WO2014094915A1 - Active control of a vehicle-ground interface - Google Patents

Active control of a vehicle-ground interface Download PDF

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Publication number
WO2014094915A1
WO2014094915A1 PCT/EP2012/076831 EP2012076831W WO2014094915A1 WO 2014094915 A1 WO2014094915 A1 WO 2014094915A1 EP 2012076831 W EP2012076831 W EP 2012076831W WO 2014094915 A1 WO2014094915 A1 WO 2014094915A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
wheel
wheel assembly
retractable
ground
Prior art date
Application number
PCT/EP2012/076831
Other languages
French (fr)
Inventor
John Victor Gano
Original Assignee
John Victor Gano
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by John Victor Gano filed Critical John Victor Gano
Priority to PCT/EP2012/076831 priority Critical patent/WO2014094915A1/en
Publication of WO2014094915A1 publication Critical patent/WO2014094915A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00—Supports or stands forming part of or attached to cycles
    • B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
    • B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/07—Off-road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/12—Cycles; Motorcycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/40—Variable track or wheelbase vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/61—Load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0192—Inclination due to load distribution or road gradient longitudinal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/214—Traction, slip, skid or slide control by varying the load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9124—Roll-over protection systems, e.g. for warning or control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/95—Automatic Traction or Slip Control [ATC]
    • B60G2800/952—Electronic driving torque distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/142—Heavy duty trucks
    • B60Y2200/1422—Multi-axle trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels

Definitions

  • the present invention relates to a method to control at least one driving parameter such as power, stability, and adherence of a vehicle.
  • the document EP 2 414 212 presents a vehicle having wheel assemblies arranged to vary the caster angle.
  • the wheel assemblies of this vehicle may comprise their own electric motor, so that friction, abrasion, inertia always occur during driving, even if the motor is not used to power the vehicle, during driving down a slope for example. It results that wearing of the wheel assemblies and/or energy losses from drag will negatively affect the efficiency and lifetime of such vehicle.
  • the present invention aims to solve these aforementioned drawbacks and is directed to propose first a method to improve the efficiency and lifetime of a vehicle.
  • a first aspect of the invention is a method of control of ground contact of a vehicle-ground interface, the vehicle having wheels in contact with a ground and further comprising at least one retractable wheel assembly with a wheel arranged to be moved between:
  • the method according to this embodiment adjusts the number of wheels in contact with the ground to optimize the driving condition. It results that the wheel of the at least one retractable wheel is used only when it is required. Savings are achieved during all the phases of driving when the contact of this wheel is not needed. The overall efficiency is improved, and the lifetime of the retractable wheel is increased, as abrasion and wearing do not occur when the wheel of the at least one retractable wheel assembly is not in contact with the ground.
  • the said at least one retractable wheel assembly comprises a motor arranged to transmit a first power to its wheel, the at least one driving parameter is a maximum power applicable to the wheels of the vehicle in contact with the ground, the predetermined target is a calculated power to be applied to the wheels of the vehicle in contact with the ground to reach a target speed, and:
  • the wheel of the at least one retractable wheel assembly is moved to the first position or kept in this first position, and its motor is used to transmit power to its wheel;
  • the wheel of the at least one wheel assembly is moved to the second position or kept in this second position.
  • the method is comprising a step of shutting down the motor of the at least one retractable wheel assembly, when the wheel is moved to the second position.
  • the power is saved and the wearing of the retractable assembly is reduced as soon as the wheel is not anymore in contact with the ground.
  • the at least one retractable wheel assembly comprises its own motor. Only when there is a need in extra power (when the vehicle is driving up a slope for example), the wheel of the at least one retractable wheel assembly is moved down to power the vehicle. When the vehicle is driving down a slope, the wheel of the at least one retractable wheel assembly is moved up, as it is not necessary any more to power the vehicle. With this step of moving up the wheel of the at least one retractable wheel assembly when the vehicle does not require power to move, all the mechanisms (wheel, bearings, motor) of the wheel of the at least one retractable wheel assembly are not used and thus prevented from wearing and abrasion. In addition, there is less resistance to driving at the vehicle level (reduction of friction, of inertia), then the efficiency is improved and less power is needed to move the vehicle, resulting for example in a greater range for vehicle and/or longer number of hours for battery charge.
