CN110143127B - Electric automobile, control method, computer device and storage medium - Google Patents
Electric automobile, control method, computer device and storage medium Download PDFInfo
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- CN110143127B CN110143127B CN201910454297.1A CN201910454297A CN110143127B CN 110143127 B CN110143127 B CN 110143127B CN 201910454297 A CN201910454297 A CN 201910454297A CN 110143127 B CN110143127 B CN 110143127B
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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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Vehicle Body Suspensions (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the technical field of electric vehicles, and provides an electric vehicle, a control method, computer equipment and a storage medium, which can improve the safety, stability and comfort of the electric vehicle. The electric automobile is provided with a plurality of wheel assemblies, the wheel assemblies are mutually independent, and each wheel assembly comprises a wheel, a driving device and a displacement device; the driving device can drive the wheels to rotate, and the displacement device can at least drive the wheels to move along the width direction of the electric automobile body. Each wheel of the electric automobile is provided with an independent power system, and each wheel is independently controlled through the driving device and the displacement device, so that the flexibility is improved; the driving device controls the rotation speed of wheels, when the vehicle turns, the turning is realized through the wheel speed difference, the wheels do not need to be bent, and the stability of the electric vehicle during the turning is improved; the displacement device controls the wheels to stretch out and draw back, so that the wheel track adjustment is realized, and the safety and the comfort of the electric automobile are improved.
Description
Technical Field
The invention relates to the technical field of electric vehicles, in particular to an electric vehicle, a control method, computer equipment and a storage medium.
Background
Under the influence of energy problems and environmental problems, the automobile industry gradually develops energy-saving and environment-friendly electric automobiles. The electric automobile has the advantages of no pollution, low noise, simple structure and the like.
However, the existing electric automobile has single function and cannot adapt to different driving conditions and different road conditions. For example, control is inconvenient when the vehicle turns, the vehicle body is not stable when running at a high speed, the maneuvering performance is low when running at a low speed, the vehicle body vibrates obviously when meeting rough road conditions, and the like.
In addition, in order to increase the driving distance, the electric automobile saves power, and the weight of the automobile body is continuously reduced, so that the stability of the electric automobile is gradually reduced. Particularly, in the case of high-speed traveling, cornering, uneven road, etc., there is a rise in danger due to a decrease in stability. This is a problem facing electric vehicles at present, which must be solved.
It should be noted that the information applied in the above background section is only for enhancing understanding of the background of the present invention and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.
Disclosure of Invention
In view of the above, the present invention provides an electric vehicle, a control method, a computer device, and a storage medium, which can improve safety, stability, and comfort of the electric vehicle.
According to an aspect of the present invention, there is provided an electric vehicle having a plurality of wheel assemblies, a plurality of the wheel assemblies being independent of each other, each of the wheel assemblies including a wheel, a driving device, and a displacement device; the driving device can drive the wheels to rotate, and the displacement device can at least drive the wheels to move along the width direction of the electric automobile body.
Preferably, in the electric vehicle, the displacement device, the driving device and the wheels are arranged from inside to outside in sequence along the width direction of the vehicle body; the driving device is connected with and drives the wheels through a rotating bearing; the displacement device is connected with the driving device through a telescopic bearing and drives the driving device and the wheels through the telescopic bearing.
Preferably, in the electric vehicle, the displacement device includes a first motor fixed to a vehicle body, the first end of the telescopic bearing is connected with the first motor in a telescopic manner, and the second end of the telescopic bearing is connected with the driving device.
Preferably, in the electric vehicle, the driving device includes a housing fixed to the vehicle body and a second motor accommodated in the housing; two opposite inner walls of the shell are provided with guide rails extending along the width direction of the vehicle body, and two opposite side walls of the second motor are respectively connected with the guide rails through rotary hinges; and under the drive of the first motor, the second motor slides along the guide rail through the rotary hinge to drive the wheels to move along the width direction of the vehicle body.
Preferably, in the electric vehicle, when the wheel jumps in a direction perpendicular to the vehicle body, the wheel drives the second motor to swing through the rotating bearing, and the rotating hinge is matched with the swing of the second motor to rotate in the guide rail.
Preferably, in the electric vehicle, a first end of the rotating bearing is rotatably connected to the second motor, and a second end of the rotating bearing is connected to the wheel through a first rotating joint; and a second end of the telescopic bearing is connected with the second motor through a second rotary connector.
Preferably, in the electric automobile, the rotating bearing is connected with the automobile body through a first elastic piece, the first elastic piece can elastically stretch and retract along the direction perpendicular to the automobile body, the first end of the first elastic piece is fixedly connected with the automobile body, and the second end of the first elastic piece is movably connected with the rotating bearing through a connecting ring.
Preferably, in the electric automobile, each wheel assembly further includes a lifting device, the housing is connected with the automobile body through the lifting device, and the lifting device can lift along a direction perpendicular to the automobile body so as to adjust the ground clearance of the automobile body; and one side wall of the shell is connected with the vehicle body through a connecting rod, the first end of the connecting rod is fixedly connected with the vehicle body, and the second end of the connecting rod is connected with the side wall of the shell through a third rotary connector.
Preferably, in the electric automobile, the lifting device is an electric lifter or a second elastic member.
Preferably, in the electric vehicle described above, in each of the wheel assemblies, the wheel includes a plurality of tires provided in the vehicle body width direction, and the plurality of tires are each connected to the driving device through the rotating bearing.
