CN115179705A - Coordination control system of full-vector line control chassis - Google Patents

Coordination control system of full-vector line control chassis Download PDF

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Publication number
CN115179705A
CN115179705A CN202210926899.4A CN202210926899A CN115179705A CN 115179705 A CN115179705 A CN 115179705A CN 202210926899 A CN202210926899 A CN 202210926899A CN 115179705 A CN115179705 A CN 115179705A
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CN
China
Prior art keywords
module
chassis
main controller
suspension
controller
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Pending
Application number
CN202210926899.4A
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Chinese (zh)
Inventor
刘丛志
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Suzhou Zhisida Intelligent Technology Co ltd
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Suzhou Zhisida Intelligent Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Zhisida Intelligent Technology Co ltd filed Critical Suzhou Zhisida Intelligent Technology Co ltd
Priority to CN202210926899.4A priority Critical patent/CN115179705A/en
Priority to PCT/CN2022/117771 priority patent/WO2024026974A1/en
Publication of CN115179705A publication Critical patent/CN115179705A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a coordination control system of a full vector line control chassis, which comprises: the system comprises a main controller, and a sub-controller, a detection module, a suspension module and a driving module which are connected with the main controller, wherein the main controller is responsible for regulating and controlling the power distribution of a chassis and the dynamic coordination of 4 electric wheels; and the sub-controller can independently control the steering and braking control of the single electric wheel. The coordination control system of the full-vector line control chassis has the advantages that the main controller can be used for cleaning and processing the road condition fed back by the detection module, a road condition model is further produced, the sub-controller, the suspension module and the driving module are matched, so that when a hub of an automobile meets the corresponding road condition, adjustment is made in advance, the height of the air suspension is changed, powerful support of the suspension on an automobile body is guaranteed, the overall control difficulty of the chassis is reduced, the stability of the chassis is improved, and meanwhile, the chassis and ground foreign matters can be prevented from being rubbed or collided.