  • the vehicle presents a left side and a right side and comprises at least a first retractable wheel assembly at the left side and a second retractable wheel assembly at the right side
  • the driving parameter is a rolling of the vehicle
  • the predetermined target is a maximum inclination of the vehicle
  • the wheel of the first retractable wheel assembly is moved to the second position or kept in this second position and the wheel of the second retractable wheel assembly is moved to the first position or kept in this first position;
  • the wheel of the second retractable wheel assembly is moved to the second position or kept in this second position and the wheel of the first retractable wheel assembly is moved to the first position or kept in this first position.
  • stability and safety of the vehicle are improved, only when it is needed, during the changes of direction or bends during the travel of the vehicle.
  • the maximum inclination may be defined as the limit above which the safety, comfort or handling may be impaired.
  • the wheel of the right and left retractable wheel assemblies are moved down in contact with the ground only when the need to an increased stability or safety is needed, thus preventing wearing and abrasion the rest of the time (for example driving at a stabilized speed on a straight road).
  • the rolling measurement step comprises a measurement of an acceleration in a direction transverse to the vehicle and a calculation of the rolling based on the measurement of the transverse acceleration.
  • the measurement of the transverse acceleration gives an accurate measurement of the inclination and more rapidly (as it is the acceleration which creates the inclination).
  • the measurement of the transverse acceleration will not require any additional cost.
  • the driving parameter is an adherence of the vehicle, and the measurement of the adherence is based on the measurement of at least one outdoor parameter.
  • the adherence is dependent on the ground contacts of the vehicle, and these ground contacts depend on outdoor parameters which can affect the friction ratio.
  • the vehicle is following a journey
  • the at least one outdoor parameter is a weather condition during the journey.
  • the weather especially temperature and/or humidity
  • the friction ratio may depend on the pressure of contact, so that if the weather is hot and dry, the adherence will increase with the surface of contact between the wheels and the ground. On the other hand, if the ground is cold and icy, the adherence will increase when the surface of contact is decreased.
  • the vehicle is following a journey
  • the at least one outdoor parameter is a road type followed along the journey.
  • the nature of the ground influences the adherence.
  • the at least one retractable wheel assembly comprises a motor to power its wheel, and the step of moving, during the movement of the vehicle, the wheel of the at least one retractable wheel assembly to the first position is preceded by the steps consisting in: - measuring a speed of movement of the vehicle,
  • This embodiment achieves a preliminary rotation of the wheel of the at least one retractable wheel assembly before it enters in contact with the ground, so that sudden stress and high damage of the tire of the wheel is avoided, such as occurs during aircraft landing.
  • FIG. 1 a represents a first embodiment of a vehicle in movement, with retractable wheels controlled by a method according to the present invention
  • - Figure 1 b represents the vehicle of figure 1 a, in another driving condition
  • - Figure 2a represents a second embodiment of a vehicle in movement, with retractable wheels controlled by a method according to the present invention
  • FIG. 2b represents the vehicle of figure 2a, in another driving condition;
  • - figure 2c represents an alternative of the vehicle of figures 2a and
  • FIG. 3a represents a third embodiment of a vehicle in movement, with retractable wheels controlled by a method according to the present invention
  • FIG. 2b represents the vehicle of figure 3a, in another driving condition.
  • Figure 1 a represents a vehicle 10a driving up a slope, as shown by the arrow.
  • the vehicle 10a comprises four pair of wheels, only the wheels on the right side of the vehicle 10a are visible. Two pairs of these wheels are belonging to retractable wheel assemblies.
  • the wheels 20a and 30a are the ones visible on the right side of the vehicle 10a.
  • Each of these retractable wheel assemblies comprises its own motor, which can be an electric motor. This motor is arranged to power the wheel of its retractable wheel assembly. So that each of the wheels 20a, 30a may provide an extra power if needed.
  • the vehicle 10a is driving up a slope and the speed target for driving is such that the maximum power applicable to the vehicle wheels 40a and 50a is insufficient to reach the target speed.
  • the wheels 20a, 30a have been moved down to contact the ground, and their respective motors have been actuated to transmit power to the wheels 20a, 30a.