Preferably, in the electric automobile, the wheel housing is provided with a tire cover, and the tire cover includes: the cover body is covered outside the wheel; the prompting module is arranged on the outer surface of the cover body and can generate prompting information when the wheels move; and the soft waterproof sheet is arranged below the rear surface of the cover body.
According to another aspect of the present invention, there is provided a control method for an electric vehicle, which is applied to the electric vehicle, the control method including: when the running speed of the electric automobile is greater than a first preset value, a wheel distance increasing signal is sent to each wheel assembly, so that a displacement device of each wheel assembly drives each wheel to extend along the width direction of the automobile body in a direction deviating from the axle center of the electric automobile; when the running speed of the electric automobile is smaller than a second preset value, a wheel distance reduction signal is sent to each wheel assembly, so that a displacement device of each wheel assembly drives each wheel to shrink in the direction approaching to the axle center of the electric automobile along the width direction of the automobile body; and when the electric automobile turns, a first wheel speed signal is sent to the turning side wheel assembly, so that the driving device of the turning side wheel assembly drives the turning side wheel to forward run at a first wheel speed, and a second wheel speed signal is sent to the non-turning side wheel assembly, so that the driving device of the non-turning side wheel assembly drives the non-turning side wheel to forward run at a second wheel speed, and the second wheel speed is larger than the first wheel speed.
Preferably, the control method further includes: when the electric automobile turns, a contraction signal is sent to a turning side wheel assembly, so that a displacement device of the turning side wheel assembly drives turning side wheels to contract along the width direction of the automobile body in a direction approaching to the axle center of the electric automobile; and/or transmitting an extension signal to the non-steering side wheel assembly, so that the displacement device of the non-steering side wheel assembly drives the non-steering side wheel to extend along the width direction of the vehicle body in a direction deviating from the axle center of the electric vehicle.
Preferably, the control method further includes: when the running speed of the electric automobile is greater than the first preset value, a height reducing signal is sent to a lifting device of the electric automobile, so that the lifting device drives the electric automobile to reduce the ground clearance of the automobile body; and when the electric automobile parks, sending a height increasing signal to the lifting device, so that the lifting device drives the electric automobile to increase the ground clearance of the automobile body to the parking height, and the electric automobile can get on or off conveniently.
Preferably, the control method further includes: the running speed of the electric vehicle is set with a plurality of preset values so as to adjust the track of the wheel assembly and/or the ground clearance of the vehicle body in a staged manner.
According to another aspect of the present invention, there is provided a computer device comprising a processor and a memory, the memory having stored therein executable instructions for execution by the processor; the processor is configured to implement the steps of the control method of the electric vehicle described above via execution of the executable instructions.
Preferably, the computer device can regulate and control each wheel assembly according to driving instructions together with a navigation system and an automatic driving system.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing a program which, when executed, implements the steps of the control method of an electric vehicle described above.
Compared with the prior art, the invention has the beneficial effects that at least:
each wheel is provided with an independent power system, and the flexibility is improved through independent control of the driving device and the displacement device; the driving device controls the rotation speed of wheels, and when the vehicle turns, the steering is flexibly controlled through the wheel speed difference, the wheels do not need to be bent, and the stability of the electric vehicle during the steering is improved; the displacement device controls the wheels to stretch out and draw back, so that the wheel tread is adjusted, the wheel tread can be increased when the electric vehicle runs at a high speed, the wheel tread is reduced when the electric vehicle runs at a low speed, and the safety and the comfort of the electric vehicle are improved; the ground clearance of the automobile body is adjusted through the lifting device, so that the stability and safety of the electric automobile are further improved; and through setting up a plurality of tires, alleviate the vibrations when driving, increase the travelling comfort.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 shows a schematic structural diagram of an electric vehicle in an embodiment of the present invention;
fig. 2 shows a conventional track schematic of an electric vehicle in an embodiment of the present invention;
FIG. 3 is a schematic diagram showing an increase in track width of an electric vehicle in an embodiment of the invention;
FIG. 4 is a schematic view of an electric vehicle track reduction in an embodiment of the invention;
fig. 5 shows a steering schematic diagram of an electric vehicle in an embodiment of the invention;
FIG. 6 illustrates an exploded view of a wheel assembly in an embodiment of the present invention;
FIG. 7 illustrates an assembled schematic view of a wheel assembly in an embodiment of the present invention;
FIG. 8 illustrates a schematic cross-sectional view of a wheel assembly in an embodiment of the present invention;
FIG. 9 shows a schematic representation of wheel jump in an embodiment of the invention;
FIG. 10 illustrates a schematic view of wheel jounce in an embodiment of the present invention;
fig. 11 is a schematic diagram showing a control method of an electric vehicle in an embodiment of the present invention;
FIG. 12 is a schematic diagram showing the structure of a computer device in an embodiment of the present invention;
fig. 13 shows a schematic configuration of a computer-readable storage medium in an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus a repetitive description thereof will be omitted.
Referring to a schematic structure of an electric vehicle shown in fig. 1, an electric vehicle 1 of the present invention includes a plurality of wheel assemblies 2 mounted on a vehicle body 10. In general, the electric vehicle 1 has 4 wheel assemblies 2, and in some special applications, the electric vehicle 1 may be provided with 3, 6, 8, or the like wheel assemblies 2. Since the plurality of wheel assemblies 2 in the electric vehicle 1 of the present invention are independent of each other, the number of wheel assemblies 2 can be increased or decreased according to the arrangement of the electric vehicle 1.
