WO2018162229A1 - Système de direction pour un véhicule et procédé de direction d'un véhicule - Google Patents

Système de direction pour un véhicule et procédé de direction d'un véhicule Download PDF

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Publication number
WO2018162229A1
WO2018162229A1 PCT/EP2018/054205 EP2018054205W WO2018162229A1 WO 2018162229 A1 WO2018162229 A1 WO 2018162229A1 EP 2018054205 W EP2018054205 W EP 2018054205W WO 2018162229 A1 WO2018162229 A1 WO 2018162229A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
wheel
vehicle
drive wheel
steering
Prior art date
Application number
PCT/EP2018/054205
Other languages
German (de)
English (en)
Inventor
Thilo WOLFF VON GUDENBERG
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2018162229A1 publication Critical patent/WO2018162229A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
    • B60S9/16—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring for operating only on one end of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
    • B60S9/16—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring for operating only on one end of vehicle
    • B60S9/18—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring for operating only on one end of vehicle mechanically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • 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 invention is based on a device or a method according to the preamble of the independent claims.
  • Single wheel drives in which the wheels of an axle can be driven individually, are known in particular for electric or hydraulic drives. By individually controlling the wheels, a vehicle can thus be forced to drive a curve.
  • Future autonomous vehicles have different and new requirements compared to conventional vehicles. Since, in addition to the development of autonomous driving, the electrification of the powertrain is being pushed further and further, a large part of the future autonomous vehicles will have electric drive concepts. Current prototypes and concepts confirm this trend. These concepts also confirm that many vehicles of this type tend to travel in low speed areas. This results in new possibilities for the realization of the steering.
  • a steering device for a vehicle a method for steering a vehicle and further a control device, which uses this method according to the main claims presented.
  • a control device which uses this method according to the main claims presented.
  • a steering device for an at least two-axle vehicle wherein the vehicle has a first drive wheel and a second drive wheel
  • Has drive wheel which are associated with a drive axle of the vehicle, and at least one further wheel, which is another axis of the
  • the steering device has the following features: a drive device which is designed to apply different torques to the first drive wheel and the second drive wheel for effecting a cornering of the vehicle; at least one shunting wheel for shunting the vehicle; and an adjusting device, which is formed to a distance of the Rangierrads to a road surface between a Rangier too and a
  • the vehicle may be a two-lane motor vehicle
  • the drive axle may be a front or rear axle of the vehicle.
  • a drive axle can be understood to mean a pair of wheels consisting of opposing wheels. The wheels can be carried by separate wheel carriers. Also can be imaginary under the drive axle
  • Line are understood by axes of rotation of the drive wheels.
  • a mechanical device can be understood under the drive axle.
  • the drive axle for example, have one or more shafts for driving the drive wheels.
  • the drive axle can, for example, with one or more transfer cases to implement a provided for example by a central drive unit of the drive device drive torque may be coupled in different torques for rotating the drive wheels.
  • the drive wheels can be driven directly by a respective drive motor of the drive device.
  • the drive device may be configured, for example, to act on the drive wheels with opposing torques, so that the drive wheels rotate in opposite directions.
  • the drive means may be configured to apply a torque to one of the drive wheels and to apply no torque to the other of the drive wheels.
  • the drive device may be designed to provide at least one suitable control signal to at least one drive, for example an electric motor or internal combustion engine, of the vehicle.
  • Rangierrad Under a Rangierrad can be understood a height-adjustable, in particular non-driven support wheel of the vehicle.
  • the shunting may, for example, as Castorrad, also called steering roller, be designed to be able to align independently according to a direction of movement of the vehicle.
  • the shunting may be rotatably mounted, for example, at least two different axes by 360 degrees, the two axes can be skewed to each other.
  • the shunting wheel can be arranged, for example, adjacent to the further axis, so that the shunting has a greater distance from the drive axis than the other axis.
  • a hydraulically, pneumatically or electrically operable device for height adjustment of the Rangierrads, in particular for adjusting the Rangierrads in the vertical direction, approximately parallel to a vertical axis of the vehicle to be understood.
  • the adjusting device can be designed to additionally drive the shunting wheel.
  • the shunting wheel can be used, for example, to raise a non-driven axle of the vehicle, such as a one- or two-wheeled passively steered trailing axle, in shunting.
  • a non-driven axle of the vehicle such as a one- or two-wheeled passively steered trailing axle, in shunting.
  • Such steering is particularly suitable for
  • the shunting wheel can be designed as a steering roller with a rotation axis and a skew axis aligned with the rotation axis. It can thereby be achieved that the shunting wheel automatically aligns itself in accordance with a direction of movement of the vehicle. Thus, a Lenkaktuatorik omitted for steering the Rangierrads.
  • the shunting wheel can be pivotable about the pivot axis by at least 360 degrees. This can increase the maneuverability of the vehicle.
  • the shunting wheel is arranged or can be arranged adjacent to the further axis.
  • the further axis can be raised with the least possible expenditure of force.
  • the shunting wheel can be fully rubber-tired.
  • the shunting can be particularly robust and compact realized.
  • the drive device
  • the drive device may have a first drive motor for driving the first drive wheel and a second drive motor, which can be controlled separately from the first drive motor, for driving the second drive wheel.
  • the drive wheels can be driven particularly efficiently.
  • the drive device can according to a further embodiment, at least one transfer case for converting an input torque into a first torque for driving the first drive wheel and a second
  • the drive wheels can efficiently with different torques, in particular, for example, with each other
  • the steering device may have the further axis.
  • the further axis can be designed as a steerable trailing axle.
  • a trailing axle for example, a passively steered trailing axle can be understood, the wheels run loosely on the road and thus passively be steered by the barrel of the vehicle.
  • the further axis may have at least two other wheels.
  • the stability of the vehicle can be increased when cornering.
  • the approach presented here also provides a method for steering a vehicle by means of a steering device according to one of the preceding
  • Embodiments the method comprising the steps of:
  • This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.