  • the vehicle 10a may reach the speed target or at least reduce the difference between the speed target and the achievable speed.
  • the method according to the present invention has determined at the beginning of the slope that the power required to overcome the slope and reach the speed target was more important than the maximum power applicable to the wheel 40a, 50a in contact with the ground, and lifted down the wheels 20a, 30a to contact the ground.
  • the respective motors of the wheels 20a, 30a Prior to this movement down, the respective motors of the wheels 20a, 30a have been actuated to initiate the rotation of wheels 20a, 30a so that they were already rotating to the adequate rotation speed when contacting the ground, to avoid a sudden acceleration and tearing of the tires of the wheels 20a, 30a.
  • Figure 1 b represents the vehicle 10a of figure 1 a, but while driving down a slope.
  • the vehicle 10a is powered by its own weight.
  • the motors of the wheels 20a and 30a do not need to be used to power the vehicle 10a, so that the wheels 20a and 30a are lifted up as shown, to avoid unnecessary wearing, abrasion, and/or friction.
  • the retracted wheels do not rotate, thus increasing their lifetime, and in addition, increasing the overall efficiency of the vehicle 10a, as there are less mechanical losses (such as friction, inertia). It may be noted that this solution may be more interesting than letting the wheels 20a, 30a in contact with the ground, to charge a battery.
  • the charging of the battery by kinetic energy recovery has inefficiencies (mechanical friction within the bearings, motor, electric losses due to Joule effect in the wires, chemical losses in the battery) and it may be better to lift up the wheel, to remove the loss of energy due to frictions in order to conserve battery power to extend the vehicle's range and/or hours of battery charge.
  • Figure 2a represents a second embodiment of a vehicle 10b in movement, and having six wheels. Two of these six wheels are belonging to a retractable wheel assembly: the wheels 20b and 30b.
  • the vehicle 10b is driving along a straight road the stability is correct, as there is no transverse acceleration.
  • the wheels 20b, 30b do not need to contact the ground.
  • Figure 2b represents the vehicle 10b of figure 2a, but driving along a bend to the right.
  • the vehicle 10b is subjected to a transverse acceleration (i.e. a centrifugal force), that creates a rolling of the vehicle 10b.
  • a transverse acceleration i.e. a centrifugal force
  • the wheel 20b which is located at the left side of the vehicle is lifted down to contact the ground, to provide an extra support of the vehicle 10b, to withstand the rolling of the vehicle, so that the inclination is limited to an acceptable value.
  • the wheel 30b has the same function, but in bends to the left.
  • Figure 2c represents an alternative of the vehicle 10b of figures 2a and 2b.
  • the retractable wheel assemblies are independent, it is possible to arrange them in a way where they are not paired, so that a further flexibility in design is reached.
  • the retractable wheels are not facing to each other, thus the vehicle body may be adapted to specific requirements for geometry of doors, internal arrangement, battery pack location, or the like.
  • FIG 3a represents a vehicle according to a third embodiment.
  • the vehicle 10c is a motorbike, represented in a movement on a rectilinear road. As presented, the motorbike is vertical, as no transversal acceleration is to be withstood and the motorbike contacts the ground via two wheels: a front wheel (represented) and a rear wheel (not shown).
  • Figure 3b represents the motorbike of the figure 3a, but during a bend to the left.
  • the motorbike is inclined by its driver, and the transversal acceleration is withstood by the adherence of the tires.
  • a wheel 20c of a retractable wheel assembly is lifted down to contact the ground, in order to provide an extra adherence, so that the safety of the driver is increased.
  • a reaction force is provided by the wheel 20c, so that stability, suspension and traction are improved.
  • the robustness of the vehicle is improved: for example, one or more non functional wheel assembly(ies) for any reason (failure or accident) will not immobilize the vehicle, as this (or these) assembly(ies) may be lifted up to the second position to allow continued driving.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

Method of control of ground contact of a vehicle comprising at least one retractable wheel assembly with a wheel arranged to be moved between: - a first position where the wheel of said retractable wheel assembly is in contact with the ground and - a second position where the wheel of said retractable wheel assembly is not in contact with the ground, the method comprising the steps of: - measuring at least one driving parameter depending on ground contact of said vehicle; - calculating a difference between the at least one driving parameter measurement and a predetermined target for the at least one driving parameter; - moving, during the movement of the vehicle, the wheel of the at least one retractable wheel assembly to one of the first or second position to minimize the calculated difference between the at least one driving parameter and the predetermined target.