Each wheel assembly 2 includes a wheel 21, a driving device 22, and a displacement device 23, the driving device 22 being capable of driving the wheel 21 to rotate, the displacement device 23 being capable of driving at least the wheel 21 to move in a vehicle body width x direction of the electric vehicle, so that the wheel 21 extends in a direction away from an axis of the electric vehicle 1 (even if the wheel 21 extends outward, the wheel tread increases), or contracts in a direction closer to the axis of the electric vehicle 1 (even if the wheel 21 contracts inward, the wheel tread decreases).
The wheel assemblies 2 are mutually independent, so that each wheel assembly 2 can be flexibly assembled according to the configuration of the electric automobile 1, each wheel 21 can be independently controlled through the driving device 22 and the displacement device 23, and the flexibility is improved. The driving device 22 controls the rotational speeds of the wheels 21, and the rotational speeds of the respective wheels 21 may be the same or different, and when the electric vehicle 1 is turning, the wheels 21 do not need to be turned, and flexible control of turning is achieved by a wheel speed difference between the respective wheels 21 (for example, making the wheel speed of the turning side wheel 21 smaller than the wheel speed of the non-turning side wheel 21). The displacement device 23 controls the wheels 21 to stretch and retract to realize wheel tread adjustment, so that the wheel tread can be increased during high-speed running, the stability of the electric automobile 1 is improved, the wheel tread is reduced during low-speed running, and the maneuvering performance of the electric automobile 1 is improved.
Further, in each wheel assembly 2, the displacement device 23, the driving device 22, and the wheel 21 are disposed in this order from the inside to the outside in the vehicle body width x direction. The driving device 22 is connected to and drives the wheel 21 through a rotating bearing 24, the displacement device 23 is connected to the driving device 22 through a telescopic bearing 25, and the driving device 22 and the wheel 21 are driven through the telescopic bearing 25. When the displacement device 23, the driving device 22 and the wheel 21 are assembled in sequence, the driving device 22 drives the wheel 21 to rotate through the rotating bearing 24, and each driving device 22 independently drives and controls the rotating speed of the wheel 21; the displacement device 23 drives the driving device 22 and the wheels 21 to move along the width x direction of the vehicle body through the telescopic bearing 25, so that the wheels 21 can stretch inwards and outwards, and the wheel distance can be adjusted.
Specifically, in combination with the conventional track schematic diagram of the electric vehicle shown in fig. 2, the electric vehicle 1 maintains the conventional track L1 when it is straight at the conventional vehicle speed (including the front wheel track and the rear wheel track). When the electric vehicle 1 runs at a high speed, such as too small wheel track, the vehicle is easy to turn over due to centrifugal force, and at this time, the displacement devices 23 of the wheel assemblies 2 can drive the wheels 21 to extend outwards, so that the wheel track is increased to improve the stability of the vehicle. In combination with the schematic diagram of the electric vehicle wheel track increase shown in fig. 3, the displacement device 23 of each wheel assembly 2 drives the driving device 22 and the wheels 21 to move along the x direction of the width of the vehicle body through the telescopic bearing 25, and the wheels 21 are stretched outwards to increase the wheel track to L2. When the electric automobile 1 runs at a low speed or parks, the displacement device 23 can drive the wheels 21 to retract inwards, so that the track width is reduced, the energy consumption during running at the low speed is saved, the occupied area of the wheels 21 is reduced, and the parking is facilitated. In combination with the schematic view of the electric vehicle track reduction shown in fig. 4, the displacement device 23 of each wheel assembly 2 drives the driving device 22 and the wheels 21 to move along the x direction of the width of the vehicle body through the telescopic bearing 25, and the wheels 21 are contracted inwards to reduce the track to L3. Wherein, L2 > L1 > L3, the specific extension and contraction degree of the wheels 21 is determined according to the configuration of the electric vehicle 1, the size of the wheels and other parameters. For example, the wheels 21 can be extended outwards by a maximum of 1m and retracted inwards by a minimum of 50cm, but not limited thereto. The user may also configure the extent to which the wheels 21 extend and retract as desired, as the invention is not limited in this regard. The above-mentioned normal vehicle speed, high speed, and low speed are also determined according to the configuration of the electric vehicle 1, and for example, a normal vehicle speed is between 30km/h and 100km/h, a low speed is less than 30km/h, and a high speed is greater than 100 km/h. The user may also configure the vehicle speed as needed, for example, the vehicle speed is configured into a plurality of stages, and each 5km is a stage, which is not limited by the present invention.
When the electric automobile 1 turns, the wheels 21 do not need to bend, and still keep the forward running direction, so that the stability of the vehicle during turning is improved, the driving device 22 of each wheel assembly controls the wheels 21 to generate wheel speed difference, and the turning is realized. In connection with the steering schematic diagram of the electric vehicle shown in fig. 5, taking a right turn as an example, the driving devices 22 of the two wheel assemblies on the steering side (i.e., the right side) are provided to the first wheel speeds V1 of the two wheels 21 on the right side, and the driving devices 22 of the two wheel assemblies on the non-steering side (i.e., the left side) are provided to the second wheel speeds V2 of the two wheels 21 on the left side, V1 < V2. Since the wheel speed of the right wheel is smaller than that of the left wheel, the electric vehicle 1 achieves rightward steering under the wheel speed difference of the left and right wheels. When the steering angle is larger, the wheel speed difference is larger, and when the steering angle is smaller, the wheel speed difference is smaller, and the specific wheel speed difference is calculated by the control module of the electric automobile 1, so that the invention is not limited.
