US 12,140,499 B2
Overrunable test vehicle
Lukas Ruhs, Linz (AT)
Assigned to Humaneties Austria GmbH, Linz (AT)
Filed by Humanetics Austria GmbH, Linz (AT)
Filed on Feb. 22, 2022, as Appl. No. 17/677,561.
Prior Publication US 2023/0266202 A1, Aug. 24, 2023
Int. Cl. G01M 17/00 (2006.01); B60L 15/20 (2006.01); G01L 5/28 (2006.01); G01M 17/007 (2006.01)
CPC G01M 17/0078 (2013.01) [B60L 15/20 (2013.01); G01L 5/28 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An overrunable test vehicle configured to carry a soft target, the overrunable test vehicle comprising:
a chassis;
a first axle arrangement and a second axle arrangement connected to opposite ends of the chassis, at least one of the first and second axle arrangements comprising:
a first electric motor on a first side of the chassis and a second electric motor on a second side of the chassis, each of the first electric motor and the second electric motor including a drive wheel with the drive wheels held in a fixed alignment relative to the chassis;
a ground speed sensor supported by the chassis for determining a ground speed of the chassis; and
a control system operatively connected with the electric motors and the ground speed sensor, the control system configured to:
calculate a difference between a rotational speed of each drive wheel connected to each of the electric motors and the ground speed of the chassis to determine a target slip between each wheel and a driving plane to rotate the chassis about an axis of rotation by a target angle of rotation;
calculate a torque output and a speed output for each of the electric motors, wherein the torque output and speed output of the first electric motor on the first side of the chassis is different than the torque output and speed output of the second electric motor on the second side of the chassis;
wherein a difference between the calculated torque output and speed output between the first electric motor and the second electric motor creates a difference in wheel slip between the first and second sides of the chassis that corresponds to the target angle of rotation; and
adjust the torque output and speed output of each of the electric motors based on the calculated torque output and speed output for each of the electric motors to apply a torque vector to the chassis to rotate the chassis about the axis of rotation by the target angle of rotation from a first trajectory angle to a target trajectory angle.