Methods, apparatus, systems and articles of manufacture are disclosed to perform a tank turn. An example vehicle includes a first wheel and a second wheel, the first wheel located on an end of a first axle, the second wheel located on an end of a second axle, the end of the first axle opposite to the end of the second axle, a first suspension coupled to the first wheel, a second suspension coupled to the second wheel, and a controller to drive the first axle in a first direction, drive the second axle in a second direction, the first direction different from the second direction, and decrease a first suspension load of the first suspension and a second suspension load of the second suspension.

A vehicle includes first and second steering drivers that steer first and second wheel pairs, a lock that locks the first wheel pair to be non-steerable, a first steering controller that controls the first steering driver in accordance with a first steering angle, and a second steering controller that controls the second steering driver in accordance with a second steering angle. The first steering controller controls the lock to lock the steering of the first wheel pair upon detecting anomaly in the steering of the first wheel pair from the steering angle and a steering detection angle of the first wheel pair. The second steering controller controls the second steering driver in accordance with a second corrected steering angle, if the steering of the first wheel pair exhibits anomaly.

A vehicle includes first and second steering drivers that steer first and second wheel pairs, a lock that locks the first wheel pair to be non-steerable, a first steering controller that controls the first steering driver in accordance with a first steering angle, and a second steering controller that controls the second steering driver in accordance with a second steering angle. The first steering controller controls the lock to lock the steering of the first wheel pair upon detecting anomaly in the steering of the first wheel pair from the steering angle and a steering detection angle of the first wheel pair. The second steering controller controls the second steering driver in accordance with a second corrected steering angle, if the steering of the first wheel pair exhibits anomaly.

Provided is a steering function-equipped hub unit including: a hub unit body including a hub bearing; a unit support member configured to be provided to a chassis frame component, the unit support member supporting the hub unit body such that the hub unit body is rotatable about a turning axis extending in a vertical direction; and a steering actuator configured to rotationally drive the hub unit body about the turning axis, wherein the hub bearing includes an outer race integrally provided with turning shaft parts protruding upward and downward in the vertical direction on an outer peripheral surface of the outer race, each of the turning shaft parts having an axis coinciding with the turning axis, and the hub unit body is rotatably supported by the unit support member through the turning shaft parts.

Provided is a steering function-equipped hub unit including: a hub unit body including a hub bearing; a unit support member configured to be provided to a chassis frame component, the unit support member supporting the hub unit body such that the hub unit body is rotatable about a turning axis extending in a vertical direction; and a steering actuator configured to rotationally drive the hub unit body about the turning axis, wherein the hub bearing includes an outer race integrally provided with turning shaft parts protruding upward and downward in the vertical direction on an outer peripheral surface of the outer race, each of the turning shaft parts having an axis coinciding with the turning axis, and the hub unit body is rotatably supported by the unit support member through the turning shaft parts.

A suspension and drive mechanism for a steerable wheel of a vehicle, comprising a wheel support assembly supporting the wheel having a rolling axis and a wheel width defined by inner and outer wheel edges. Front and rear upper control arms coupled between a chassis and the wheel support assembly, and front and rear lower control arms between the chassis and the wheel support assembly. The front and rear upper control arms being coupled to the wheel support assembly above the rolling axis and inboard of the wheel inner edge, and front and rear lower control arms being coupled to the wheel support assembly below the rolling axis and inboard of the wheel inner edge. The control arms are angled so as to establish a virtual steering pivot axis for the wheel support assembly, the virtual steering pivot axis extending transverse of the rolling axis and located within the width of the wheel. The virtual steering pivot axis location varies according to a steering angle of the wheel support assembly as controlled by the steering arm. An electric drive unit arranged within the wheel for driving thereof, and at least one of the virtual pivots that lie on said virtual steering pivot axis lies within the volume occupied by the electric drive unit during at least one point in the steering travel of said wheel.

A suspension and drive mechanism for a steerable wheel of a vehicle, comprising a wheel support assembly supporting the wheel having a rolling axis and a wheel width defined by inner and outer wheel edges. Front and rear upper control arms coupled between a chassis and the wheel support assembly, and front and rear lower control arms between the chassis and the wheel support assembly. The front and rear upper control arms being coupled to the wheel support assembly above the rolling axis and inboard of the wheel inner edge, and front and rear lower control arms being coupled to the wheel support assembly below the rolling axis and inboard of the wheel inner edge. The control arms are angled so as to establish a virtual steering pivot axis for the wheel support assembly, the virtual steering pivot axis extending transverse of the rolling axis and located within the width of the wheel. The virtual steering pivot axis location varies according to a steering angle of the wheel support assembly as controlled by the steering arm. An electric drive unit arranged within the wheel for driving thereof, and at least one of the virtual pivots that lie on said virtual steering pivot axis lies within the volume occupied by the electric drive unit during at least one point in the steering travel of said wheel.

Some embodiments may provide a suspension unit that may include a rail having a longitudinal axis, a sliding member slidably connected to the rail, and shock absorption and springing means adapted to damp motions and support forces along the longitudinal axis of the rail, wherein, the rail and the sliding member are shaped to have transverse cross-sectional profiles that prevent a rotational movement of the sliding member with respect to the rail about the longitudinal axis of the rail. In some embodiments, the suspension unit may be part of an in-wheel system further including at least a steering unit.

A steering axle drive assembly includes a steering axle having opposite ends, a wheel pivotally connected with each steering axle end, and a control mechanism. The wheels are operated by the control mechanism for rotation about a vertical axis and a horizontal axis. When the axle is connected with a vehicle, the control mechanism controls the steering axle wheels independent of other wheels of the vehicle, such as the main drive wheels, to steer and drive the vehicle from an origin in any direction without passing through the origin. Preferably, a motor or linear actuator controls the rotation of the steering axle wheels. The steering axle drive assembly can be further improved by including an angled axle.

A method is disclosed for protecting the components of a steer-by-wire steering system, where the steer-by-wire steering system comprises a self-locking spindle drive in which the spindle is displaced linearly by driving a positionally fixed spindle nut in rotation. As a function of the speed of the vehicle, the linear displacement of the spindle relative to the spindle nut is summed continuously with respect to time until a first threshold value has been reached. A control unit, a non-transitory computer-readable storage medium, and a steer-by-wire system are also disclosed.