According to the invention, through mutually independent wheel assemblies 2, each wheel 21 is independently controlled by a driving device 22 and a displacement device 23, so that the flexibility of the electric automobile 1 is improved; when the electric automobile 1 runs at a high speed, the wheel track can be increased under the drive of each displacement device 23, so that the stability and the safety of the automobile are improved; when the electric automobile 1 runs at a low speed, the wheel track can be reduced under the drive of each displacement device 23, so that the energy consumption is saved, the maneuvering performance is improved, and the parking is facilitated; when the electric vehicle 1 is steered, the steering can be achieved by generating a wheel speed difference between the steered side wheels and the non-steered side wheels by driving the respective driving devices 22. The steering side wheel assembly comprises a steering side front wheel assembly and a steering side rear wheel assembly, and the non-steering side wheel assembly comprises a non-steering side front wheel assembly and a non-steering side rear wheel assembly.
The displacement device 23 may be any device capable of achieving telescopic pushing. In a specific embodiment, in combination with the explosion illustration of the wheel assembly shown in fig. 6, the assembly illustration of the wheel assembly shown in fig. 7 and the cross-sectional illustration of the wheel assembly shown in fig. 8, the displacement device 23 is an electric motor (first motor, hereinafter also indicated as 23) fixed to the vehicle body 10, the first end 25a of the telescopic bearing 25 being telescopically coupled to the first motor 23 and the second end 25b being coupled to the driving device 22. The principle of the first motor 23 driving the driving device 22 and the wheels 21 is: the first motor 23 generates driving force to enable the telescopic bearing 25 to stretch and retract along the width x direction of the vehicle body, further drives the driving device 22 to move along the width x direction of the vehicle body, and further drives the wheels 21 to move along the width x direction of the vehicle body, so that stretching and retracting are achieved.
Further, the driving device 22 includes a housing 221 fixed to the vehicle body 10 and a second motor 222 accommodated in the housing 221. The casing 221 is provided with a hollow structure, and along the width x direction of the vehicle body, one end surface of the casing can be provided with a through hole for the telescopic bearing 25 to pass through and connect the first motor 23 and the second motor 222; the other end surface 2212 is an open structure for providing space for the second motor 222 to move in the vehicle body width x direction. Two opposite inner walls of the housing 221 are provided with guide rails 223 extending in the vehicle body width x direction, and two opposite side walls of the second motor 222 are respectively connected to the guide rails 223 through rotary hinges 224. The rotating hinge 224 may be a short rotating shaft, one end of which is fixedly connected to the side wall of the second motor 222, and the other end of which is movably embedded in the guide rail 223. The second motor 222 slides along the guide rail 223 through the rotation hinge 224 under the driving of the first motor 23, and drives the wheel 21 to move along the vehicle width x direction. By the cooperation of the guide rail 223 and the rotation hinge 224, the lateral movement of the second motor 222 can be limited in the direction of the width x of the vehicle body, and the stability and smoothness of the second motor 222 during movement can be ensured, so that the electric vehicle 1 can be kept stable during track adjustment, and normal running is not affected.
During the running of the electric vehicle 1, when encountering rough road surfaces with uneven heights, the wheels 21 jounce and jump high and jump low along with the road surfaces. When the wheel 21 jumps in the y direction perpendicular to the vehicle body, the wheel 21 drives the second motor 222 to swing through the rotating bearing 24, and the rotating hinge 224 is matched with the swing of the second motor 222 to rotate in the guide rail 223, so that when the wheel 21 jumps, the second motor 222 swings to absorb the uneven road surface, and the vibration of the vehicle body 10 is avoided. Specifically, referring to the schematic view of the wheel jump shown in fig. 9, when the wheel 21 jumps high, the wheel 21 drives the second motor 222 to swing upward through the rotation bearing 24, and when the second motor 222 swings upward, the rotation hinge 224 is engaged in the guide rail 223 to rotate in the arrow m direction. Referring to the schematic view of wheel jump in fig. 10, when the wheel 21 jumps down, the wheel 21 drives the second motor 222 to swing down through the rotating bearing 24, and when the second motor 222 swings down, the rotating hinge 224 is engaged in the guide rail 223 to rotate in the direction of arrow n. Accordingly, the wheel 21 runout due to road surface irregularities is absorbed by the upward and downward swing of the second motor 222, and the swing of the second motor 222 does not affect the vehicle body 10, thus avoiding the vibration of the vehicle body 10. And the swing of the second motor 222 is smooth and stable by the cooperation rotation of the rotary hinge 224, so that the stable runout of the wheel 21 is ensured.
Further, since the rolling bearing 24 and the telescopic bearing 25 are both rigid bearings, in order to ensure that the swinging of the second motor 222 does not affect the connection between the wheel 21 and the displacement device 23, as shown in fig. 6, 9 and 10, the first end 24a of the rolling bearing 24 is rotatably connected to the second motor 222, and the second end 24b is connected to the wheel 21 through a first rotary joint, and the second end 25b of the telescopic bearing 25 is connected to the second motor 222 through a second rotary joint. The first and second rotary adapters may be ball connectors or other movable connectors. Through the first rotary connector, wheels 21 can be ensured to be always attached to the ground when the road surface jolts, and the stability and the safety of the electric automobile 1 under the rugged road condition are improved; by means of the second rotary joint, a stable connection with the displacement device 23 can be ensured when the second motor 222 is pivoted.
