Vehicle and method for carrying out a parking maneuver
A vehicle and method for a parking maneuver includes an electrically operated vehicle, having two axles with two drive and chassis modules which are spaced apart by a track width are arranged on each of the axles, and, on the basis of a straight-head position in the longitudinal direction of the vehicle, each of the drive and chassis modules has a separate maximum steering angle with respect to a side of the vehicle and having a control device in which a plurality of steering functions for actuating a steering angle of the drive and chassis modules are configured and stored. A method for carrying out a parking maneuver, in which the drive and chassis modules are adjusted synchronously in accordance with one of the steering functions.
1 . A vehicle comprising:
only two axles;
for each of the two axles, two drive and chassis modules spaced apart by a track width, the two drive and chassis modules being arranged on each of the axles and each of the drive and chassis modules, proceeding from a straight-ahead position in a longitudinal direction of the vehicle, comprises a first maximum steering angle from the straight ahead position to a first vehicle side and a second maximum steering angle from the straight ahead position to a second vehicle side; and
a control device, in which a plurality of steering functions for controlling a steering angle of the drive and chassis modules are configured and stored and which sets the steering angle of the drive and chassis modules according to a presence of an intended parking maneuver by performing one of the steering functions,
the control device configured to, in accordance with one of the steering functions, synchronously set all four of the drive and chassis modules to a same steering angle chosen from a group consisting of:
a steering angle between the straight ahead position and the first maximum steering angle,
a steering angle between the straight ahead position and the second maximum steering angle,
the first maximum steering angle, or
the second maximum steering angle.
2 . The vehicle according to claim 1 , wherein the first maximum steering angle is in each case larger than the second maximum steering angle.
3 . The vehicle according to claim 1 , wherein an angular range between the first maximum steering angle and the second maximum steering angle is 135°.
4 . The vehicle according to claim 1 , wherein in the proceeding from the straight-ahead position, the first maximum steering angle is 90° and the second maximum steering angle is 45° or the first maximum steering angle is 95° and the second maximum steering angle is 40°.
5 . A method for carrying out a parking maneuver with the vehicle according to claim 1 , the method comprising:
synchronously setting, in accordance with one of the steering functions, all four of the drive and chassis modules to the same steering angle chosen from a group consisting of:
a steering angle between the straight ahead position and the first maximum steering angle,
a steering angle between the straight ahead position and the second maximum steering angle,
the first maximum steering angle, or
the second maximum steering angle.
6 . The method according to claim 5 , further comprising setting, by the control device, the drive and chassis modules between the straight-ahead position and the first maximum steering angle via one of the steering functions while the vehicle continues to move.
7 . The method according to claim 6 , further comprising carrying out the parking maneuver as a parking procedure or as an unparking procedure.
8 . The method according to claim 6 , further comprising carrying out a parking procedure followed by an unparking procedure and, during the unparking procedure while the vehicle continues to move, setting the drive and chassis modules between the second maximum steering angle and the straight-ahead position.
9 . The method according to claim 8 , wherein the steering function between the parking procedure and the unparking procedure sets the drive and chassis modules from the first maximum steering angle to the second maximum steering angle.
10 . The method according to claim 5 , in which one of the steering functions represents the parking maneuver, the parking maneuver comprising a parking procedure and a subsequent unparking procedure,
the steering function during the parking procedure setting the drive and chassis modules from the straight-ahead position to the first maximum steering angle, and then returning to the straight-ahead position.
11 . A vehicle comprising:
only two axles;
four identical drive and chassis modules, each of the two axles being provided with two of the drive and chassis modules arranged thereon and spaced apart by a track width, each of the drive and chassis modules, proceeding from a straight-ahead position in a longitudinal direction of the vehicle, has a first maximum steering angle to a first vehicle side and a second maximum steering angle to a second vehicle side; and
a control device programmed with a plurality of steering modes including at least a parking mode,
the control device configured to instruct the drive and chassis modules to execute parking maneuvers by synchronous steering angle adjustments across the drive and chassis modules to synchronously set all four of the drive and chassis modules into the first maximum steering angle during a first of the parking maneuvers and to synchronously set all four of the drive and chassis modules into the second maximum steering angle during a second of the parking maneuvers.
12 . A vehicle comprising:
only two axles;
four drive and chassis modules, each of the two axles being provided with two of the drive and chassis modules arranged thereon and spaced apart by a track width, each of the drive and chassis modules, proceeding from a straight-ahead position in a longitudinal direction of the vehicle, has a first maximum steering angle to a first vehicle side and a second maximum steering angle to a second vehicle side, the first maximum steering angle being different from the second maximum steering angle; and
a control device configured to instruct the drive and chassis modules to execute parking maneuvers by an asymmetrical steering angle range for the vehicle in relation to the longitudinal direction with all of the drive and chassis modules being rotatable together to the first vehicle side up to the first maximum steering angle and all of the drive and chassis modules being rotatable together to the second vehicle side up to the second maximum steering angle.
13 . The vehicle according to claim 12 , wherein each of the drive and chassis modules includes a motor for driving a wheel and at least one axle control arm configured to guide the wheel relative to a vehicle frame or chassis.
14 . The vehicle according to claim 12 , wherein the vehicle is a non-track-bound, self-propelled land vehicle.
15 . The vehicle according to claim 12 , wherein the drive and chassis modules are set to synchronously assume the first maximum steering angle together and to synchronously assume the second maximum steering angle together.
16 . The vehicle according to claim 12 , wherein the control device is configured to instruct the drive and chassis modules to perform at least one parking maneuver by setting the drive and chassis modules between the straight-ahead position and the first maximum steering angle via a steering function while the vehicle continues to move.
17 . The vehicle according to claim 16 , wherein the at least one parking maneuver is a parallel parking or a parallel unparking.
18 . The vehicle according to claim 16 , wherein the at least one parking maneuver is a parallel parking and a parallel unparking.
19 . The vehicle according to claim 18 , wherein the parallel parking is performed by a forward travel movement and the parallel unparking is performed by a reverse travel movement.
20 . The vehicle according to claim 18 , wherein the control device is configured to synchronously set the drive and chassis modules into the first maximum steering angle during the parallel parking and to synchronously set the drive and chassis modules into the second maximum steering angle during the parallel unparking.