus for controlling a direction and speed of travel an autonomous vehicle or driver assisted autonomous vehicle (AV). A GPS and map module receive a start location and a destination location for the AV. A plurality of sensors identify a current and a proposed lane for the AV. A database of AV baseline maneuver profiles used to control one or more of direction and speed of travel of the AV is provided. A trajectory profile generator module generates a planned path for the AV with lateral acceleration less than 2 Hz, based on the start location, the destination location, the current and proposed lane for the AV, and a selected AV baseline maneuver profile from the database. A steering control module controls the direction of travel of the AV based on the generated AV planned path, and a supervisory control module controls the speed of the AV based on the generated AV planned path and inner ear constraints.
An augmented traction system for a two-wheeled vehicle comprising a CMG (control moment gyroscope) system including a plurality of CMGs to provide a first torque vector to decrease a roll angle of a turn of the vehicle and to increase force on one or more of the tires of the vehicle on a road surface, a steering system for the vehicle, the steering system to determine a steering control for the turn of the vehicle at a particular vehicle speed and roll angle, based on sensor data, and an aerodynamic control system to actuate one or more aerodynamic elements of the vehicle, the one or more aerodynamic elements to provide a second torque vector to decrease the roll angle of the vehicle.
B62J 99/00 - Matière non prévue dans les autres groupes de la présente sous-classe
B62J 50/22 - Dispositifs fournissant des informations ayant pour objet de fournir des informations au conducteur ou au passager électroniques, p. ex. écrans
9.
INTEGRATED CONTROL METHOD FOR BALANCING A TWO WHEELED VEHICLE USING CONTROL MOMENT GYROSCOPES AND DRIVE-BY-WIRE STEERING SYSTEMS
Steering is used to augment the CMG-based balance control of a two-wheeled vehicle, e.g., a bicycle, electric bicycle ("ebike"), scooter, electric scooter, moped, or motorcycle. A control architecture enables a two wheeled vehicle with simultaneously or alternating mechatronic attitude control systems to balance autonomously at rest or while dynamically driven with mechatronic command.
An augmented traction system for a two-wheeled vehicle comprising a CMG (control moment gyroscope) system including a plurality of CMGs to provide a first torque vector to decrease a roll angle of a turn of the vehicle and to increase force on one or more of the tires of the vehicle on a road surface, a steering system for the vehicle, the steering system to determine a steering control for the turn of the vehicle at a particular vehicle speed and roll angle, based on sensor data, and an aerodynamic control system to actuate one or more aerodynamic elements of the vehicle, the one or more aerodynamic elements to provide a second torque vector to decrease the roll angle of the vehicle.
B62D 37/02 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension par moyens aérodynamiques
B62D 37/06 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension au moyen de masses mobiles en utilisant des gyroscopes
B62D 6/00 - Dispositions pour la commande automatique de la direction en fonction des conditions de conduite, qui sont détectées et pour lesquelles une réaction est appliquée, p. ex. circuits de commande
Embodiments of the invention describe methods, apparatuses, and systems for control of a two-wheeled self-balancing vehicle. Embodiments of the invention include a control system for a two-wheeled vehicle, the control system including an inertial measurement unit (IMU); one or more control moment gyroscopes (CMGs); one or more CMG controllers to control the one or more CMGs; an accelerometer to measure a y-axis acceleration for the vehicle, the y-axis being perpendicular to a direction of travel of the vehicle and parallel to a ground surface; and a processing element to calculate a roll angle for the vehicle based at least in part on the y-axis acceleration measured by the accelerometer, determine a force component based at least in part on the calculated roll angle, and generate a CMG command for a CMG gimbal rate based at least in part on the determined force component.
B62D 37/06 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension au moyen de masses mobiles en utilisant des gyroscopes
B60W 10/20 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de direction
B60W 10/30 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande d'équipements auxiliaires, p. ex. des compresseurs pour la climatisation ou des pompes à huile
12.
Intuitive drive-by-wire steering with redundant mechanical control
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.