Further, to control the vertical jounce amplitude of the wheel 21 and the second motor 222, the rolling bearing 24 is connected to the vehicle body 10 through a first elastic member 271, the first elastic member 271 can elastically stretch and retract along the y direction perpendicular to the vehicle body, a first end of the first elastic member 271 is fixedly connected to the vehicle body 10, and a second end of the first elastic member 271 is movably connected to the rolling bearing 24 through a connecting ring 272. With the up-and-down jounce of the wheel 21 and the second motor 222, the first elastic member 271 elastically expands and contracts in the y direction perpendicular to the vehicle body, and can function to limit the amplitude of jounce of the wheel 21 and the second motor 222 while avoiding causing vibration of the vehicle body 10. The first elastic member 271 is a mechanical spring structure to elastically expand and contract in a y direction perpendicular to the vehicle body in response to road surface bumps.
In a preferred embodiment, each wheel assembly further comprises a lifting device. As shown in fig. 1, 6 and 8, the housing 221 of the driving device 22 is connected to the vehicle body 10 by a lifting device 273, and the lifting device 273 can be lifted in the y direction perpendicular to the vehicle body to adjust the ground clearance of the vehicle body 10. The elevating means 273 may be a mechanical spring structure to elastically expand and contract in a y direction perpendicular to the vehicle body. In a preferred embodiment, the lifting device 273 can actively adjust the ground clearance of the vehicle body 10. The lifting device 273 is shown as an elastic member, but not limited to this, the lifting device 273 may be any device capable of actively lifting in the y direction perpendicular to the vehicle body, such as an electric lifter or an air spring, so as to adjust the height of the vehicle body according to the vehicle height adjusting signal sent by the control module of the electric vehicle 1. When the electric vehicle 1 is traveling on a rough road, the lifting device 273 can timely adjust the ground clearance of the vehicle body 10 according to the distance between the vehicle body 10 and the road surface, so as to improve the passing performance of the electric vehicle 1 on the rough road. When the electric vehicle 1 travels at a high speed, the lifting device 273 lowers the ground clearance of the vehicle body 10 to lower the center of gravity of the electric vehicle for improved stability; when the vehicle speed is slowed or stopped, the lifting device 273 restores the height of the vehicle so as to facilitate getting on and off. In some embodiments, the lifting device 273 may be configured to adjust the ground clearance of the vehicle body 10 in real time according to the vehicle speed, and as the vehicle speed is greater, the ground clearance of the vehicle body 10 is reduced to lower the center of gravity of the vehicle, thereby improving the driving safety and stability; when the vehicle speed gradually slows down, the ground clearance of the vehicle body 10 gradually recovers. The specific adjustment method is controlled by the control module of the electric automobile, or the user can configure the adjustment method according to the needs, and the adjustment method is not limited in the invention. Of course, the lifting device 273 can also play a role of shock absorbing and buffering as described in the first elastic member 271, further ensuring that the vehicle body 10 is stable and is not affected by road jolts. More preferably, a side wall of the housing 221 is connected to the vehicle body 10 by a connecting rod 274, a first end of the connecting rod 274 is fixedly connected to the vehicle body 10, and a second end is connected to the side wall of the housing 221 by a third rotary joint. The connecting rod 274 is movable relative to the housing 221 by being engaged with the lifting of the lifting device 273 while reducing the vibration of the vehicle body 10 by the rigid body and the third rotary joint thereof.
In the preferred embodiment, as shown in connection with fig. 6, the wheel 21 may be a single tire in each wheel assembly, and also include a plurality of tires (three tires 21a, 21b and 21c are shown, but not limited thereto) disposed along the width x of the vehicle body with appropriate clearances therebetween and each connected to the second motor 222 of the drive device 22 via the rotary bearing 24. Each tire may be an inflatable rubber tire or a solid plastic tire. As described above, the electric vehicle 1 of the present invention does not bend the wheels 21 at the time of steering, but steering is achieved by generating a wheel speed difference between the steering-side wheels and the non-steering-side wheels. Therefore, each wheel 21 of the electric vehicle 1 may be provided with a plurality of tires to increase the total width of each wheel 21 and increase the contact area with the ground. The wider wheels 21 can reduce the vibration of the vehicle body 10 when the vehicle is traveling on uneven ground, improving the stability and comfort of the vehicle. In some cases, when the vehicle is traveling on uneven ground, one of the wheels 21 presses against a pit or raised obstacle, and the remaining tires are still traveling on flat ground, so that the shock of the vehicle body 10 can be further reduced. In a preferred embodiment, the wheel 21 housing is provided with a tire cover comprising: the cover 28 is covered outside the wheel 21, so that the aesthetic property of the wheel assembly 2 is improved; a reminder module provided on the outer surface of the cover 28, for example, the surface indicated by arrows 281 and 282. The outer surface of the cover 28 may be an electronic screen, so as to generate prompt information when the wheels 21 stretch and move, especially along the width x direction of the vehicle body, to extend away from the axle center of the electric vehicle 1, so as to prompt surrounding vehicles in time, and avoid collision of the surrounding vehicles when the wheels 21 extend outwards due to too small distance between the surrounding vehicles and the electric vehicle 1. The prompting module may be a warning lamp (not specifically shown in the drawings) provided on the outer surface of the cover 28, so long as the prompting module can play a role in prompting when the wheels 21 move in a telescopic manner. And a soft waterproof sheet 283 provided below the rear surface of the cover 28 for blocking dust during the running of the electric vehicle 1 and keeping the vehicle body 10 dry and clean.