  • the approach presented here also provides a control unit which is designed to implement the steps of a variant of a method presented here to implement, control or implement appropriate facilities. Also by this embodiment of the invention in the form of a control device, the problem underlying the invention can be solved quickly and efficiently.
  • the controller is adapted to operate said steering device or devices of said steering device.
  • the control device comprises a receiving unit for receiving at least one control signal for maneuvering the vehicle, and an output unit which is designed to provide an adjustment signal to an interface to the adjusting device using the control signal in order to shift the shunting wheel into the Rangier ein, and formed is to use the control signal at least one drive signal to an interface to the
  • control unit may comprise at least one arithmetic unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting control signals to the actuator and / or or at least one
  • the arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit is a flash memory, an EPROM or a
  • the magnetic storage unit can be.
  • the communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface that can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output in a corresponding data transmission line.
  • a control device can be understood as an electrical device which processes sensor signals and, depending on these, controls and / or outputs data signals.
  • the control unit may have an interface, which may be formed in hardware and / or software. In a hardware training, the interfaces may for example be part of a so-called system ASICs, the various functions of the
  • Control unit includes.
  • the interfaces are their own integrated circuits or at least partially consist of discrete components.
  • the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.
  • control unit is used to control the vehicle.
  • control unit can access, for example, sensor signals such as acceleration, rotational speed, pressure, steering angle or environmental sensor signals.
  • sensor signals such as acceleration, rotational speed, pressure, steering angle or environmental sensor signals.
  • the control takes place via actuators such as brake or steering actuators or an engine control unit of the vehicle.
  • Fig. La is a schematic representation of a vehicle with a
  • Fig. Lb is a schematic representation of a vehicle with a
  • Fig. 2a is a schematic representation of a vehicle with a
  • 2b is a schematic representation of a vehicle with a
  • Fig. 3 is a schematic representation of a vehicle of Figure 2 in the rest position.
  • Fig. 4 is a schematic representation of a vehicle of Fig. 2 in
  • Fig. 5 is a schematic representation of a vehicle with a
  • Fig. 6 is a schematic representation of a vehicle with a
  • Fig. 7 is a schematic representation of a control device according to a
  • FIG. 1a shows a schematic illustration of a vehicle 100 with a steering device 102 according to one exemplary embodiment.
  • the vehicle 100 includes a drive axle 104, here by way of example a front axle of the vehicle
  • the further axis 106 is designed as a passively steered unicycling rear axle with a further wheel 108.
  • the further axis 106 is to be considered as a component of the steering device 102.
  • the further axis 106 can also be embodied as a multi-wheeled, in particular two-wheeled axle.
  • the drive axle 104 comprises a first drive wheel 110 and a second drive wheel 112 arranged opposite the first drive wheel 110. Both drive wheels 110, 112 are connected by a drive wheel 110
  • Drive device 114 with a first drive motor 116 for driving the first drive wheel 110 and a second drive motor 118 for driving the second drive wheel 112 executed.
  • the drive motors 116, 118 are each directly coupled to the corresponding drive wheel.
  • the drive wheels 110, 112 by means of the drive motors 116, 118 simultaneously rotatable in opposite directions of rotation.
  • the vehicle 100 is equipped with a shunting wheel 120 for shunting the vehicle 100 at low speeds.
  • the shunting wheel 120 according to FIG. 1 a is adjacent to the further axis 106 arranged.
  • the shunting wheel 120 may also be placed at a different location on the vehicle 100.
  • the Rangierrad 120 is mounted vertically adjustable on the vehicle 100. For height adjustment of the Rangierrads 120, the vehicle 100 includes a corresponding
  • Rangierrad 120 contact with the road surface, wherein the further axis 106 is raised by the extension of the Rangierrads 120 so far that the other wheel 108 has no contact with the road surface.
  • the rest position which corresponds to a retracted state of the Rangierrads 120
  • only the two drive wheels 110, 112 and the other wheel 108 contact with the road surface.
  • the vehicle 100 according to this embodiment is therefore only with a total of three wheels on the road surface, so a high maneuverability
  • the Rangierrad 120 is realized as a pivotable by 360 degrees, trailing steering roller.
  • high maneuverability can be achieved independently of a respective direction of travel of the vehicle 100 and without the use of additional steering actuators.
  • the vehicle may also be equipped with two Rangierziern, which are located on an axis parallel to the drive axle. In this case, the vehicle is in shunting position on a total of four wheels. A possible arrangement of the wheels can be seen in Fig. Lb.
  • the vehicle 100 has a controller 124 which is adapted to generate and output a first drive signal 126 for driving the first drive motor 116 and a second drive signal 128 for driving the second drive motor.
  • the controller 124 is according to a
  • Embodiment adapted to output at least one of the drive signals 126, 128 when the Rangierrad 120 is in the Rangier ein.
  • the controller 124 is part of
  • the controller 124 is further configured to output an adjustment signal 130 for driving the adjusting device 122 to the adjusting device 122.
  • the adjustment signal 130 is designed to effect the height adjustment of the Rangierrads 120.
  • the controller 124 additionally or alternatively configured to receive a position signal from the adjusting device 122, which indicates whether the Rangierrad 120 is in the rest position or the Rangier too.
  • the controller 124 may be configured to output at least one of the drive signals 126, 128 when the position signal indicates that the jog wheel 120 is in the
  • Shunting position is located. Is the further axis 106 as passively steered
  • control unit 124 Run after axle, the control unit 124 is also in the normal
  • Fig. Lb shows a schematic representation of a vehicle 100 with a
  • the steering device 102 comprises two shunting wheels 120 each having an adjusting device 122.
  • the shunting wheels 120 are, for example, at one another at a rear end of the vehicle 100
  • Rangierzier 120 and the respective adjusting devices 122 are identical.
  • FIG. 2 a shows a schematic illustration of a vehicle 100 having a steering device 102 according to an exemplary embodiment, for example a steering device described above with reference to FIG. 1.
  • the further axle 106 according to this exemplary embodiment is designed as a two-wheeled, passively steered trailing axle.
  • the shunting wheel 120 is arranged adjacent to the further axis 106. Also, two
  • Rangierzier 120 are used as shown in Fig. 2b.
  • FIG. 2 b shows a schematic illustration of a vehicle 100 having a steering device 102 according to an exemplary embodiment.
  • the steering device 102 according to this exemplary embodiment comprises two shunting wheels 120 each having an adjusting device 122.
  • the shunting wheels 120 are, for example, at one another at a rear end of the vehicle 100
  • Rangierzier 120 and the respective adjusting devices 122 are identical.
