US 11,989,032 B2
Dynamic stabilization system and methods for an RC vehicle
Paul Beard, Champaign, IL (US); Jukka Steenari, Champaign, IL (US); and John Adams, Champaign, IL (US)
Assigned to HORIZON HOBBY, LLC, Champaign, IL (US)
Filed by HORIZON HOBBY, LLC, Champaign, IL (US)
Filed on May 11, 2021, as Appl. No. 17/317,583.
Application 17/317,583 is a continuation of application No. 16/733,838, filed on Jan. 3, 2020, granted, now 11,016,503.
Application 16/733,838 is a continuation of application No. 15/137,938, filed on Apr. 25, 2016, granted, now 10,528,060, issued on Jan. 7, 2020.
Application 15/137,938 is a continuation of application No. 14/292,307, filed on May 30, 2014, granted, now 9,320,977, issued on Apr. 26, 2016.
Claims priority of provisional application 61/885,953, filed on Oct. 2, 2013.
Prior Publication US 2021/0263517 A1, Aug. 26, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); A63H 17/36 (2006.01); A63H 17/395 (2006.01); G01P 15/02 (2013.01); A63H 30/04 (2006.01)
CPC G05D 1/028 (2013.01) [A63H 17/36 (2013.01); A63H 17/395 (2013.01); G01P 15/02 (2013.01); G05D 1/0212 (2013.01); A63H 30/04 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A radio-controlled (RC) vehicle comprising:
an inertial measurement unit comprising one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about one or more axes;
and circuitry configured to:
receive the angular rotation data associated with the rotation of the RC vehicle from the inertial measurement unit;
receive command data from a controller associated with the RC vehicle;
in response to receiving the command data and the angular rotation data, control a wheel direction of at least one wheel of the RC vehicle to maintain a heading of the RC vehicle;
wherein the circuitry is further configured to control the wheel direction based at least in part on a steering function; and
wherein the steering function comprises inputs that include a steering command, a rate gain, and a heading gain.
 
2. A radio-controlled (RC) vehicle comprising:
an inertial measurement unit comprising one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about one or more axes;
and circuitry configured to:
receive the angular rotation data associated with the rotation of the RC vehicle from the inertial measurement unit;
receive command data from a controller associated with the RC vehicle;
in response to receiving the command data and the angular rotation data, control a wheel direction of at least one wheel of the RC vehicle to maintain a heading of the RC vehicle;
wherein the circuitry is further configured to, in response to receiving command data from a controller associated with the RC vehicle and the received angular rotation information, control a wheel speed of at least one wheel of the RC vehicle;
wherein circuitry is further configured to:
determine whether a yaw rate exceeds a yaw rate threshold based on the determined angular rotation information; and
in response to determining that the yaw rate exceeds the yaw rate threshold, reduce the wheel speed.
 
3. A radio-controlled (RC) vehicle comprising:
an inertial measurement unit comprising one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about the one or more axes;
and a receiver configured to:
receive the angular rotation data associated with the rotation of the RC vehicle from the inertial measurement unit;
receive command data from a controller associated with the RC vehicle;
in response to receiving the command data and the angular rotation data, control a wheel direction of at least one wheel of the RC vehicle to maintain a heading of the RC vehicle;
wherein the RC vehicle is further configured to control the wheel direction based at least in part on a steering function; and
wherein the steering function comprises inputs that include a steering command, a rate gain, and a heading gain.