The embodiment of the invention also provides a control method of the electric automobile, which is applied to the electric automobile 1 described in any embodiment. The control method of the electric automobile can be executed by a control module of the electric automobile, wherein the control module is an original functional module in the electric automobile. Referring to step illustrations of a control method of an electric vehicle shown in fig. 11, in one embodiment, the control method of an electric vehicle includes:
and S10, when the running speed of the electric automobile is greater than a first preset value, a wheel distance increasing signal is sent to each wheel assembly, so that the displacement device of each wheel assembly drives each wheel to extend along the width direction of the automobile body in a direction deviating from the axis of the electric automobile. And when the displacement device responds to the wheel tread increasing signal, the driving device and the wheels are driven by the telescopic bearings to move along the width direction of the vehicle body in the direction deviating from the axle center of the electric vehicle, so that the wheels are stretched, and the wheel tread is increased. At this time, the vehicle body height can be reduced with an increase in the vehicle speed by sending a signal to the second elastic member 273 to reduce the vehicle body height, thereby improving the stability of the electric vehicle during high-speed running.
And S20, when the running speed of the electric automobile is smaller than a second preset value, a wheel track reduction signal is sent to each wheel assembly, so that the displacement device of each wheel assembly drives each wheel to shrink in the direction close to the axle center of the electric automobile along the width direction of the automobile body. In combination with fig. 4 and the above description about the track-width reducing portion of the electric vehicle, when the displacement device responds to the track-width reducing signal, the driving device and the wheels are driven by the telescopic bearings to move along the width direction of the vehicle body in a direction close to the axle center of the electric vehicle, so that the wheels shrink, and the track width is reduced. At this time, the vehicle body height can be gradually restored as the vehicle speed decreases by sending a signal to raise the vehicle body height to the second elastic member 273, maintaining the stability of the electric vehicle, and facilitating the getting on and off when the vehicle is parked.
Further, when the driving speed of the electric automobile is between the first preset value and the second preset value, the control module can send a wheel track adjusting signal to each wheel assembly according to the driving speed, so that the displacement device can adjust the wheel track in real time according to the driving speed, and the wheel track is adapted to the speed of the automobile, and the optimized driving experience is obtained.
S30, when the electric automobile turns, a first wheel speed signal is sent to the turning side wheel assembly, so that the driving device of the turning side wheel assembly drives the turning side wheel to drive forward at a first wheel speed, and a second wheel speed signal is sent to the non-turning side wheel assembly, so that the driving device of the non-turning side wheel assembly drives the non-turning side wheel to drive forward at a second wheel speed, and the second wheel speed is larger than the first wheel speed. In combination with fig. 5 and the above description about the steering portion of the electric vehicle, when the electric vehicle is steering, the wheels do not need to rotate, and the driving devices of the respective wheel assemblies respectively respond to the corresponding wheel speed signals to adjust the wheel speeds of the wheels, so that the wheel speeds of the wheels on the steering side are smaller than the wheel speeds of the wheels on the non-steering side, and the steering of the electric vehicle 1 is realized under the action of the wheel speed difference. The specific wheel speed difference is calculated by the control module, which is not limited in this regard by the present invention.
In the present embodiment, the serial numbers of the steps are only used to indicate the control modes of the electric vehicle in different states, and the logical relationship and the execution sequence between the steps are not limited.
Further, as further shown in fig. 5, in a preferred embodiment, when the electric vehicle is turned, the control method of the present invention further includes: transmitting a contraction signal to the steering-side wheel assembly, so that the displacement device of the steering-side wheel assembly drives the steering-side wheels (namely, the right front wheel and the right rear wheel in fig. 5) to contract along the width direction of the vehicle body in a direction approaching the axle center of the electric vehicle; and/or transmitting an extension signal to the non-steering side wheel assembly, so that the displacement device of the non-steering side wheel assembly drives the non-steering side wheels (i.e., the left front wheel and the left rear wheel in fig. 5) to extend in the vehicle width direction in a direction away from the axle center of the electric vehicle. In order to assist the steering of the electric vehicle, the control module may also retract the front and rear wheels on the steering side or extend the front and rear wheels on the non-steering side through the displacement device while achieving a wheel speed difference through the driving devices of the respective wheel assemblies, or simultaneously retract the front and rear wheels on the steering side and extend the front and rear wheels on the non-steering side when the steering angle is large. Specifically, the steering side wheels can be driven to properly retract in the x 'direction close to the axle center of the electric vehicle by the displacement device of the steering side wheel assembly, and/or the non-steering side wheels can be driven to properly extend in the x' direction away from the axle center of the electric vehicle by the displacement device of the non-steering side wheel assembly, so as to further assist the electric vehicle in realizing steering. The degree of shrinkage of the steering side wheels and the degree of expansion of the non-steering side wheels are calculated by the control module, and the present invention is not limited thereto.