  • FIG. 3 shows a schematic illustration of a vehicle 100 from FIG. 2 a in the rest position of the shunting wheel 120.
  • the vehicle 100 is shown in FIG. 3
  • FIG. 4 shows a schematic illustration of a vehicle 100 from FIG. 2 a in the maneuvering position of the shunting wheel 120.
  • the vehicle 100 is shown in FIG. 4
  • the Rangierrad 120 is mounted about a pivot axis 400 and about a rotation axis 402 rotatably mounted on the vehicle 100.
  • the two axes 400, 402 are skewed to each other, so that the Rangierrad 120 has a caster 404.
  • the adjusting device 122 is designed, for example, to adjust the shunting wheel 120 in the direction of a vertical axis 406 of the vehicle 100.
  • the Rangierrad 120 is adjustable in at least one of the vertical axis 406 deviating direction.
  • the pivot axis 400 is aligned parallel to the vertical axis 406.
  • FIG. 5 shows a schematic representation of a vehicle 100 with a steering device 102 according to an exemplary embodiment.
  • the structure of the vehicle 100 shown in FIG. 5 essentially corresponds to the structure described above with reference to FIG. 1 a, with the difference that, according to this exemplary embodiment, the drive axle 104 is realized as a rear axle and the further axle 106 as a front axle. A front end of the vehicle 100 is indicated by a taper of the vehicle outline.
  • FIG. 6 shows a schematic representation of a vehicle 100 with a steering device 102 according to one exemplary embodiment.
  • the structure of the vehicle 100 shown in FIG. 6 essentially corresponds to the structure described above with reference to FIGS. 2 to 4, with the difference that, according to this exemplary embodiment, the drive axle 104 is realized as a rear axle and the additional axle 106 as a front axle.
  • a front end of the vehicle 100 shown in FIG. 5 essentially corresponds to the structure described above with reference to FIG. 1 a, with the difference that, according to this exemplary embodiment, the
  • Vehicle 100 is indicated as in FIG. 5 by a tapering of the vehicle outline.
  • FIG. 7 shows a schematic representation of a control device 124 according to an exemplary embodiment, for example a control device, as described above with reference to FIG. 1.
  • the control device 124 comprises a receiving unit 710 for receiving at least one example of a driver of the
  • Vehicle or a device for automated driving of the vehicle generated control signal 712 for maneuvering the vehicle.
  • the control signal 712 specifies a directional change of the vehicle suitable for making a desired turn.
  • An output unit 720 is configured to receive the control command 712 and process it to generate the adjustment signal 130 and the two drive signals 126, 128.
  • the controller 124 is configured to provide the adjustment signal 130 to an interface to the adjusting device 122 in response to the receipt of the control signal 712, the adjustment signal 130 being suitable for effecting an adjustment of the shunting wheel into the shunting position. Further, the controller 124 is configured to use the
  • Control signal 712 to provide at least one of the drive signals 126, 128 to an interface to the drive means, wherein the at least one drive signal 126, 128 is adapted to apply to the first drive wheel and the second drive wheel to effect the desired change in direction with appropriate different torques.
  • a magnitude of the torques can be determined by the control unit 124 using the control signal 712 or predetermined by the control signal 712.
  • FIG. 8 shows a flowchart of a method 800 according to FIG.
  • the method 800 for steering a vehicle may for example, using a steering device, as described above with reference to Figures 1 to 7, performed.
  • a step 810 the shunting wheel by means of the adjusting device in the
  • Rangier einzel provided.
  • the drive wheels of the drive axle are acted upon by appropriate driving of the drive means with different torques, as soon as the further axle has been raised by extending the Rangierrads in the Rangier ein on the road surface.
  • a passively steered trailing axle is raised as a further axle 106, which is designed as either one-wheeled or two-wheeled, in shunting operation of the vehicle 100 by one or more small castor wheels as shunting wheels 120.
  • Rangierrad 120 which is rotatable by 360 degrees, a very high maneuverability is now achieved in combination with the individually driven drive wheels 110, 112 of the front axle.
  • the vehicle chassis basically has the following topology.
  • Front axle is designed as a drive axle 104, wherein the drive wheels 110, 112 are individually controlled. This is realized by electric or hydraulic single wheel drives. The use of a central drive unit is possible if the drive train has corresponding transfer case, which are designed for wheel-individual control of the torques.
  • the rear axle includes either a central wheel 108 or two wheels 108 of arbitrary track width, the wheels 108 being air-ripened and may be similar or equal to the front wheels 110, 112.
  • the wheels 108 of the rear axle are designed, for example via corresponding axle suspensions as trailing wheels, with no complete rotation of 360 degrees is required. A restriction of the steering angle by space requirements is allowed.
  • the rotation of the wheel 108 or the wheels 108 about the vehicle vertical axis For example, additionally damped by optional damping elements.
  • the wheels 108 are connected to each other, for example via a trapezoidal linkage.
  • the wheels 108 of the rear axle are made individually rotatable.
  • the Rangierrad 120 is additionally mounted below the chassis, which is rotatable about 360 degrees about the vertical axis.
  • the shunting wheel 120 can be lowered by means of the adjusting device such that the rear axle is lifted from the ground, as shown in Fig. 4.
  • the Rangierrad 120 In the retracted state, previously also called rest position, the Rangierrad 120 is in or near the vehicle floor, so that the ground clearance is guaranteed to the road surface.
  • the extension mechanism in the form of the adjusting device 122 is realized hydraulically, pneumatically or via an electric spindle drive. Various linkages and guides are possible for the extension mechanism.
  • the shunting wheel 120 is
  • the Rangierrad 120 is fully retracted.
  • the vehicle 100 then stands, for example, completely on pneumatic tires.
  • Rangierrad 120 For Rangierfahrten the Rangierrad 120 is extended so far that the actual rear wheels lose contact with the ground.
  • the vehicle 100 stands on the rotating by 360 degrees Rangierrad 120. This can now be steered very freely on an individual control of the drive wheels 110, 112 on the front axle. Depending on the direction of rotation of the drive wheels 110, 112 is also a reverse or even a turn on the spot around the Vorderachsmitte possible.
  • the front and rear axles can be exchanged so that the
  • Rear axle is wheel-individually driven and the front axle as
  • Trailing axle is executed, as shown in Figures 5 and 6.
  • the Rangierrad 120 is then near the front axle.
  • Rangierrad 120 is passively steered, can be omitted an additional Lenkaktuatorik.
  • the regulation for maneuvering is thus virtually identical to the regulation during normal cornering.
  • the steered axle can also be designed as an actively steered axle, if this is constructively necessary, for example, due to the driving stability at higher speeds. In this case, cornering in normal forward operation works as usual via a steering actuator. By maneuvering, however, a very high maneuverability can be achieved.
  • an exemplary embodiment comprises an "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