B62D 11/00 - Direction pour roues non orientablesDirection pour véhicules à chenilles ou à dispositifs similaires
B62D 5/30 - Dispositifs de sécurité, p. ex. source de puissance ou moyens de transmission auxiliaires pour assurer la direction en cas de défaillance des moyens de direction primaires
B62D 37/06 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension au moyen de masses mobiles en utilisant des gyroscopes
B62D 61/02 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec deux roues en tandem disposées sur l'axe longitudinal du véhicule
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.
B62D 11/00 - Direction pour roues non orientablesDirection pour véhicules à chenilles ou à dispositifs similaires
B62D 55/02 - Véhicules à chenilles avec chenilles et roues additionnelles
B62D 61/02 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec deux roues en tandem disposées sur l'axe longitudinal du véhicule
B62D 37/06 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension au moyen de masses mobiles en utilisant des gyroscopes
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.
B60W 30/00 - Fonctions des systèmes d'aide à la conduite des véhicules routiers non liées à la commande d'un sous-ensemble particulier, p. ex. de systèmes comportant la commande conjuguée de plusieurs sous-ensembles du véhicule
B60W 10/20 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de direction
B60W 50/16 - Signalisation tactile au conducteur, p. ex. vibration ou augmentation de la résistance sur le volant ou sur la pédale d'accélérateur
A hyper-flux flywheel motor system includes a rotor assembly and a number of permanent magnets coupled to the rotor assembly. A stator assembly is rotatably coupled to the rotor assembly and has a core, a number of teeth extending radially from the core, and one or more winding sets, each winding set comprising coils wound on the teeth to interact with the of permanent magnets. A flywheel housing including a frame, and one or more gimbals, houses a flywheel. This flywheel is disposed adjacent to the stator and rotator assembly, rotates about a spin axis, and precesses via the one or more gimbals, in response to rotation of the rotor assembly.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
Produits et services
(1) Parts and fittings for motor vehicles, namely, gyroscopic stabilization systems composed of gyroscopes, gyroscope control systems composed of gyroscopes, electric batteries for vehicles, automotive battery chargers; vehicles, namely, automobiles, motorcycles and scooters; motor vehicle motors; motor vehicle wheels; fitted covers for motor vehicles; motor vehicle bodies; motor vehicle parts and fittings, namely, structural parts, powertrain components, vehicle axles, brake pads, brake linings, brake calipers, braking systems, clutches, differential gears, drive gears, drive shafts, transmissions, transmission shafts, electronic stability controls, couplings, carrying axial bearings, shock absorbers, springs, stabilizer bars, steering systems, steering linkages, suspensions and torsion bars; chassis for motor vehicles
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
Produits et services
(1) Parts and fittings for motor vehicles, namely, gyroscopic stabilization systems composed of gyroscopes, gyroscope control systems composed of gyroscopes, electric batteries for vehicles, automotive battery chargers; vehicles, namely, automobiles, motorcycles and scooters; motor vehicle motors; motor vehicle wheels; fitted covers for motor vehicles; motor vehicle bodies; motor vehicle parts and fittings, namely, structural parts, powertrain components, vehicle axles, brake pads, brake linings, brake calipers, braking systems, clutches, differential gears, drive gears, drive shafts, transmissions, transmission shafts, electronic stability controls, couplings, carrying axial bearings, shock absorbers, springs, stabilizer bars, steering systems, steering linkages, suspensions and torsion bars; chassis for motor vehicles
Embodiments of the invention describe methods, apparatuses, and systems for enhanced vehicle stabilization solutions. Embodiments of the invention may receive sensor information from at least one sensor coupled to a vehicle having two or more wheels, the at least one sensor coupled to at least one of a wheel, a suspension component, or a frame of the vehicle. A tilt angle of the vehicle is determined from the received sensor information, the tilt angle comprising an offset angle from a reference plane for the vehicle. A controller transmits a command to one or more control moment gyroscopes (CMGs) coupled to the frame of the vehicle to produce a total angular moment based, at least in part, on the tilt angle of the vehicle.
