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.

In a broad respect, vehicles that are capable of making a low- to zero-radius turn using the independent rotation of drive wheels and by turning the non-driving steerable structure or structures (such as wheels) with a steering input device (in some embodiments, the driving wheels also may be capable of being turned). This may be accomplished using a steering system, a speed control system and an integration device (together, a control system) that are configured to work together to provide correct steering in forward and reverse, and, in some embodiments, to reduce the speed of the outboard drive wheel of the vehicle when it enters an extreme turn under constant speed input. Different systems configured for use in such vehicles are included.

In a broad respect, vehicles that are capable of making a low- to zero-radius turn using the independent rotation of drive wheels and by turning the non-driving steerable structure or structures (such as wheels) with a steering input device (in some embodiments, the driving wheels also may be capable of being turned). This may be accomplished using a steering system, a speed control system and an integration device (together, a control system) that are configured to work together to provide correct steering in forward and reverse, and, in some embodiments, to reduce the speed of the outboard drive wheel of the vehicle when it enters an extreme turn under constant speed input. Different systems configured for use in such vehicles are included.

Provided is a turning function-equipped having a reduced size and having improved strength to an external shock force and improved reliability. The turning function-equipped hub unit includes: a hub unit main body; a unit support member; and a turning actuator. The unit support member is provided to a chassis frame component. The unit support member includes an abutment part with which a part of the hub unit main body is brought into abutment in a vertical direction during non-normal time, the abutment part being separated from the hub unit main body in the vertical direction during normal time, and the non-normal time in which the abutment is caused, is a time when an impact load equal to or greater than a predetermined value acts on the hub unit main body in the vertical direction due to an external force from the wheel.

Systems for controlling the speed and direction of vehicles such as tractors, including vehicles that have low to zero turning radius capability. Systems include steering and speed coordination systems that control the direction and speed of rotation of vehicle drive units.

Systems for controlling the speed and direction of vehicles such as tractors, including vehicles that have low to zero turning radius capability. Systems include steering and speed coordination systems that control the direction and speed of rotation of vehicle drive units.

A driver torque estimation device includes: a transfer ratio variation device and a torsion bar; an electric motor; a torque sensor; an input shaft rotation acquisition unit configured to acquire the rotational angle of an input shaft of the transfer ratio variation device; and an electronic control unit configured to acquire the rotational angle of an output shaft of the transfer ratio variation device. The electronic control unit is configured to compute an estimated value of first disturbance. The electronic control unit is configured to compute an estimated value of second disturbance. The electronic control unit is configured to compute an estimated value of driver torque based on the torsion bar torque, the estimated value of the first disturbance, and the estimated value of the second disturbance.

A driver torque estimation device includes: a transfer ratio variation device and a torsion bar; an electric motor; a torque sensor; an input shaft rotation acquisition unit configured to acquire the rotational angle of an input shaft of the transfer ratio variation device; and an electronic control unit configured to acquire the rotational angle of an output shaft of the transfer ratio variation device. The electronic control unit is configured to compute an estimated value of first disturbance. The electronic control unit is configured to compute an estimated value of second disturbance. The electronic control unit is configured to compute an estimated value of driver torque based on the torsion bar torque, the estimated value of the first disturbance, and the estimated value of the second disturbance.

The present invention relates to a steer-by-wire and independent-drive integrated wheel-side electric drive device, including a first double-rotor motor and a second double-rotor motor, fixedly arranged coaxially along an axial direction of a motor, an inner rotor of the first double-rotor motor is connected with a first drive shaft and is used for driving a wheel on one side to rotate; an inner rotor of the second double-rotor motor is connected with a second drive shaft and is used for driving a wheel on the other side to rotate; an outer rotor of the first double-rotor motor and an outer rotor of the second double-rotor motor are respectively connected with a driving gear by virtue of an output shaft.

The present invention relates to a steer-by-wire and independent-drive integrated wheel-side electric drive device, including a first double-rotor motor and a second double-rotor motor, fixedly arranged coaxially along an axial direction of a motor, an inner rotor of the first double-rotor motor is connected with a first drive shaft and is used for driving a wheel on one side to rotate; an inner rotor of the second double-rotor motor is connected with a second drive shaft and is used for driving a wheel on the other side to rotate; an outer rotor of the first double-rotor motor and an outer rotor of the second double-rotor motor are respectively connected with a driving gear by virtue of an output shaft.