CN107618401A - Modularization single wheel independence drive module for electric vehicle - Google Patents

Modularization single wheel independence drive module for electric vehicle Download PDF

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Publication number
CN107618401A
CN107618401A CN201710757219.XA CN201710757219A CN107618401A CN 107618401 A CN107618401 A CN 107618401A CN 201710757219 A CN201710757219 A CN 201710757219A CN 107618401 A CN107618401 A CN 107618401A
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China
Prior art keywords
steering
wheel
drive
motor
embedded hardware
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Pending
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CN201710757219.XA
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Chinese (zh)
Inventor
杨昊光
赵雪轩
朱子霖
施炯明
郑钢铁
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Tsinghua University
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Tsinghua University
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Priority to CN201710757219.XA priority Critical patent/CN107618401A/en
Publication of CN107618401A publication Critical patent/CN107618401A/en
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    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a kind of modularization single wheel independence drive module for electric vehicle, including：Communication interface：For receiving the control signal of host computer transmission, and send control signals to embedded hardware；Embedded hardware, for generating steering motor drive signal and motor drive signal according to control signal；Steering motor driver, for controlling steering motor according to steering motor drive signal；Drive motor driver, for controlling motor according to motor drive signal；Motion sensor, embedded hardware is sent to for obtaining the direction information and angle information of target wheel, and by the direction information of target wheel and angle information, and then is sent to host computer.The invention has the advantages that：The problem of solving the problems, such as to be difficult to control caused by four motorized wheels independent steering electric car controlled quentity controlled variable is more, the drive lacking free degree is more, and avoiding conventional truck redundancy deficiency and low transmission efficiency.

Description

Modularization single wheel independence drive module for electric vehicle
Technical field
The invention belongs to electric vehicle control-Driving Scheme field, more particularly to a kind of mould for electric vehicle Block single wheel independence drive module.
Background technology
Traditional electric automobile is using the drive system of centralization, including the steering system of purely mechanic transmission and Relatively centralized is dynamic Power system.Vehicle is driven by one or two heavy-duty motor, and each wheel is transferred power to by Transmission Bridge, differential mechanism.This Kind design is based on orthodox car framework, without the other parts in addition to power source are made with too many change, thus turns into modern electricity The main flow of electrical automobile.However, on the one hand centralization driving has the problem of redundancy deficiency, vehicle will lose if electrical fault Go to institute dynamic；On the other hand traditional differential mechanism can not meet the optimum allocation of the kinematics and dynamics amount of vehicle simultaneously, And transmission series is excessive, these factors are all less efficient by the scheme for causing traditional centralization driving.
The content of the invention
It is contemplated that at least solves one of above-mentioned technical problem.
Therefore, it is an object of the invention to propose a kind of modularization single wheel independence drive module for electric vehicle, Solve the problems, such as unmanageable caused by four motorized wheels independent steering electric car controlled quentity controlled variable is more, the drive lacking free degree is more.
To achieve these goals, embodiment of the invention discloses that a kind of modularization single wheel for electric vehicle is only Vertical drive module, including：Communication interface：For receiving the control signal of host computer transmission, and the control signal is sent to Embedded hardware；The embedded hardware, for generating steering motor drive signal and motor according to the control signal Drive signal, and the steering motor drive signal is sent to steering motor driver, by the motor drive signal It is sent to drive motor controller；Steering motor driver, for controlling steering motor according to the steering motor drive signal； Drive motor driver, for controlling motor according to the motor drive signal；Motion sensor, for obtaining mesh The direction information and angle information of wheel are marked, and the direction information of the target wheel and angle information are sent to the insertion Formula hardware, and then by the communication interface be sent to the direction information of the target wheel and angle information described upper Machine.
Further, the embedded hardware is multiple that each embedded hardware has different addresses, the host computer Pass through the address location embedded hardware accordingly.
Further, the control signal includes the rotating speed of target, target steering angle, actual roll angle of the target wheel And actual steering angle.
Further, the embedded hardware includes MCU, PLC and FPGA.
