US 12,275,472 B2
Vehicle
Hideki Hirayama, Sapporo (JP); Yusuke Kaneta, Sapporo (JP); Shinji Nanba, Tokyo (JP); Haruhisa Sakai, Tokyo (JP); and Toshiyuki Kohara, Tokyo (JP)
Assigned to JFE STEEL CORPORATION, Tokyo (JP)
Appl. No. 18/247,643
Filed by JFE STEEL CORPORATION, Tokyo (JP)
PCT Filed Jul. 8, 2021, PCT No. PCT/JP2021/025761
§ 371(c)(1), (2) Date Apr. 3, 2023,
PCT Pub. No. WO2022/074887, PCT Pub. Date Apr. 14, 2022.
Claims priority of application No. 2020-169211 (JP), filed on Oct. 6, 2020.
Prior Publication US 2023/0391398 A1, Dec. 7, 2023
Int. Cl. B62D 6/00 (2006.01); B62D 7/15 (2006.01)
CPC B62D 6/002 (2013.01) [B62D 7/15 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A vehicle configured to travel on a preset travel route, the vehicle comprising:
a plurality of tires including a first tire and a second tire, and each configured to be set at a different steering angle; and
a processing device configured to set a steering angle of each of the plurality of tires,
wherein the processing device is configured to:
when the vehicle deviates from the travel route and returns to the travel route, determine a return position on the travel route, and calculate a target position of the first tire and a target position of the second tire that allow the vehicle to travel on the travel route when located at the return position;
find a common central point at which a difference between a distance from a current position of the first tire and a distance from the target position of the first tire is within a predetermined range and a difference between a distance from a current position of the second tire and a distance from the target position of the second tire is within a predetermined range; and
set the steering angle of each of the plurality of tires so that the tire will be oriented in a direction of a tangent to a clearance circle whose center is the common central point and whose radius is a distance to the common central point or oriented in a direction whose angle difference from the direction of the tangent is within a predetermined range.