L'invention concerne un dispositif de direction (102) pour un véhicule (100), le véhicule (100) présentant au moins un essieu moteur (104) avec au moins une première roue motrice (110) et une deuxième roue motrice (112) et au moins un essieu supplémentaire (106) avec au moins une roue supplémentaire (108). Le dispositif de direction (102) comprend un dispositif d'entraînement (114) qui est réalisé de manière à solliciter la première roue motrice (110) et la deuxième roue motrice (112) avec différents couples pour produire une conduite en virage du véhicule (100). En outre, le dispositif de direction (102) comprend au moins une roue de manœuvre (120) pour manœuvrer le véhicule (100) et un dispositif de réglage (122) qui est réalisé de manière à régler une distance de la roue de manœuvre (120) par rapport à une surface de la chaussée entre une position de manœuvre et une position de repos. Dans la position de manœuvre, la première roue motrice (110), la deuxième roue motrice (112) et la roue de manœuvre (120) sont en contact avec la surface de la chaussée, tandis que la roue supplémentaire (108) n'est pas en contact avec la surface de la chaussée. Dans la position de repos, au moins la première roue motrice (110), la deuxième roue motrice (112) et la roue supplémentaire (108) sont en contact avec la surface de la chaussée.
PCT/EP2018/054205 2017-03-07 2018-02-21 Système de direction pour un véhicule et procédé de direction d'un véhicule WO2018162229A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017203666.4A DE102017203666A1 (de) 2017-03-07 2017-03-07 Lenkvorrichtung für ein Fahrzeug und Verfahren zum Lenken eines Fahrzeugs
DE102017203666.4 2017-03-07