Embodiments of the invention describe vehicles including a wheel (e.g., a front wheel or wheels), a wheel hub, a motor included in the wheel hub to transmit power to the wheel, one or more rolling bearings to support the wheel hub and having one or more rolling elements to enable rolling of the wheel, and a steering axle placed within the wheel hub for steering the wheel. Embodiments also describe a wheel (e.g., a rear wheel or wheels), a wheel hub, a motor included in the wheel hub to transmit power to the wheel, and a swing arm assembly having a first and a second end, the first end rotatably coupled to a steering axle, the second end coupled to the motor. As described below, embodiments of the invention decrease volume necessary for a vehicle's drivetrain, while not adversely affecting the potential for vehicle interior volume and vehicle maneuverability.
B62K 7/00 - Cycles pour le transport de charges ou de passagers
B60K 7/00 - Disposition du moteur dans ou jouxtant une roue motrice
B62M 7/12 - Motocycles caractérisés par la position du moteur électrique ou du moteur à combustion avec moteur à coté ou dans la roue motrice
B62D 7/00 - Timonerie de directionFusées ou leur montage
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
H02K 21/16 - Moteurs synchrones à aimants permanentsGénératrices synchrones à aimants permanents avec des induits fixes et des aimants tournants avec des aimants tournant à l'intérieur des induits avec des noyaux d'induits annulaires à pôles saillants
H02K 21/26 - Moteurs synchrones à aimants permanentsGénératrices synchrones à aimants permanents avec des induits tournants et des aimants fixes
H02K 3/28 - Schémas d'enroulements ou de connexions entre enroulements
H02K 7/14 - Association structurelle à des charges mécaniques, p. ex. à des machines-outils portatives ou des ventilateurs
H02K 16/04 - Machines avec un rotor et deux stators
In embodiments of the invention, a vehicle stabilization control unit may determine a control moment value for one or more gyroscopes coupled to a vehicle frame to exert for stabilization of the vehicle frame. A number of input axes for the flywheels of the one or more gyroscopes to precess may be increased in order to generate the determined control moment value. In some embodiments, the one or more gyroscopes are further coupled to a turntable, and increasing the number of input axes for the flywheels comprises rotating the turntable. Furthermore, in some embodiments, the one or more gyroscopes comprise at least two gyroscopes coupled inline to the vehicle frame (e.g., aligned lengthwise with respect to the front and rear wheel to spin and precess in opposite directions with respect to each other).
Embodiments of the invention describe a motor comprising a rotor assembly and a stator assembly to rotatably drive the rotor assembly. Said stator assembly includes a body, a plurality of teeth extending radially from the body, and at least two winding sets, each winding set comprising coils wound on the teeth. The at least two winding sets includes a first set for driving the rotor assembly to a first variable operational range, and a second set for driving the rotor assembly to a second variable operational range different than the first. Said rotor assembly may be used in an electric motor (i.e., said rotor assembly is a flywheel), or may be used in a drive motor.
In embodiments of the invention, a vehicle stabilization control unit may determine a control moment value for one or more gyroscopes coupled to a vehicle frame to exert for stabilization of the vehicle frame. A number of input axes for the flywheels of the one or more gyroscopes to precess may be increased in order to generate the determined control moment value. In some embodiments, the one or more gyroscopes are further coupled to a turntable, and increasing the number of input axes for the flywheels comprises rotating the turntable. Furthermore, in some embodiments, the one or more gyroscopes comprise at least two gyroscopes coupled inline to the vehicle frame (e.g., aligned lengthwise with respect to the front and rear wheel to spin and precess in opposite directions with respect to each other).
Embodiments of the invention describe modules/logic/circuitry to receive image data identifying terrain, environment, and/or one or more objects near a vehicle, determine a projection of the one or more objects with respect to the vehicle, determine whether the one or more objects will collide with the vehicle, and in response to determining the one or more objects will collide, altering the vehicle state. In some embodiments, altering the vehicle state is based, at least in part, on a driver position with respect to the one or more objects determined to collide with the vehicle (e.g., moving the vehicle to protect the drive). In some embodiments, altering the vehicle state comprises at least one of adjusting brakes of the vehicle to alter its trajectory, adjusting a steering wheel of the vehicle to alter its trajectory and adjusting an orientation or rotational speed of a flywheel (for CMG assisted vehicles).