Further, in some embodiments, the control method of the present invention may further include: when the running speed of the electric automobile is greater than a first preset value, a height reduction signal is sent to a lifting device of the electric automobile, so that the lifting device drives the electric automobile to reduce the ground clearance of the automobile body, the center of gravity of the automobile is reduced, and the stability and safety of the automobile during high-speed running are improved; and when the electric automobile is parked, a height increasing signal is sent to the lifting device, so that the lifting device drives the electric automobile to increase the ground clearance of the automobile body, and the height of the automobile body is recovered to be convenient for getting on and off. In some embodiments, based on a control signal of a control module of the electric automobile, the lifting device can adjust the ground clearance of the automobile body in real time according to the automobile speed, and when the automobile speed is higher, the ground clearance of the automobile body is lower so as to reduce the gravity center of the automobile and improve the driving safety and stability; when the vehicle speed gradually slows down to a stop, the ground clearance of the vehicle body gradually recovers so as to facilitate getting on and off.
The process of adjusting the wheel rotation speed, the wheel expansion degree and the vehicle body height can be continuous adjustment or staged (discontinuous) adjustment, and the invention is not limited to this, and the process is specific to the configuration of the control module.
According to the control method, each wheel can be independently controlled through the driving device and the displacement device, so that the flexibility of the electric automobile is improved; when the electric automobile runs at a high speed, the displacement device drives wheels to extend through the wheel track increasing signal, so that the wheel track is increased, and the stability and safety of the automobile are improved; when the electric automobile runs at a low speed, the displacement device drives the wheels to shrink through the wheel track reducing signal, so that the wheel track is reduced, the energy consumption is saved, and the vehicle is convenient to park; when the electric automobile turns, the driving device drives the turning side wheels and the non-turning side wheels to generate wheel speed difference through different wheel speed signals, so that turning is realized; and the ground clearance of the automobile body is adjusted through the lifting device, so that the safety and stability of the electric automobile are further improved.
The embodiment of the invention also provides a computer device, which comprises a processor and a memory, wherein executable instructions are stored in the memory, and the processor is configured to execute the steps of the control method of the electric automobile in the embodiment through executing the executable instructions.
As described above, the computer device of the present invention can independently control each wheel of the electric vehicle through the driving device and the displacement device, thereby improving the flexibility of the electric vehicle; when the electric automobile runs at a high speed, the displacement device drives wheels to extend through the wheel track increasing signal, so that the wheel track is increased, and the stability and safety of the automobile are improved; when the electric automobile runs at a low speed, the displacement device drives the wheels to shrink through the wheel track reducing signal, so that the wheel track is reduced, the energy consumption is saved, and the vehicle is convenient to park; when the electric automobile turns, the driving device drives the turning side wheels and the non-turning side wheels to generate wheel speed difference through different wheel speed signals, so that turning is realized; and the ground clearance of the automobile body is adjusted through the lifting device, so that the safety and stability of the electric automobile are further improved.
Fig. 12 is a schematic structural diagram of a computer device according to an embodiment of the present invention, and it should be understood that fig. 12 is only a schematic diagram illustrating various modules, which may be virtual software modules or actual hardware modules, and that the combination, splitting and addition of the remaining modules are all within the scope of the present invention.
The computer device 400 of the present invention is described below with reference to fig. 12. The computer device 400 shown in fig. 12 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 12, the computer device 400 is in the form of a general purpose computing device. Components of computer device 400 may include, but are not limited to: at least one processing unit 410, at least one memory unit 420, a bus 430 connecting the different platform components (including memory unit 420 and processing unit 410), a display unit 440, and the like.
Wherein the storage unit stores program code executable by the processing unit 410 such that the processing unit 410 performs the steps of the task processing method described in the above embodiments. For example, the processing unit 410 may perform the steps as shown in fig. 11 to fig.
The storage unit 420 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 4201 and/or cache memory 4202, and may further include Read Only Memory (ROM) 4203.
The storage unit 420 may also include a program/utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The computer device 400 may also communicate with one or more external devices 500 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the computer device 400, and/or any devices (e.g., routers, modems, etc.) that enable the computer device 400 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 450. Moreover, computer device 400 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 460. The network adapter 460 may communicate with other modules of the computer device 400 via the bus 430. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 400, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.
In addition, the computer device 400 of the present invention can cooperate with a navigation system (such as GPS or beidou) and autopilot software and devices to regulate and control each wheel assembly of the electric vehicle according to the driving instruction.
The embodiment of the invention also provides a computer readable storage medium for storing a program, which when executed, implements the steps of the control method of the electric vehicle described in the above embodiment. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps of the control method of an electric vehicle as described in the above embodiments, when the program product is run on the terminal device.
As described above, the computer-readable storage medium of the present invention can independently control each wheel of an electric vehicle through a driving device and a displacement device, improving the flexibility of the electric vehicle; when the electric automobile runs at a high speed, the displacement device drives wheels to extend through the wheel track increasing signal, so that the wheel track is increased, and the stability and safety of the automobile are improved; when the electric automobile runs at a low speed, the displacement device drives the wheels to shrink through the wheel track reducing signal, so that the wheel track is reduced, the energy consumption is saved, and the vehicle is convenient to park; when the electric automobile turns, the driving device drives the turning side wheels and the non-turning side wheels to generate wheel speed difference through different wheel speed signals, so that turning is realized; and the ground clearance of the automobile body is adjusted through the lifting device, so that the safety and stability of the electric automobile are further improved.
