OmniSteer – multidirectional chassis system based on wheel-individual steering

Nees, Dominik; Altherr, Jannick; Mayer, Monique N.; Frey, Michael; Buchwald, Sebastian; Kautzmann, Philipp

doi:10.1007/978-3-658-26435-2_36

Cited by 7 publications

(3 citation statements)

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“…In addition to the explicitly described variants, other innovative concepts exist that are not presented in detail here. These include the axle module vTtrack from Reycon (Reybrouck Consulting & Innovation BV 2023), the EasyTurn strut axle concept from ZF (ZF 2023), the Steering-Wishbones from Schae er/KIT (Nees et al 2020) and the UTM trailing arm axle (Rasul et al 2015).…”

Section: Other Chassis Conceptsmentioning

confidence: 99%

Chassis concept of the individually steerable five-link suspension: a novel approach to maximize the road wheel angle to improve vehicle agility

Schmitz

2024

Preprint

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The Institute of Vehicle Systems Engineering at Ulm University of Applied Sciences is currently developing the autonomous concept vehicle Nimbulus-e in the strategic field "Intelligent Commercial Vehicles" with the aim of maneuvering as agilely as possible in confined spaces. To achieve high agility under the conditions mentioned, large road wheel steering angles are necessary. As part of the basic vehicle concept, the first step is to select a suitable chassis for this purpose. Conventional suspensions cannot be applied due to the mechanical connection of the tie rod to the steering knuckle limiting the road wheel angles. Therefore, the approaches published so far for individual chassis concepts with large steering angles are analyzed and evaluated for use. In this paper, the concept of a novel individually steerable five-link suspension is described. The concept includes a vehicle body mounted steering actuator connected to the chassis via a self-locking worm gear. Due to the body mounted connection of the steering actuator, it does not contribute to the unsprung mass. An analysis of the kinematic and elastokinematic properties and the achievable road wheel steering angle is presented. In the Nimbulus-e concept vehicle, the individually steerable corner module is used on both the front and the rear axle. The system is driven by four wheel hub motors. This means that eight control variables are available for the vehicle.

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Section: Other Chassis Conceptsmentioning

confidence: 99%

Chassis concept of the individually steerable five-link suspension: a novel approach to maximize the road wheel angle to improve vehicle agility

Schmitz

2024

Preprint

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“…The demonstration vehicle was developed in project "OmniSteer" and uses a novel chassis system. This novel chassis system [4] in Figure 14b,c applies a concept of steering wishbones, so that a 90 • steering angle can be reached in both directions. The covariance matrices of system noise and measurement noise for different versions are determined empirically.…”

Section: Test Vehiclementioning

confidence: 99%

“…Together with novel suspensions, which allow greater steering angles, maneuverability can be significantly improved [ 2 , 3 ]. In the project “OmniSteer”, which was funded by the German Federal Ministry of Education and Research (BMBF), a demonstrator vehicle with wheel individual steering and a ±90° wheel steering angle was developed [ 4 ]. The driving maneuvers in Figure 1 can be realized.…”

Section: Introductionmentioning

confidence: 99%

Modular Approach for Odometry Localization Method for Vehicles with Increased Maneuverability

Han

Frey

Gauterin

2020

Sensors

Self Cite

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Localization and navigation not only serve to provide positioning and route guidance information for users, but also are important inputs for vehicle control. This paper investigates the possibility of using odometry to estimate the position and orientation of a vehicle with a wheel individual steering system in omnidirectional parking maneuvers. Vehicle models and sensors have been identified for this application. Several odometry versions are designed using a modular approach, which was developed in this paper to help users to design state estimators. Different odometry versions have been implemented and validated both in the simulation environment and in real driving tests. The evaluated results show that the versions using more models and using state variables in models provide both more accurate and more robust estimation.

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Chassis concept of the individually steerable five-link suspension: a novel approach to maximize the road wheel angle to improve vehicle agility

Schmitz

2024

Automot. Engine Technol.

View full text Add to dashboard Cite

The Institute of Vehicle Systems Engineering at Ulm University of Applied Sciences is currently developing the autonomous concept vehicle Nimbulus-e in the strategic field “Intelligent Commercial Vehicles” with the aim of maneuvering as agilely as possible in confined spaces. To achieve high agility under the conditions mentioned, large road wheel steering angles are necessary. As part of the basic vehicle concept, the first step is to select a suitable chassis for this purpose. Conventional suspensions cannot be applied due to the mechanical connection of the tie rod to the steering knuckle limiting the road wheel angles. Therefore, the approaches published so far for individual chassis concepts with large steering angles are analyzed and evaluated for use. In this paper, the concept of a novel individually steerable five-link suspension is described. The concept includes a vehicle body mounted steering actuator connected to the chassis via a self-locking worm gear. Due to the body mounted connection of the steering actuator, it does not contribute to the unsprung mass. An analysis of the kinematic and elastokinematic properties and the achievable road wheel steering angle is presented. In the Nimbulus e concept vehicle, the individually steerable corner module is used on both the front and the rear axle. The system is driven by four wheel hub motors. This means that eight control variables are available for the vehicle.

show abstract

OmniSteer – multidirectional chassis system based on wheel-individual steering

Cited by 7 publications

References 0 publications

Chassis concept of the individually steerable five-link suspension: a novel approach to maximize the road wheel angle to improve vehicle agility

Chassis concept of the individually steerable five-link suspension: a novel approach to maximize the road wheel angle to improve vehicle agility

Modular Approach for Odometry Localization Method for Vehicles with Increased Maneuverability

Chassis concept of the individually steerable five-link suspension: a novel approach to maximize the road wheel angle to improve vehicle agility

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