Publications (1)

Publication Number Publication Date
WO2018162229A1 true WO2018162229A1 (fr) 2018-09-13

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PCT/EP2018/054205 WO2018162229A1 (fr) 2017-03-07 2018-02-21 Système de direction pour un véhicule et procédé de direction d'un véhicule

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WO (1) WO2018162229A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111791845B (zh) * 2020-06-19 2022-04-01 张俊华 一种汽车横向行驶和原地掉头装置

Citations (3)

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Publication number Priority date Publication date Assignee Title
US6439332B1 (en) * 2001-07-13 2002-08-27 Robert Meurer Caster structure for attachment to a rear end of a skid-steer loader
EP2570332A1 (fr) * 2011-09-15 2013-03-20 OTO S.p.A. Essieu de traction amélioré pour machine de travail
DE102015109302A1 (de) * 2015-06-11 2016-12-15 LEQ GmbH & Co. KG Fahrzeugvorrichtung

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3444583A (en) 1967-04-20 1969-05-20 Melroe Mfg Co Vehicle with lift-off means for ease of steering
US6830114B2 (en) 2000-07-31 2004-12-14 Carl L. Hammonds Omni direction vehicle with material handling tool
CA2513614C (fr) 2005-07-21 2008-10-14 Macdon Industries Ltd. Tracteur a commande hydraulique de vitesse et de direction permettant de braquer a la vitesse maximale

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6439332B1 (en) * 2001-07-13 2002-08-27 Robert Meurer Caster structure for attachment to a rear end of a skid-steer loader
EP2570332A1 (fr) * 2011-09-15 2013-03-20 OTO S.p.A. Essieu de traction amélioré pour machine de travail
DE102015109302A1 (de) * 2015-06-11 2016-12-15 LEQ GmbH & Co. KG Fahrzeugvorrichtung

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