Further, in addition to：Power management module, for by power bus voltage transform to the embedded hardware, Supply voltage needed for the steering motor driver and the drive motor driver, the power management module are additionally operable to pair The embedded hardware, the steering motor driver and the drive motor driver carry out power monitoring, the power supply pipe Reason module is additionally operable to carry out the embedded hardware, the steering motor driver and the drive motor driver (1-7) Fault detect.
Further, the H bridges that the steering motor driver is matched by the number of phases, each mutually input is enabled respectively and works Steering motor described in Pulse Width Control operates；The H bridges that the drive motor driver is matched by the number of phases, each mutually input makes respectively The motor operating can be controlled with working pulse.
Further, in addition to：Regenerative braking energy-storage module, with the motor and the power management module phase Even, for kinetic wheel to be converted into electrical power storage, and the electric energy of storage is used for the power management module.
Further, the steering motor drive signal includes motor enable signal, stepping working pulse signal and motor Direction signal.
Modularization single wheel independence drive module for electric vehicle according to embodiments of the present invention, it is only to solve four-wheel The problem of unmanageable caused by vertical driving independent steering electric car controlled quentity controlled variable is more, the drive lacking free degree is more, and avoid tradition The problem of vehicle redundancy deficiency and low transmission efficiency.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment Substantially and it is readily appreciated that, wherein：
Fig. 1 is the structural frames of the modularization single wheel independence drive module for electric vehicle of one embodiment of the invention Figure；
Fig. 2 is the circuit diagram of the power management module of one embodiment of the invention；
Fig. 3 is the execution flow chart of the embedded code of one embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ", The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right The limitation of the present invention.In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint are relative Importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this Concrete meaning in invention.
With reference to following description and accompanying drawing, it will be clear that these and other aspects of embodiments of the invention.In these descriptions In accompanying drawing, some particular implementations in embodiments of the invention are specifically disclosed, to represent to implement the implementation of the present invention Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention Embodiment includes all changes, modification and the equivalent fallen into the range of the spirit and intension of attached claims.
The present invention is described below in conjunction with accompanying drawing.
Fig. 1 is the structural frames of the modularization single wheel independence drive module for electric vehicle of one embodiment of the invention Figure.As shown in figure 1, a kind of modularization single wheel independence drive module for electric vehicle, including communication interface 1-3, insertion Formula hardware 1-4, steering motor driver 1-6, drive motor driver 1-7 and motion sensor.
Wherein, communication interface 1-3 is used for the control signal i.e. input quantity 1-2 for receiving host computer transmission, and by the control Signal is sent to embedded hardware 1-4.Communication interface 1-3 and embedded hardware 1-4 carries out full-duplex communication with host computer.At this In one embodiment of invention, the rotating speed of target of control signal including the target wheel, target steering angle, actual roll angle and Actual steering angle, the action of wheel can be specifically controlled according to above- mentioned information.
Embedded hardware 1-4, for according to the control signal be embedded code generation steering motor drive signal and Motor drive signal, and the steering motor drive signal is sent to steering motor driver 1-6, by the driving electricity Machine drive signal is sent to drive motor controller 1-7.In the implementation of the present invention, embedded hardware 1-4 includes micro-control Unit (Microcontroller Unit processed；MCU), programmable logic controller (PLC) Programmable Logic Controller；PLC, field programmable gate array Field-Programmable Gate Array；One kind in FPGA or A variety of or customization not Reprogrammable application specific integrated circuit.
When multiple described modularization single wheel independence drive modules are connected to host computer simultaneously, each embedded hardware 1-4 has a different addresses in the system of host computer, host computer by address list determine each embedded hardware 1-4 send or The signal of reception.This process can use the bus outside host computer as used the outer annular I2C buses built to carry out, can also Carry out such as being connected respectively to host computer by USB using the bus inside host computer；It can be realized by wire transmission, can also Realized by being wirelessly transferred.Embedded hardware 1-4 concrete functions are：Complete the transmission of single wheel measuring and control data, measuring and control data Receive, the verification of measuring and control data.
Steering motor driver 1-6 is used to control steering motor 1-8 according to the steering motor drive signal.Motor Driver 1-7 is used to control motor 1-10 according to the motor drive signal.In one embodiment of the invention, The steering motor drive signal includes motor enable signal, stepping working pulse signal and motor drive direction signal.