B62D 37/06 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension au moyen de masses mobiles en utilisant des gyroscopes
B60R 21/013 - Circuits électriques pour déclencher le fonctionnement des dispositions de sécurité en cas d'accident, ou d'accident imminent, de véhicule comportant des moyens pour détecter les collisions, les collisions imminentes ou un renversement
B60T 7/12 - Organes d'attaque de la mise en action des freins par déclenchement automatiqueOrganes d'attaque de la mise en action des freins par déclenchement non soumis à la volonté du conducteur ou du passager
B60W 30/04 - Commande de la stabilité dynamique du véhicule destinée à la prévention du basculement
B60W 30/08 - Anticipation ou prévention de collision probable ou imminente
G05D 1/08 - Commande de l'attitude, c. à d. élimination ou réduction des effets du roulis, du tangage ou des embardées
24.
Electronic control system for gyroscopic stabilized vehicle
Embodiments of the invention describe receiving vehicle information data from a plurality of sensors. This vehicle information data may indicate at least orientation of a frame of a vehicle, orientation of a front wheel of the vehicle with respect to the frame, orientation and rotational speed of a flywheel included in a gyroscope coupled to the frame, and speed of frame. Based on the received data, a vehicle state may be determined. Based at least on this determination, at least one of the orientation and rotational speed of the flywheel may be adjusted. This adjustment may be further based on an input to change at least one of speed and direction of the vehicle.
Embodiments of the invention describe receiving, via a plurality of sensors, data indicating vehicle information. Said information may indicate at least orientation of a frame (110) of a vehicle (100), orientation of a front wheel (200) of the vehicle with respect to the frame, orientation and rotational speed of a first and second flywheel (270a, 270b) and speed of the vehicle. In one embodiment, each flywheel is included in a first and second gyroscope coupled to the vehicle frame. Based, at least in part, on the data received from the plurality of sensors, at least one of the orientation and rotational speed of at least one of the flywheels may be adjusted. Said adjustment may further be based on an input to change at least one of speed and direction of the vehicle.
B62D 37/06 - Stabilisation des caisses de véhicules sans agir sur les dispositifs de suspension au moyen de masses mobiles en utilisant des gyroscopes
B62D 61/02 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec deux roues en tandem disposées sur l'axe longitudinal du véhicule
Embodiments of the invention describe receiving, via a plurality of sensors, data indicating vehicle information. Said information may indicate at least orientation of a frame of a vehicle, orientation of a front wheel of the vehicle with respect to the frame, orientation and rotational speed of a first and second flywheel, and speed of the vehicle. In one embodiment, each flywheel is included in a first and second gyroscope coupled to the vehicle frame. Based, at least in part, on the data received from the plurality of sensors, at least one of the orientation and rotational speed of at least one of the flywheels may be adjusted. Said adjustment may further be based on an input to change at least one of speed and direction of the vehicle.
An apparatus for controlling a direction and speed of travel an autonomous vehicle or driver assisted autonomous vehicle (AV). A GPS and map module receive a start location and a destination location for the AV. A plurality of sensors identify a current and a proposed lane for the AV. A database of AV baseline maneuver profiles used to control one or more of direction and speed of travel of the AV is provided. A trajectory profile generator module generates a planned path for the AV with lateral acceleration less than 2 Hz, based on the start location, the destination location, the current and proposed lane for the AV, and a selected AV baseline maneuver profile from the database. A steering control module controls the direction of travel of the AV based on the generated AV planned path, and a supervisory control module controls the speed of the AV based on the generated AV planned path and inner ear constraints.
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.
B60W 10/20 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de direction
B60W 30/00 - Fonctions des systèmes d'aide à la conduite des véhicules routiers non liées à la commande d'un sous-ensemble particulier, p. ex. de systèmes comportant la commande conjuguée de plusieurs sous-ensembles du véhicule
B60W 50/16 - Signalisation tactile au conducteur, p. ex. vibration ou augmentation de la résistance sur le volant ou sur la pédale d'accélérateur