Description

ACTI V E CONTROL O F A V EH I CLE-G RO U N D I NTE R FAC E
The present invention relates to a method to control at least one driving parameter such as power, stability, and adherence of a vehicle.
The document EP 2 414 212 presents a vehicle having wheel assemblies arranged to vary the caster angle. However, the wheel assemblies of this vehicle may comprise their own electric motor, so that friction, abrasion, inertia always occur during driving, even if the motor is not used to power the vehicle, during driving down a slope for example. It results that wearing of the wheel assemblies and/or energy losses from drag will negatively affect the efficiency and lifetime of such vehicle.
The present invention aims to solve these aforementioned drawbacks and is directed to propose first a method to improve the efficiency and lifetime of a vehicle.
With this goal in mind, a first aspect of the invention is a method of control of ground contact of a vehicle-ground interface, the vehicle having wheels in contact with a ground and further comprising at least one retractable wheel assembly with a wheel arranged to be moved between:
- a first position where the wheel of said retractable wheel assembly is in contact with the ground and
- a second position where the wheel of said retractable wheel assembly is not in contact with the ground,
the method comprising the steps of:
- measuring, during a movement of the vehicle, at least one driving parameter depending on ground contact of said vehicle;
- calculating a difference between the at least one driving parameter measurement and a predetermined target for the at least one driving parameter;
- moving, during the movement of the vehicle, the wheel of the at least one retractable wheel assembly to one of the first or second position to minimize the calculated difference between the at least one driving parameter and the predetermined target.
The method according to this embodiment adjusts the number of wheels in contact with the ground to optimize the driving condition. It results that the wheel of the at least one retractable wheel is used only when it is required. Savings are achieved during all the phases of driving when the contact of this wheel is not needed. The overall efficiency is improved, and the lifetime of the retractable wheel is increased, as abrasion and wearing do not occur when the wheel of the at least one retractable wheel assembly is not in contact with the ground.
According to one embodiment, the said at least one retractable wheel assembly comprises a motor arranged to transmit a first power to its wheel, the at least one driving parameter is a maximum power applicable to the wheels of the vehicle in contact with the ground, the predetermined target is a calculated power to be applied to the wheels of the vehicle in contact with the ground to reach a target speed, and:
- if the maximum power is lower than the calculated power, the wheel of the at least one retractable wheel assembly is moved to the first position or kept in this first position, and its motor is used to transmit power to its wheel;
- if the maximum power minus the first power is higher than the calculated power, the wheel of the at least one wheel assembly is moved to the second position or kept in this second position.
According to one embodiment, the method is comprising a step of shutting down the motor of the at least one retractable wheel assembly, when the wheel is moved to the second position. The power is saved and the wearing of the retractable assembly is reduced as soon as the wheel is not anymore in contact with the ground.
According to this embodiment, the at least one retractable wheel assembly comprises its own motor. Only when there is a need in extra power (when the vehicle is driving up a slope for example), the wheel of the at least one retractable wheel assembly is moved down to power the vehicle. When the vehicle is driving down a slope, the wheel of the at least one retractable wheel assembly is moved up, as it is not necessary any more to power the vehicle. With this step of moving up the wheel of the at least one retractable wheel assembly when the vehicle does not require power to move, all the mechanisms (wheel, bearings, motor) of the wheel of the at least one retractable wheel assembly are not used and thus prevented from wearing and abrasion. In addition, there is less resistance to driving at the vehicle level (reduction of friction, of inertia), then the efficiency is improved and less power is needed to move the vehicle, resulting for example in a greater range for vehicle and/or longer number of hours for battery charge.