In one embodiment of the invention, the H bridges that steering motor driver 1-6 is matched by the number of phases, each mutually difference Input is enabled and working pulse controls the steering motor 1-8 operatings.The H that drive motor driver 1-7 is matched by the number of phases Bridge, each mutually input is enabled respectively and working pulse controls the motor 1-10 operatings.The process can be integrated in IPM modules In, and require that embedded hardware 1-4 provides matching signal electrical interface.External motor driver can also be used, and will Ask and matching signal electrical interface is provided.Signal electrical interface is included but is not limited to by function：Each road enable signal, the work of each road Pulse, turn as that need to provide motor position sensor signal for permanent magnetic brushless, need if using external motor driver to provide Dynamic direction signal, brake signal etc..Herein, external refer to uses packaged off-the-shelf, as electric vehicle brushless motor drives Dynamic device.
Motion sensor, turn for obtaining the direction information and angle information of target wheel, and by the target wheel The embedded hardware 1-4 is sent to information and angle information, and then by the communication interface 1-3 by the target wheel Direction information and angle information be that feedback quantity 1-1 is sent to the host computer.In one embodiment of the invention, motion passes Sensor includes turning to encoder 1-9 and rotary encoder 1-11.Wherein, encoder 1-9 is turned to, for obtaining the target wheel Direction information and formed steering coding, and by it is described steering coding be sent to the embedded hardware 1-4.Rotary encoder 1- 11, for obtaining the angle information of the target wheel and forming angular coding, and the angular coding is sent to described embedding Enter formula hardware 1-4.In addition, motion sensor can also be spacing including detection wheel and turns to the photoelectric door of zero point or code-disc, inspection Accelerometer of measuring car wheel vibrations etc..
In one embodiment of the invention, the modularization single wheel independence drive module for electric vehicle also includes electricity Source control module 1-5.Power management module 1-5, for power bus voltage to be transformed into the embedded hardware 1-4, described Supply voltage needed for the steering motor driver 1-6 and drive motor driver 1-7, the power management module 1-5 is also For carrying out power to the embedded hardware 1-4, the steering motor driver 1-6 and the drive motor driver 1-7 Monitoring, the power management module 1-5 are additionally operable to the embedded hardware 1-4, the steering motor driver 1-6 and described Drive motor driver 1-7 carries out fault detect.
In one embodiment of the invention, the modularization single wheel independence drive module for electric vehicle also includes again Raw braking stored-energy module 1-12.The regenerative braking energy-storage module 1-12 and motor 1-10 and power management module 1- 5 are connected, and for kinetic wheel to be converted into electrical power storage, and the electric energy of storage are used for the power management module 1-5.
Fig. 2 is the circuit diagram of the power management module of one embodiment of the invention.As shown in Fig. 2 power rail voltage is 13 core lithium ion battery voltages, correspond to+48V~54.6V, the directly power end to IPM and steering stepper motor power supply；Simultaneously + 15V is converted to via LM2576HVS, the control terminal supply voltage as IPM modules；And be depressurized to again by A5975D+ 5V, the power supply as Transistor-Transistor Logic level and corresponding IC；+ 3.3V is depressurized to by linear voltage regulator 1117 simultaneously, as LVTTL's and MCU Power supply.In terms of regenerative braking, braking energy, into storage capacitor, is controlled by switching tube IRFR3607 controlled releases via LM5122MH System boosts to slightly above current busbar voltage, and then completes the recovery of energy.Power supply monitoring includes busbar voltage monitoring and power Device current is monitored, and the realtime power of power device can be obtained by voltage and current.Busbar voltage monitoring passes through resistance point The level that volt circuit corresponds to busbar voltage within+3.3V in proportion, and it is input to MCU input end of analog signal It is read out；The current monitoring of power device is completed by ACS712-30A chips, and 0~30A current values correspond to 0~+5V's One level, then partial pressure and input MCU analog end and be read out.
