A steering arm assembly includes a steering arm body, a first rotary connecting part and a second rotary connecting part. A first end and a second end of the steering arm body are fixedly connected with a first rocker arm and a second rocker arm, respectively. The first rotary connecting part and the second rotary connecting part are respectively connected with the first end and the second end of the steering arm body, and the steering arm body is configured to rotate relative to the first rotary connecting part and the second rotary connecting part. The steering arm body is able to be detachably located on a mounting bracket through the first rotary connecting part and the second rotary connecting part; and the first rotary connecting part and the second rotary connecting part respectively include a first shaft housing and a second shaft housing, which are engaged with a first mounting plate and a second mounting plate respectively.

The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.

A steering system for a trailing or leading axle of a vehicle includes a steering angle sensor for measuring a steering angle of wheels of a front axle of the vehicle, a driving speed sensor for measuring a driving speed of the vehicle, an electric motor that drives a hydraulic pump, and a working cylinder connected to the hydraulic pump for steering the wheels of the trailing axle. The system also includes a control device that determines a trailing angle of wheels on the trailing axle of the vehicle and actuates the electric motor in a corresponding manner. The working cylinder has a center position borehole via which hydraulic fluid is released from the working cylinder. A piston closes the center position borehole in the straight-ahead position of the wheels of the trailing axle. The center position borehole can only be closed by a piston seal of the piston.

Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.

A four wheel steering vehicle (1), in which front wheels (2f) and rear wheels (2r) can be steered in response to a steering input from a steering wheel (11), includes a rear wheel steering control unit (50) that variably controls a rear wheel steering device such that the rear wheels are steered in a prescribed relation to a steered angle of the front wheels. When the steering input is determined while the front wheel brake and the rear wheel brake are engaged, the rear wheel steering control unit disengages the rear wheel brake and steers the rear wheels. When the fore and aft inclination angle detected by an inclination sensor (40) provided on the vehicle is greater than a threshold value, the rear wheel steering control unit prohibits a steering of the rear wheels and keeps the rear wheel brake engaged even if the steering input is determined.

A four wheel steering vehicle (1), in which front wheels (2f) and rear wheels (2r) can be steered in response to a steering input from a steering wheel (11), includes a rear wheel steering control unit (50) that variably controls a rear wheel steering device such that the rear wheels are steered in a prescribed relation to a steered angle of the front wheels. When the steering input is determined while the front wheel brake and the rear wheel brake are engaged, the rear wheel steering control unit disengages the rear wheel brake and steers the rear wheels. When the fore and aft inclination angle detected by an inclination sensor (40) provided on the vehicle is greater than a threshold value, the rear wheel steering control unit prohibits a steering of the rear wheels and keeps the rear wheel brake engaged even if the steering input is determined.

An independent suspension system includes two suspension oil cylinders, respectively arranged between wheels at two sides and a frame: and a steering mechanism, configured to be driven by a steering booster oil cylinder to drive the wheels at two sides to turn. The independent system also includes two swing links arranged corresponding to the wheels at two sides, an end at one side of each of the swing links is hinged to a wheel hub of the wheel at the corresponding side via a spherical hinge, and an end at another side of each of the swing links is hinged to a fixing member fixed below a main speed reducer via two spherical hinges respectively along a fore-and-aft direction. A crane having the independent suspension system is further provided.

The simultaneous maneuvering system includes a base, a plurality of wheel assemblies including at least one wheel rotatably mounted to the base, a plurality of steering rotors rotatably mounted to the base and the wheel assemblies, and a drive assembly having a drive frame coupled to each of the rotors. Operation of the drive assembly causes simultaneous rotation of the rotors and, thereby, positions the wheel of each corresponding wheel assembly in a desired direction.

Steering boxes currently available on the market in order to convert the rotation of the steering wheel into the angular rotation of the wheels are not suitable to be partially built into the rim of the wheels of an electric car. In addition, existing boxes do not allow the independent rotation of the wheels or wide turning radii. These limitations are overcome using a system comprising: a body into which at least one motor is built using corresponding supports, which motor(s) actuate(s) the steering rotation axle of each steered wheel in the upper part of the body, and, in the lower part, a transmission gearbox and a stationary circular crown gear with which driving pinions mesh, said pinions rotating about the crown gear, thereby rotating the entire body and the rotation axle of the wheel built into the body together with suitable means.

System, methods, and other embodiments described herein relate to emulating vehicle dynamics. In one embodiment, a method for emulating vehicle dynamics in a vehicle having a plurality of wheels and equipped with all-wheel steering, includes receiving emulation settings that indicate one or more environment parameters and/or vehicle parameters, detecting driver inputs including at least steering input and throttle input, executing a simulation model that receives the driver inputs and emulation settings, simulates the vehicle operating based on the driver inputs and the emulation settings, and outputs one or more simulated states of the vehicle based on the simulated operation of the vehicle, determining one or more actuation commands for each wheel of the vehicle to cause the vehicle to emulate the one or more simulated states, and executing the one or more actuation commands, wherein the actuation commands include at least wheel angle commands and torque commands.