Patent ID: 9475522
Filing Date: 2016-10-25
CPC Classification: B60W,B62D,B64F,G05D

Claim Text:
1. An automatically controlled vehicle for transporting an object, the vehicle comprising: a chassis having on an upper side a carrying surface for the object, a first wheel support arm connected to the chassis for pivoting about a first pivot axis and having respectively a left and right first wheel at the opposite outer ends thereof, a second wheel support arm connected to the chassis for pivoting about a second pivot axis located at a distance from the first pivot axis and having respectively a left and right second wheel at the opposite outer ends thereof, per wheel an electric drive motor connected thereto for driving the relevant wheel, a control unit for separate control of each of the drive motors, and a source of electrical energy connected to each of the drive motors and to the control unit, wherein the control unit is configured to perform the steps of: a) controlling each of the drive motors subject to a predetermined vehicle speed such that an at least substantially equal basic drive torque is applied to each of the wheels, and b) for the purpose of changing an angular position of at least one wheel support arm relative to the chassis for changing the direction of the vehicle, controlling the drive motors associated with the at least one wheel support arm such that a steering torque which is of the same magnitude but of opposite direction is applied in addition to the basic drive torque to the wheels associated with the respective drive motors.