Built-in drive motor driver uses model FAM5V5DF1 IPM modules, has 50A fan-out capabilities.MCU Directly three tunnels of output are enabled and the direct current of power source bus is converted to three-phase alternation electricity by three road working pulse signal driving IPM Stream, and then the three-phase permanent magnet brushless motor for driving a power to be 1500W is rolled with driving moment.The Hall element of electric machine built-in The relative position relation of motor pole and winding is fed back into MCU, and then completes the Partial controll closed loop of motor.IPM moulds Block also has internal temperature sensor and fault-signal, is required for making level compatible processing respectively in addition to being controlled to motor After input MCU.
The driver for turning to stepper motor uses the way of external off-the-shelf, uses 86 stepper motors and its supporting drive Dynamic device, MCU this needs is provided all the way stepping working pulse, enable level all the way, direction level can be completed to turn to all the way The driving of stepper motor.
Motion sensor uses the absolute Hall encoder of two 4096 lines, senses rolling and the steering angle of wheel respectively. The encoder that wherein moves in turn is connected with electric machine main shaft by axle sleeve, is turned to encoder and is connected by synchronous pulley with steering spindle, is driven Than for 1：2.Encoder clock signal is provided by MCU, and carries out active reading numerical values by MCU.
Fig. 3 is the execution flow chart of the embedded code of one embodiment of the invention.As shown in figure 3, initialization section is divided into Distribute the service condition of each register, Drive, Steering are respectively the subprogram for driving and turning to, and its implementation process can be with Represented by the flow chart of accompanying drawing 3.Wherein the local closed loop of steering angle can reach preferable effect using traditional PI or PID control Fruit.
The real-time code based on C language is run on embedded hardware 1-4, the communication modes of itself and host computer are based on robot Operating system ROS.The multitasking mechanism for being mainly characterized by having used the system of trying to be the first of real-time code, each subprogram are set It is set to certain interval of time to perform once, main program is in each cycle index current time in system and when running subprogram last time Between make comparisons, if the subprogram is performed if the interval time more than setting once and update subprogram last time execution system when Between.The subprogram that real-time code includes mainly has：Initialization, course changing control, drive control, the output of global feedback amount, renewal office Portion's feedback quantity, renewal input quantity.Wherein, initialization section is only run once, course changing control, renewal feedback quantity and global feedback amount Output can be run once by try to be the first system operation, drive control and renewal input quantity in each major cycle ending.This The false code of structure is as follows：
Modularization single wheel independence drive module for electric vehicle according to embodiments of the present invention, it is only to solve four-wheel The problem of unmanageable caused by vertical driving independent steering electric car controlled quentity controlled variable is more, the drive lacking free degree is more, and avoid tradition The problem of vehicle redundancy deficiency and low transmission efficiency.
In addition, other compositions of the modularization single wheel independence drive module for electric vehicle of the embodiment of the present invention with And effect is all known for a person skilled in the art, in order to reduce redundancy, is not repeated.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this The scope of invention is by claim and its equivalent limits.

Claims (10)

  1. A kind of 1. modularization single wheel independence drive module for electric vehicle, it is characterised in that including：
    Communication interface (1-3)：For receiving the control signal of host computer transmission, and the control signal is sent to embedded hard Part (1-4)；The wheel real time kinematics status information that embedded hardware is read is packaged simultaneously, sent to host computer；
    The embedded hardware (1-4), for generating steering motor drive signal and motor drive according to the control signal Dynamic signal, and the steering motor drive signal is sent to steering motor driver (1-6), the motor is driven and believed Number it is sent to drive motor controller (1-7)；
    Steering motor driver (1-6), for controlling steering motor (1-8) according to the steering motor drive signal；
    Drive motor driver (1-7), for controlling motor (1-10) according to the motor drive signal；
    Motion sensor, believe for obtaining the direction information and angle information of target wheel, and by the steering of the target wheel Breath and angle information are sent to the embedded hardware (1-4), and then by the communication interface (1-3) by the target wheel Direction information and angle information be sent to the host computer.
  2. 2. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that During actual use, multiple wheels belong to the management and control of multiple modularization single wheel independence drive modules, multiple modules Change the embedded hardware (1-4) in single wheel independence drive module while be connected to host computer, each embedded hardware (1- 4) there is different addresses, the host computer embedded hardware (1-4) and is led to therewith accordingly by address location Letter.
