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.

In some embodiments, a vehicle may include a frame having longitudinal axis. The vehicle may include a steering assembly having a steering input and at least one wheel. The steering assembly may be coupled to the frame and configured to steer the vehicle based on input from a steering input. The vehicle may include a first drive wheel and a second drive wheel. The vehicle may include a steering position sensor configured to detect steering input including a position of the steering input and at least one of i) a rate of change of position of steering input and ii) steering position time. The vehicle may include at least one controller configured to process a signal from the steering position sensor and, in response to the processed signal, drive the first drive wheel and the second drive wheel, the first drive wheel being driven independent of the second drive wheel.

The invention relates to an electrically operated steering system (1) for a vehicle (2) with a rack (3) for attaching the steering system (1) to a vehicle frame of the vehicle (2), two steerable wheels (4) that are pivotably attached to the rack (3), a rod element (5) arranged on the rack (3), which is slidable in its longitudinal direction in relation to the rack (3), a kinematic unit (13) which is coupled to the rod element (5) and which transforms a movement of the rod element (5) into a steering rotation of the wheels (4), an electric machine (6), which is mechanically connected to the rod element (5) for effecting the movement of the rod element (5), and a lateral force absorbing mechanism (7) which is configured for absorbing a lateral force produced by the kinematic unit (13) in relation to the rod element (5). The invention further relates to a vehicle (2) comprising such a steering system (1).

In some embodiments, a vehicle may include a frame having longitudinal axis. The vehicle may include a steering assembly having a steering input and at least one wheel. The steering assembly may be coupled to the frame and configured to steer the vehicle based on input from a steering input. The vehicle may include a first drive wheel and a second drive wheel. The vehicle may include a steering position sensor configured to detect steering input including a position of the steering input and at least one of i) a rate of change of position of steering input and ii) steering position time. The vehicle may include at least one controller configured to process a signal from the steering position sensor and, in response to the processed signal, drive the first drive wheel and the second drive wheel, the first drive wheel being driven independent of the second drive wheel.

Provided is a hub unit (1) with a steering function. The hub unit (1) includes a hub bearing assembly (3) including a hub bearing (21) configured to rotatably support a wheel (13) of a vehicle (11), a unit support member (5) configured to be coupled to a suspension system (33) and supporting the hub bearing assembly (3), and a rotation-permitting support member (7) rotatably supporting the hub bearing assembly (3), about a turning axis (A) that extends in a vertical direction, on the unit support member (5). The hub bearing (21) is configured to be coupled with a driveshaft (53) that transmits drive power from a drive source of the vehicle (11).

Provided is a hub unit (1) with a steering function. The hub unit (1) includes a hub bearing assembly (3) including a hub bearing (21) configured to rotatably support a wheel (13) of a vehicle (11), a unit support member (5) configured to be coupled to a suspension system (33) and supporting the hub bearing assembly (3), and a rotation-permitting support member (7) rotatably supporting the hub bearing assembly (3), about a turning axis (A) that extends in a vertical direction, on the unit support member (5). The hub bearing (21) is configured to be coupled with a driveshaft (53) that transmits drive power from a drive source of the vehicle (11).

A hub unit with a steering function includes: a hub bearing that rotatably supports a wheel; a cylindrical turning shaft section extending from an outer ring thereabove and thereunder with the outer ring being located at an outer peripheral surface of an outer race of the hub bearing; a steering actuator that causes the hub bearing to rotate about an axis of the turning shaft section; a unit support member that rotatably supports the hub bearing about the axis on a vehicle body; and an arm section projecting from the outer ring rearward of a vehicle, with the actuator being coupled to the arm section. The actuator includes: an extensible and retractable assembly capable of providing extension or retraction in a direction perpendicular to the axis; and the extensible and retractable assembly is coupled to the arm section through a joint assembly providing two or more directions of freedom.

Provided is a steering system which includes a hub unit with a steering function and a control device. A steering actuator includes a motor and a linear drive mechanism configured to convert a rotational output from the motor to a linear motion. An angle sensor is configured to sense a rotational angle of the motor and capable of generating two or more angle sensor values. A position sensor is configured to sense a position of the linear drive mechanism which represents an amount of displacement of an output rod and capable of outputting the same in the form of a position sensor value. The control device is configured to compare each of the angle sensor values sensed and generated by the angle sensor against the position sensor value sensed by and output from the position sensor to determine whether any one of the angle sensor values is incorrect.

The invention relates to a vehicle steering system comprising a steering wheel, a first and a second steering assembly. The steering assemblies each comprise a steering linkage mechanically connected to a road wheel and a support motor. The steering wheel is configured to control a steering angle of a first road wheel via a first support motor actuating a first steering linkage. A processing circuitry is configured to receive, from the first steering assembly, input signals comprising one or more steering parameter values measured for the first steering assembly. Based on the received first input signals, the processing circuitry is configured to calculate a desired steering angle of a second road wheel and to send control signals to a second support motor so as to actuate a second steering linkage such that the desired steering angle of the second road wheel is obtained. A method is also disclosed.

A method for steering a gantry crane having wheel assemblies includes the steps of: initiating movement of the gantry crane; and rotating the wheel assemblies wherein the front wheel assemblies rotate in a first rotational direction and the rear wheel assemblies rotate in a second rotational direction. The first rotational direction is opposite to the second rotational direction. First side wheel assemblies rotate at a first rotational speed and second side wheel assemblies rotate at a second rotational speed, such that the gantry crane moves from a linear path to an arcuate path with a turning radius decreasing to substantially zero for rotation about a central axis.