Description

Coordination control system of full-vector line control chassis
Technical Field
The invention belongs to the technical field of automobile chassis, and particularly relates to a coordination control system of a full-vector line control chassis.
Background
The traditional automobile chassis has the problems of long development period, low iteration speed, single product line, serious homogenization and the like, and can not meet the technical development requirements of new energy automobiles and intelligent driving automobiles. The intelligent automobile is a new product combining artificial intelligence technology and modern automobile industry, and is developing into a full-automatic wheel type intelligent machine integrating the characteristics of network communication, multi-source perception, autonomous decision, safety, high efficiency, flexibility, mobility and the like.
Conventional automobiles typically employ a typical under-actuated system: only three key operating devices, namely an accelerator pedal, a brake pedal and a steering wheel, can realize only two relatively independent controllable inputs in the longitudinal direction and the transverse direction of the vehicle. The dynamics control difficulty of the underactuated system is high, instability is easy to occur, and the steering and braking of a single electric wheel cannot be independently controlled.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides a coordination control system of a full-vector line control chassis.
In order to achieve the purpose, the invention provides the following technical scheme: a coordinated control system of a full vector line controlled chassis, comprising: a main controller, a sub-controller connected with the main controller, a detection module, a suspension module and a driving module,
the main controller is responsible for regulating and controlling the power distribution of the chassis and the dynamic coordination of 4 electric wheels;
the sub-controller can independently control the steering and braking control of a single electric wheel;
the detection module can detect whether dangers exist in the front-back direction and the side direction of the running route of the vehicle or not according to the movement direction of the chassis and the 360-degree environment image, and further comprises a visual detection module and a vibration sensing module;
the suspension module can control the state of the chassis according to the detection module;
the driving module selects the hub motor, can directly transmit power to the wheel, the driving module has four, and evenly distributed to 4 electric vehicle wheels.
In a preferred embodiment of the present invention, the vision inspection module is composed of a high-speed camera, a light source system and an image acquisition unit, and is capable of determining a distance between a next obstacle and the chassis and feeding back a determination result to the main controller.
In a preferred embodiment of the present invention, the vibration sensing module can determine the vibration amplitude, vibration frequency and vibration variation generated by the chassis, and can feed back the determination result to the main controller.
In a preferred embodiment of the invention, the sub-controller can control each wheel independently through four driving modules, so as to realize differential steering.
In a preferred embodiment of the present invention, the main controller is further provided with a front collision warning system, the sub-controller is provided with an automatic emergency braking system, and the sub-controller is further provided with an anti-lock braking system.
In a preferred embodiment of the invention, the sub-controllers are capable of independently controlling angle modules which can be coupled together by vehicle dynamics depth.
In a preferred embodiment of the present invention, the suspension module is communicatively connected to the driving module and the main controller, and the suspension module can be adjusted by the driving module.
In a preferred embodiment of the present invention, the main controller can generate a road condition model according to data fed back by the vision detection module and the vibration sensing module, and the suspension module can adjust the height of the chassis according to the road condition model.
In a preferred embodiment of the present invention, the suspension module is any one of an electromagnetic suspension and an air suspension.
In a preferred embodiment of the present invention, the main controller is further connected to a braking energy recovery module, and the braking energy recovery module can recover excess energy released by the vehicle during braking or freewheeling, and can convert the recovered energy into electric energy through the generator.
The invention solves the defects in the background art, and has the following beneficial effects:
1. this coordinated control system of full vector drive-by-wire chassis, can handle the road conditions clearance of detection module feedback through main control unit, and then produce the road conditions model, collocation sub-controller, suspension module and drive module, when can making the wheel hub of car meet corresponding road surface situation, make the adjustment in advance, change air suspension's height, both guarantee the strong support of suspension to the automobile body, make the holistic control degree of difficulty in chassis reduce again, the stability is improved, can also avoid chassis and ground foreign matter to take place friction or collision simultaneously.
2. The coordination control system of the full-vector wire-controlled chassis can independently control the steering of a single electric wheel through the driving module and the sub-controller, and simultaneously realize front wheel steering, rear wheel steering and four-wheel steering.
3. According to the coordination control system of the full-vector wire control chassis, the hub motor is selected as the driving module, and power is directly transmitted to the wheels through the hub motor, so that the efficiency loss caused by transmission of a transmission shaft is eliminated. The main controller is also provided with a braking energy recovery system, so that the redundant energy released by the vehicle in braking or inertial sliding can be recovered, converted into electric energy through the generator and stored in the power battery for later accelerated running, and meanwhile, the power can be supplied to power consumption equipment in the vehicle, and the consumption of electric quantity is reduced.
4. According to the coordination control system of the full-vector line control chassis, through various brake systems carried by the main controller and the sub-controllers, when one brake fails, other brakes can be used for making up for the vacancy to guarantee the brake function of the vehicle, and the safety of the vehicle form is greatly improved.
5. This coordinated control system of full vector drive-by-wire chassis, through visual detection module and vibrations perception module, wherein visual detection module can detect the road information around car advancing direction and the car, and establish the road conditions model of road, vibrations perception module can detect the travel state of vehicle, thereby establish the travel state model of car, cooperation suspension module, when can making the wheel hub of car meet corresponding road surface situation, make the adjustment in advance, change air suspension's height, passenger's comfort level has been improved.
6. The coordination control system of the full-vector wire control chassis adopts a four-wheel independent driving mode, can realize four-wheel torque output independent control and electronic differential steering, has the steering precision of less than or equal to 1 degree, and simultaneously, when one of the hub motors cannot normally run due to faults, the rest of the hub motors still have driving capability due to the topology changing characteristic, thereby ensuring the normal running of a vehicle under the condition that partial functions of components and parts fail.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a coordinated control system of a full-vector wire-controlled chassis;