According to one embodiment, the vehicle presents a left side and a right side and comprises at least a first retractable wheel assembly at the left side and a second retractable wheel assembly at the right side, the driving parameter is a rolling of the vehicle, the predetermined target is a maximum inclination of the vehicle, and
- if the vehicle rolling exceeds the maximum inclination to the left side, the wheel of the first retractable wheel assembly is moved to the second position or kept in this second position and the wheel of the second retractable wheel assembly is moved to the first position or kept in this first position;
- if the vehicle rolling exceeds the maximum inclination to the right side, the wheel of the second retractable wheel assembly is moved to the second position or kept in this second position and the wheel of the first retractable wheel assembly is moved to the first position or kept in this first position.
According to this embodiment, stability and safety of the vehicle are improved, only when it is needed, during the changes of direction or bends during the travel of the vehicle. The maximum inclination may be defined as the limit above which the safety, comfort or handling may be impaired. The wheel of the right and left retractable wheel assemblies are moved down in contact with the ground only when the need to an increased stability or safety is needed, thus preventing wearing and abrasion the rest of the time (for example driving at a stabilized speed on a straight road).
According to one embodiment, the rolling measurement step comprises a measurement of an acceleration in a direction transverse to the vehicle and a calculation of the rolling based on the measurement of the transverse acceleration. The measurement of the transverse acceleration gives an accurate measurement of the inclination and more rapidly (as it is the acceleration which creates the inclination). In addition, if the vehicle is equipped with air bags and accelerometers, the measurement of the transverse acceleration will not require any additional cost.
According to one embodiment, the driving parameter is an adherence of the vehicle, and the measurement of the adherence is based on the measurement of at least one outdoor parameter. The adherence is dependent on the ground contacts of the vehicle, and these ground contacts depend on outdoor parameters which can affect the friction ratio.
According to one embodiment, the vehicle is following a journey, the at least one outdoor parameter is a weather condition during the journey. The weather (especially temperature and/or humidity) affects the friction ratio between the wheels and the ground. The friction ratio may depend on the pressure of contact, so that if the weather is hot and dry, the adherence will increase with the surface of contact between the wheels and the ground. On the other hand, if the ground is cold and icy, the adherence will increase when the surface of contact is decreased.
According to one embodiment, the vehicle is following a journey, the at least one outdoor parameter is a road type followed along the journey. The nature of the ground influences the adherence.
According to one embodiment, the at least one retractable wheel assembly comprises a motor to power its wheel, and the step of moving, during the movement of the vehicle, the wheel of the at least one retractable wheel assembly to the first position is preceded by the steps consisting in: - measuring a speed of movement of the vehicle,
- calculating a corresponding rotation speed of the wheel of the at least one retractable wheel assembly, and
- powering the wheel of the at least one retractable wheel assembly to achieve the calculated rotation speed, before entering in contact with the ground.
This embodiment achieves a preliminary rotation of the wheel of the at least one retractable wheel assembly before it enters in contact with the ground, so that sudden stress and high damage of the tire of the wheel is avoided, such as occurs during aircraft landing.
Other characteristics and advantages of the present invention will appear more clearly from the following detailed description of particular non- limitative examples of the invention, illustrated by the appended drawings where:
- Figure 1 a represents a first embodiment of a vehicle in movement, with retractable wheels controlled by a method according to the present invention;
- Figure 1 b represents the vehicle of figure 1 a, in another driving condition; - Figure 2a represents a second embodiment of a vehicle in movement, with retractable wheels controlled by a method according to the present invention;
- Figure 2b represents the vehicle of figure 2a, in another driving condition; - figure 2c represents an alternative of the vehicle of figures 2a and
2b;
- Figure 3a represents a third embodiment of a vehicle in movement, with retractable wheels controlled by a method according to the present invention - Figure 2b represents the vehicle of figure 3a, in another driving condition.