  3. 3. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that Realize outside the drive control of wheel, the course changing control of the wheel can also be realized simultaneously.The control signal includes the target Rotating speed of target, the target steering angle of wheel；The wheel real time kinematics status information includes the actual roll angle and reality of wheel Steering angle.
  4. 4. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that institute It is a kind of integrated circuit for possessing logical sum analog signal processing capability in real time to state embedded hardware (1-4), and concrete form includes MCU, PLC and FPGA, but not limited to this.
  5. 5. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that also Including：
    Power management module (1-5), for power bus voltage to be transformed into the embedded hardware (1-4), the steering electricity Supply voltage needed for machine driver (1-6) and the drive motor driver (1-7), the power management module (1-5) is also For entering to the embedded hardware (1-4), the steering motor driver (1-6) and the drive motor driver (1-7) Row power monitoring, the power management module (1-5) are additionally operable to the embedded hardware (1-4), steering motor driving Device (1-6) and the drive motor driver (1-7) carry out fault detect.
  6. 6. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that institute The H bridges that steering motor driver (1-6) is matched by the number of phases are stated, it is each mutually to input described turn of enabled and working pulse control respectively Operated to motor (1-8)；
    The H bridges that the drive motor driver (1-7) is matched by the number of phases, each mutually input enables and working pulse control respectively Motor (1-10) operating.
  7. 7. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that institute Stating motion sensor includes：
    Encoder (1-9) is turned to, for obtaining the direction information of the target wheel and forming steering coding, and by the steering Coding is sent to the embedded hardware (1-4)；
    Move in turn encoder (1-11), for obtaining the angle information of the target wheel and forming angular coding, and by the angle Degree coding is sent to the embedded hardware (1-4).
  8. 8. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that institute Following synkinesia sensor can also be included by stating motion sensor：
    Detect the photoelectric door of wheel steering zero point or the accelerometer of code-disc, detection wheel movement state and posture etc..
  9. 9. the modularization single wheel independence drive module according to claim 5 for electric vehicle, it is characterised in that also Including：
    Regenerative braking energy-storage module (1-12), it is connected with the motor (1-10) and the power management module (1-5), uses Kinetic wheel is converted into electrical power storage when in braking, and the electric energy of storage is entered by the power management module (1-5) Row recycles.
  10. 10. the modularization single wheel independence drive module according to claim 1 for electric vehicle, it is characterised in that The steering motor drive signal includes motor enable signal, stepping working pulse signal and motor drive direction signal.
CN201710757219.XA 2017-08-29 2017-08-29 Modularization single wheel independence drive module for electric vehicle Pending CN107618401A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202703319U (en) * 2012-06-07 2013-01-30 大连交通大学 Control system for small-size four-wheel driving pure electric car based on hub motors
CN103802656A (en) * 2014-03-05 2014-05-21 北京工业大学 Mobile system for four-wheel planetary vehicle
WO2014171389A1 (en) * 2013-04-18 2014-10-23 Ntn株式会社 Steering device, vehicle using same steering device, and vehicle equipped with four-wheel steering mechanism
CN106143135A (en) * 2016-07-04 2016-11-23 清华大学 The four-wheel independent steering independent drive vehicles control system of theory is driven based on intuition
CN106696764A (en) * 2015-11-16 2017-05-24 哈尔滨工大天才智能科技有限公司 Control system of wheel type robot
CN206344650U (en) * 2016-11-25 2017-07-21 山东大学 The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202703319U (en) * 2012-06-07 2013-01-30 大连交通大学 Control system for small-size four-wheel driving pure electric car based on hub motors
WO2014171389A1 (en) * 2013-04-18 2014-10-23 Ntn株式会社 Steering device, vehicle using same steering device, and vehicle equipped with four-wheel steering mechanism
CN103802656A (en) * 2014-03-05 2014-05-21 北京工业大学 Mobile system for four-wheel planetary vehicle
CN106696764A (en) * 2015-11-16 2017-05-24 哈尔滨工大天才智能科技有限公司 Control system of wheel type robot
CN106143135A (en) * 2016-07-04 2016-11-23 清华大学 The four-wheel independent steering independent drive vehicles control system of theory is driven based on intuition
CN206344650U (en) * 2016-11-25 2017-07-21 山东大学 The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel

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