in the figure: 1. a main controller; 2. a sub-controller; 3. a detection module; 4. a suspension module; 5. a drive module; 6. an energy recovery module.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and examples, which are simplified schematic drawings and illustrate only the basic structure of the invention in a schematic manner, and thus show only the constituents relevant to the invention.
A coordinated control system of a full vector line controlled chassis, comprising: main control unit 1 and the sub-controller 2 that is connected with main control unit 1, detection module 3, suspension module 4 and drive module 5, this coordination control system on full vector drive-by-wire chassis, can handle the road conditions clearance of detection module 3 feedback through main control unit 1, and then produce the road conditions model, collocation sub-controller 2, suspension module 4 and drive module 5, when can making the wheel hub of car meet corresponding road surface situation, make the adjustment in advance, change the height of air suspension, both guarantee the powerful support of suspension to the automobile body, make the holistic control degree of difficulty in chassis reduce again, the stability is improved, can also avoid chassis and ground foreign matter to take place friction or collision simultaneously.
The main controller 1 is responsible for regulating and controlling the power distribution of the chassis and the dynamic coordination of 4 electric wheels;
the detection module 3 can detect whether danger exists in the front-back direction and the side direction of the running route of the vehicle according to the motion direction of the chassis and the 360-degree environment image, and the detection module 3 further comprises a visual detection module 3 and a vibration perception module; the suspension module 4 can control the state of the chassis according to the detection module 3; this coordinated control system of full vector drive-by-wire chassis, through visual detection module 3 and vibrations perception module, wherein visual detection module 3 can detect car direction of advance and the road information around the car, and establish the road conditions model of road, vibrations perception module can detect the travel state of vehicle, thereby establish the travel state model of car, cooperation suspension module 4, when can make the wheel hub of car meet corresponding road surface situation, make the adjustment in advance, change the height of air suspension, passenger's comfort level has been improved.
A sub-controller 2 capable of independently controlling the steering and braking of a single electric wheel; the driving modules 5 are provided with four hub motors, and can directly transmit power to the wheels, and the driving modules 5 are uniformly distributed to 4 electric wheels; the coordination control system of the full-vector wire-controlled chassis can independently control the steering of a single electric wheel through the driving module 5 and the sub-controller 2, and simultaneously realize front wheel steering, rear wheel steering and four-wheel steering, and four electric wheels are provided with hub motors, so that differential steering can be realized, and when one steering fails, other steering can be used for making up for the vacancy to keep the steering function of a vehicle.
The vision detection module 3 is composed of a high-speed camera, a light source system and an image acquisition unit, can judge the distance between the next obstacle and the chassis, and can feed back the judgment result to the main controller 1.
The vibration sensing module can judge the vibration amplitude, vibration frequency and vibration change generated by the chassis and can feed back the judgment result to the main controller 1.
The sub-controller 2 can independently control each wheel through the four driving modules 5 to realize differential steering; the sub-controllers 2 are capable of independently controlling the angle modules, which can be coupled together by vehicle dynamics depth; the coordination control system of the full-vector wire control chassis adopts a four-wheel independent driving mode, can realize four-wheel torque output independent control and electronic differential steering, has the steering precision of less than or equal to 1 degree, and simultaneously, when one of the hub motors cannot normally run due to faults, the rest of the hub motors still have driving capability due to the topology changing characteristic, thereby ensuring the normal running of a vehicle under the condition that partial functions of components and parts fail.
The main controller 1 is also provided with a front collision early warning system, the sub-controller 2 is provided with an automatic emergency braking system, and the sub-controller 2 is also provided with an anti-lock braking system; according to the coordination control system of the full-vector line control chassis, through various brake systems carried by the main controller 1 and the sub-controllers 2, when one brake fails, other brakes can be used for making up for the vacancy to guarantee the brake function of a vehicle, and the safety of the vehicle form is greatly improved.
The suspension module 4 is in communication connection with the driving module 5 and the main controller 1, and the suspension module 4 can be adjusted through the driving module 5.
The main controller 1 can generate a road condition model according to the data fed back by the visual detection module 3 and the vibration sensing module, and the suspension module 4 can adjust the height of the chassis according to the road condition model.
The suspension module 4 is either an electromagnetic suspension or an air suspension.
The main controller 1 is also connected with a braking energy recovery module 6, the braking energy recovery module 6 can recover the redundant energy released by the vehicle in braking or freewheeling, and the recovered energy can be converted into electric energy through a generator; according to the coordination control system of the full-vector line control chassis, the hub motor is selected as the driving module 5, and power is directly transmitted to the wheels through the hub motor, so that efficiency loss caused by transmission of a transmission shaft is eliminated. The main controller 1 is also provided with a braking energy recovery system, so that the excess energy released by the vehicle in braking or inertial sliding can be recovered, converted into electric energy through a generator and stored in a power battery for later accelerated running, and meanwhile, power can be supplied to power consumption equipment in the vehicle, and the consumption of electric quantity is reduced.
The working principle of the invention is as follows:
during the car high speed traveles, the road conditions to car advancing direction is detected by vision detection module 3, shake perception module simultaneously and judge the mode of advancing of car, thereby establish the road conditions model of road and the running state model of vehicle, main control unit 1 transmits road conditions model and running state model to sub-controller 2 afterwards, then four independent sub-controllers 2 control single electric wheel respectively according to two kinds of models and turn to or brake, sub-controller 2 can also adjust the height on chassis through suspension module 4 simultaneously, avoid chassis and ground foreign matter to take place friction or collision.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description herein, the description of the terms "one embodiment," "some embodiments," "an embodiment," "an example," "a specific example" or "some examples" or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and not to be construed as limiting the present invention and that those skilled in the art may make modifications, alterations, substitutions and alterations to the above embodiments within the scope of the present invention.