Figure 1 a represents a vehicle 10a driving up a slope, as shown by the arrow. The vehicle 10a comprises four pair of wheels, only the wheels on the right side of the vehicle 10a are visible. Two pairs of these wheels are belonging to retractable wheel assemblies. The wheels 20a and 30a are the ones visible on the right side of the vehicle 10a. Each of these retractable wheel assemblies comprises its own motor, which can be an electric motor. This motor is arranged to power the wheel of its retractable wheel assembly. So that each of the wheels 20a, 30a may provide an extra power if needed. As shown on figure 1 , the vehicle 10a is driving up a slope and the speed target for driving is such that the maximum power applicable to the vehicle wheels 40a and 50a is insufficient to reach the target speed. Then the wheels 20a, 30a have been moved down to contact the ground, and their respective motors have been actuated to transmit power to the wheels 20a, 30a. With the wheels 20a, 30a in contact with the ground and powered by thir respective motors, the vehicle 10a may reach the speed target or at least reduce the difference between the speed target and the achievable speed. In other words, the method according to the present invention has determined at the beginning of the slope that the power required to overcome the slope and reach the speed target was more important than the maximum power applicable to the wheel 40a, 50a in contact with the ground, and lifted down the wheels 20a, 30a to contact the ground. Prior to this movement down, the respective motors of the wheels 20a, 30a have been actuated to initiate the rotation of wheels 20a, 30a so that they were already rotating to the adequate rotation speed when contacting the ground, to avoid a sudden acceleration and tearing of the tires of the wheels 20a, 30a.
Figure 1 b represents the vehicle 10a of figure 1 a, but while driving down a slope. During this phase, the vehicle 10a is powered by its own weight. Under this condition, the motors of the wheels 20a and 30a do not need to be used to power the vehicle 10a, so that the wheels 20a and 30a are lifted up as shown, to avoid unnecessary wearing, abrasion, and/or friction. It results that the retracted wheels do not rotate, thus increasing their lifetime, and in addition, increasing the overall efficiency of the vehicle 10a, as there are less mechanical losses (such as friction, inertia). It may be noted that this solution may be more interesting than letting the wheels 20a, 30a in contact with the ground, to charge a battery. Indeed, the charging of the battery by kinetic energy recovery has inefficiencies (mechanical friction within the bearings, motor, electric losses due to Joule effect in the wires, chemical losses in the battery) and it may be better to lift up the wheel, to remove the loss of energy due to frictions in order to conserve battery power to extend the vehicle's range and/or hours of battery charge.
Figure 2a represents a second embodiment of a vehicle 10b in movement, and having six wheels. Two of these six wheels are belonging to a retractable wheel assembly: the wheels 20b and 30b. The vehicle 10b is driving along a straight road the stability is correct, as there is no transverse acceleration. The wheels 20b, 30b do not need to contact the ground.
Figure 2b represents the vehicle 10b of figure 2a, but driving along a bend to the right. In this case, the vehicle 10b is subjected to a transverse acceleration (i.e. a centrifugal force), that creates a rolling of the vehicle 10b. To avoid having an excessive rolling that may create a dangerous situation (a roll over of the vehicle 10b) or may create inconvenience to the passengers of vehicle 10b, the wheel 20b which is located at the left side of the vehicle is lifted down to contact the ground, to provide an extra support of the vehicle 10b, to withstand the rolling of the vehicle, so that the inclination is limited to an acceptable value. It is without saying that the wheel 30b has the same function, but in bends to the left.
Figure 2c represents an alternative of the vehicle 10b of figures 2a and 2b. As the retractable wheel assemblies are independent, it is possible to arrange them in a way where they are not paired, so that a further flexibility in design is reached. As represented on figure 2c, the retractable wheels are not facing to each other, thus the vehicle body may be adapted to specific requirements for geometry of doors, internal arrangement, battery pack location, or the like.
Figure 3a represents a vehicle according to a third embodiment. The vehicle 10c is a motorbike, represented in a movement on a rectilinear road. As presented, the motorbike is vertical, as no transversal acceleration is to be withstood and the motorbike contacts the ground via two wheels: a front wheel (represented) and a rear wheel (not shown).
Figure 3b represents the motorbike of the figure 3a, but during a bend to the left. To drive along a bend, the motorbike is inclined by its driver, and the transversal acceleration is withstood by the adherence of the tires. To improve this adherence, a wheel 20c of a retractable wheel assembly is lifted down to contact the ground, in order to provide an extra adherence, so that the safety of the driver is increased. A reaction force is provided by the wheel 20c, so that stability, suspension and traction are improved.
It is understood that obvious improvements and/or modifications for one skilled in the art may be implemented, being under the scope of the invention as it is defined by the appended claims. In particular, it is referred to vehicles having at least one retractable wheel assembly, but it may be contemplated that all the wheel assemblies are retractable. It may also be contemplated to retract a wheel assembly as soon as there is an issue with the functioning of the wheel assembly. For example, a wheel having a punctured tire becomes flat, and to avoid a stop to exchange the wheel, it may be lifted up, to finish the journey. The robustness of the vehicle is improved: for example, one or more non functional wheel assembly(ies) for any reason (failure or accident) will not immobilize the vehicle, as this (or these) assembly(ies) may be lifted up to the second position to allow continued driving.

Claims

CLAI M S
1 . Method of control of a vehicle-ground interface, the vehicle (10a, 10b, 10c) having wheels in contact with a ground and further comprising at least one retractable wheel assembly with a wheel (20a, 20b, 20c, 30a, 30b) arranged to be moved between:
- a first position where the wheel (20a, 20b, 20c, 30a, 30b) of said retractable wheel assembly is in contact with the ground and
- a second position where the wheel (20a, 20b, 20c, 30a, 30b) of said retractable wheel assembly is not in contact with the ground,
the method comprising the steps of:
- measuring, during a movement of the vehicle (10a, 10b, 10c), at least one driving parameter depending on ground contact of said vehicle (10a, 10b, 10c);
- calculating a difference between the at least one driving parameter measurement and a predetermined target for the at least one driving parameter;
- moving, during the movement of the vehicle (10a, 10b, 10c), the wheel (20a, 20b, 20c, 30a, 30b) of the at least one retractable wheel assembly to one of the first or second position to minimize the calculated difference between the at least one driving parameter and the predetermined target.
2. The method according to claim 1 , wherein the said at least one retractable wheel assembly comprises a motor arranged to transmit a first power to its wheel (20a, 20b, 20c, 30a, 30b), wherein the at least one driving parameter is a maximum power applicable to the wheels of the vehicle (10a, 10b, 10c) in contact with the ground, wherein the predetermined target is a calculated power to be applied to the wheels of the vehicle (10a, 10b, 10c) in contact with the ground to reach a target speed, and wherein:
- if the maximum power is lower than the calculated power, the wheel (20a, 20b, 20c, 30a, 30b) of the at least one retractable wheel assembly is moved to the first position or kept in this first position, and its motor is used to transmit power to its wheel (20a, 20b, 20c, 30a, 30b);
- if the maximum power minus the first power is higher than the calculated power, the wheel (20a, 20b, 20c, 30a, 30b) of the at least one wheel assembly is moved to the second position or kept in this second position.
3. The method according to claim 2, comprising a step of shutting down the motor of the at least one retractable wheel assembly, when the wheel (20a, 20b, 20c, 30a, 30b) is moved to the second position.
4. The method according to claim 1 wherein the vehicle (10a, 10b, 10c) presents a left side and a right side and comprises at least a first retractable wheel assembly at the left side and a second retractable wheel assembly at the right side, wherein the driving parameter is a rolling of the vehicle (10a, 10b, 10c), wherein the predetermined target is a maximum inclination of the vehicle (10a, 10b, 10c), and wherein
- if the vehicle (10a, 10b, 10c) rolling exceeds the maximum inclination to the left side, the wheel (20a, 20b, 20c, 30a, 30b) of the first retractable wheel assembly is moved to the second position or kept in this second position and the wheel (20a, 20b, 20c, 30a, 30b) of the second retractable wheel assembly is moved to the first position or kept in this first position;
- if the vehicle (10a, 10b, 10c) rolling exceeds the maximum inclination to the right side, the wheel (20a, 20b, 20c, 30a, 30b) of the second retractable wheel assembly is moved to the second position or kept in this second position and the wheel (20a, 20b, 20c, 30a, 30b) of the first retractable wheel assembly is moved to the first position or kept in this first position.
5. The method according to claim 4 wherein the rolling measurement step comprises a measurement of an acceleration in a direction transverse to the vehicle (10a, 10b, 10c) and a calculation of the rolling based on the measurement of the transverse acceleration.
6. The method according to claim 1 , wherein the driving parameter is an adherence of the vehicle (10a, 10b, 10c) to the ground, and wherein the measurement of the adherence is based on the measurement of at least one outdoor parameter.