Claims (10)

1. A coordinated control system of a full vector line controlled chassis comprising: a main controller, a sub-controller connected with the main controller, a detection module, a suspension module and a driving module, which is characterized in that,
the main controller is responsible for regulating and controlling the power distribution of the chassis and the dynamic coordination of 4 electric wheels;
the sub-controller can independently control the steering and braking control of a single electric wheel;
the detection module can detect whether dangers exist in the front-back direction and the side direction of the running route of the vehicle or not according to the movement direction of the chassis and the 360-degree environment image, and further comprises a visual detection module and a vibration sensing module;
the suspension module can control the state of the chassis according to the detection module;
the driving module selects the hub motor, can directly transmit power to the wheel, the driving module has four, and evenly distributed to 4 electric vehicle wheels.
2. The system of claim 1, wherein the system comprises: the vision detection module is composed of a high-speed camera, a light source system and an image acquisition unit, can judge the distance between the next obstacle and the chassis, and can feed back the judgment result to the main controller.
3. The system of claim 1, wherein the system comprises: the vibration sensing module can judge the vibration amplitude, vibration frequency and vibration change generated by the chassis and can feed back the judgment result to the main controller.
4. The system of claim 1, wherein the system comprises: the sub-controllers can independently control each wheel through the four driving modules, so that differential steering is realized.
5. The system of claim 1, wherein the system comprises: the main controller is also provided with a front collision early warning system, the sub-controller is provided with an automatic emergency braking system, and the sub-controller is also provided with an anti-lock braking system.
6. The system of claim 1, wherein the system comprises: the sub-controllers are capable of independently controlling angle modules that are capable of being coupled together by vehicle dynamics depth.
7. The system of claim 1, wherein the system comprises: the suspension module is in communication connection with the driving module and the main controller, and the suspension module can be adjusted through the driving module.
8. The system of claim 1, wherein the system comprises: the main controller can generate a road condition model according to the data fed back by the vision detection module and the vibration sensing module, and the suspension module can adjust the height of the chassis according to the road condition model.
9. The coordinated control system of the full vector line control chassis according to claim 1, wherein: the suspension module is any one of an electromagnetic suspension or an air suspension.
10. The system of claim 1, wherein the system comprises: the main controller is further connected with a braking energy recovery module, the braking energy recovery module can recover redundant energy released by a vehicle in braking or inertial sliding, and the recovered energy can be converted into electric energy through a generator.
CN202210926899.4A 2022-08-03 2022-08-03 Coordination control system of full-vector line control chassis Pending CN115179705A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202210926899.4A CN115179705A (en) 2022-08-03 2022-08-03 Coordination control system of full-vector line control chassis
PCT/CN2022/117771 WO2024026974A1 (en) 2022-08-03 2022-09-08 Coordinated control system for full-vector drive-by-wire chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210926899.4A CN115179705A (en) 2022-08-03 2022-08-03 Coordination control system of full-vector line control chassis

Publications (1)

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CN115179705A true CN115179705A (en) 2022-10-14

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WO (1) WO2024026974A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0741784B2 (en) * 1986-11-28 1995-05-10 日産自動車株式会社 Comprehensive control system for suspension and steering
GB2358004A (en) * 2000-01-08 2001-07-11 Rover Group A drive and active suspension system for a vehicle that allows the vehicle to turn on the spot
CN108860315B (en) * 2018-07-05 2020-05-22 西安理工大学 Wheel drive electric automobile all-line control chassis structure
CN108995711B (en) * 2018-07-09 2020-08-28 北京理工大学 Independent-drive all-wheel steering electric unmanned vehicle chassis
CN210911933U (en) * 2019-11-29 2020-07-03 北京理工大学重庆创新中心 Active suspension control system
CN111660748A (en) * 2019-12-09 2020-09-15 摩登汽车有限公司 Automobile suspension system and automobile suspension control method
CN111775721B (en) * 2020-07-14 2022-05-10 清华大学 Full-vector control chassis structure, and control method and device for full-vector control automobile

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