7. The method according to claim 6, wherein the vehicle (10a, 10b, 10c) is following a journey, wherein the at least one outdoor parameter is a weather condition during the journey.
8. The method according to claim 6 or 7, wherein the vehicle (10a, 10b, 10c) is following a journey, wherein the at least one outdoor parameter is a road type followed along the journey.
9. The method according to any of the preceding claims, wherein the at least one retractable wheel assembly comprises a motor to power its wheel (20a, 20b, 20c, 30a, 30b), and wherein the step of moving, during the movement of the vehicle (10a, 10b, 10c), the wheel (20a, 20b, 20c, 30a, 30b) of the at least one retractable wheel assembly to the first position is preceded by the steps consisting in:
- measuring a speed of movement of the vehicle (10a, 10b, 10c),
- calculating a corresponding rotation speed of the wheel (20a, 20b, 20c, 30a, 30b) of the at least one retractable wheel assembly, and
- powering the wheel (20a, 20b, 20c, 30a, 30b) of the at least one retractable wheel assembly to achieve the calculated rotation speed, before entering in contact with the ground.
PCT/EP2012/076831 2012-12-21 2012-12-21 Active control of a vehicle-ground interface WO2014094915A1 (en)

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JP2001105927A (en) * 1999-10-06 2001-04-17 Nissan Diesel Motor Co Ltd Roll-over preventing device for vehicle
US20040098185A1 (en) * 2002-11-18 2004-05-20 Wang Everett X. Computerized automated dynamic control system for single-track vehicles
US20040231904A1 (en) * 2003-02-21 2004-11-25 Beck Michael S. System and method for actively controlling traction in an articulated vehicle
DE10354289A1 (en) * 2003-11-20 2005-06-23 Daimlerchrysler Ag Traction behavior device e.g. for driving wheels of vehicle, arranged in vehicle having axles connected to steering axle and driving axles connected to shafts and drive slip regulator which is controlled by computer system
EP1571014A2 (en) * 2004-03-04 2005-09-07 WABCO GmbH & CO. OHG Start-assist for a vehicle
DE102006060842A1 (en) * 2006-12-22 2008-06-26 Daimler Ag Tandem axle with drivable lift axle
DE102008054328A1 (en) * 2008-11-03 2009-06-10 Daimler Ag Vehicle i.e. commercial vehicle such as lorry, has axle lowerable and liftable within predetermined time period by control unit depending on predetermined threshold value and axle load and independent of axle load
EP2414212A1 (en) 2010-05-28 2012-02-08 Gano, John Victor Omni-directional wheel assembly and omni-directional vehicle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4691798A (en) * 1985-10-10 1987-09-08 Engelbach Thomas S System for automatically preventing turnover of two wheeled vehicles
JP2001105927A (en) * 1999-10-06 2001-04-17 Nissan Diesel Motor Co Ltd Roll-over preventing device for vehicle
US20040098185A1 (en) * 2002-11-18 2004-05-20 Wang Everett X. Computerized automated dynamic control system for single-track vehicles
US20040231904A1 (en) * 2003-02-21 2004-11-25 Beck Michael S. System and method for actively controlling traction in an articulated vehicle
DE10354289A1 (en) * 2003-11-20 2005-06-23 Daimlerchrysler Ag Traction behavior device e.g. for driving wheels of vehicle, arranged in vehicle having axles connected to steering axle and driving axles connected to shafts and drive slip regulator which is controlled by computer system
EP1571014A2 (en) * 2004-03-04 2005-09-07 WABCO GmbH & CO. OHG Start-assist for a vehicle
DE102006060842A1 (en) * 2006-12-22 2008-06-26 Daimler Ag Tandem axle with drivable lift axle
DE102008054328A1 (en) * 2008-11-03 2009-06-10 Daimler Ag Vehicle i.e. commercial vehicle such as lorry, has axle lowerable and liftable within predetermined time period by control unit depending on predetermined threshold value and axle load and independent of axle load
EP2414212A1 (en) 2010-05-28 2012-02-08 Gano, John Victor Omni-directional wheel assembly and omni-directional vehicle

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