Fig. 13 is a schematic structural view of a computer-readable storage medium of the present invention. Referring to fig. 13, a program product 600 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (13)
1. An electric vehicle having a plurality of wheel assemblies, characterized in that:
the plurality of wheel assemblies are mutually independent, and each wheel assembly comprises a wheel, a driving device and a displacement device which are sequentially arranged from outside to inside along the width direction of the vehicle body;
the driving device is connected with and drives the wheels to rotate through a rotating bearing, and the displacement device is connected with and drives the driving device and the wheels to move along the width direction of the vehicle body through a telescopic bearing;
in each wheel assembly of the electric vehicle including a front wheel assembly, the wheel includes one or more tires disposed in the vehicle body width direction, each of the one or more tires being connected to the driving device through the rotating bearing;
when the electric automobile turns, each wheel of the electric automobile is not bent and keeps straight running, and the electric automobile turns by generating wheel speed difference between the steering side wheel and the non-steering side wheel driven by the driving device;
The displacement device comprises a first motor fixed on the vehicle body, a first end of the telescopic bearing is connected with the first motor in a telescopic way, and a second end of the telescopic bearing is connected with the driving device; the driving device comprises a shell fixed on the vehicle body and a second motor accommodated in the shell, two opposite inner walls of the shell are provided with guide rails extending along the width direction of the vehicle body, and two opposite side walls of the second motor are respectively connected with the guide rails through rotary hinges;
the second motor slides along the guide rail through the rotary hinge under the drive of the first motor, so as to drive the wheels to move along the width direction of the vehicle body; when the wheel jumps along the direction vertical to the car body, the wheel drives the second motor to swing through the rotating bearing, and the rotating hinge is matched with the swing of the second motor to rotate in the guide rail.
2. The electric vehicle of claim 1, wherein the first end of the rotating bearing is rotatably coupled to the second motor and the second end is coupled to the wheel via a first rotary joint; and
The second end of the telescopic bearing is connected to the second motor via a second rotary joint.
3. The electric vehicle of claim 1, wherein the rolling bearing is connected to the vehicle body by a first elastic member, the first elastic member is elastically stretchable in the direction perpendicular to the vehicle body, a first end of the first elastic member is fixedly connected to the vehicle body, and a second end of the first elastic member is movably connected to the rolling bearing by a connecting ring.
4. The electric vehicle of claim 1, wherein each of the wheel assemblies further comprises a lifting device by which the housing is connected to the vehicle body, the lifting device being capable of lifting in a direction perpendicular to the vehicle body to adjust the ground clearance of the vehicle body; and
a side wall of the shell is connected with the vehicle body through a connecting rod, a first end of the connecting rod is fixedly connected with the vehicle body, and a second end of the connecting rod is connected with the side wall of the shell through a third rotary connector.
5. The electric vehicle of claim 4, characterized in that the lifting device is an electric lifter or a second elastic member.
6. The electric vehicle of claim 1, characterized in that the wheel housing is provided with a tire cover comprising:
The cover body is covered outside the wheel;
the prompting module is arranged on the outer surface of the cover body and can generate prompting information when the wheels move; and
the soft waterproof sheet is arranged below the rear surface of the cover body.
7. A control method of an electric vehicle, applied to the electric vehicle according to any one of claims 1 to 6, characterized by comprising:
when the running speed of the electric automobile is greater than a first preset value, a wheel distance increasing signal is sent to each wheel assembly, so that a displacement device of each wheel assembly drives each wheel to extend along the width direction of the automobile body in a direction deviating from the axle center of the electric automobile;
when the running speed of the electric automobile is smaller than a second preset value, a wheel distance reduction signal is sent to each wheel assembly, so that a displacement device of each wheel assembly drives each wheel to shrink in the direction approaching to the axle center of the electric automobile along the width direction of the automobile body; and
when the electric automobile turns, a first wheel speed signal is sent to the turning side wheel assembly, so that the driving device of the turning side wheel assembly drives the turning side wheel to drive forward at a first wheel speed, and a second wheel speed signal is sent to the non-turning side wheel assembly, so that the driving device of the non-turning side wheel assembly drives the non-turning side wheel to drive forward at a second wheel speed, and the second wheel speed is larger than the first wheel speed.
8. The control method as set forth in claim 7, further comprising:
when the electric automobile turns, a contraction signal is sent to a turning side wheel assembly, so that a displacement device of the turning side wheel assembly drives turning side wheels to contract along the width direction of the automobile body in a direction approaching to the axle center of the electric automobile; and/or
And transmitting an extension signal to the non-steering side wheel assembly, so that the displacement device of the non-steering side wheel assembly drives the non-steering side wheel to extend along the width direction of the vehicle body in a direction deviating from the axle center of the electric vehicle.
9. The control method as set forth in claim 7, further comprising:
when the running speed of the electric automobile is greater than the first preset value, a height reducing signal is sent to a lifting device of the electric automobile, so that the lifting device drives the electric automobile to reduce the ground clearance of the automobile body; and
when the electric automobile is parked, a height increasing signal is sent to the lifting device, so that the lifting device drives the electric automobile to increase the ground clearance of the automobile body.
10. The control method as set forth in claim 9, further comprising:
The running speed of the electric automobile is set with a plurality of preset values so as to adjust the track of the wheel assembly and/or the ground clearance of the automobile body in a staged mode.
11. A computer device comprising a processor and a memory, the memory having stored therein executable instructions for execution by the processor;
the method is characterized in that the processor is configured to implement the steps of the control method of the electric vehicle according to any one of claims 7 to 10 by executing the executable instructions.
12. The computer device of claim 11, wherein the computer device is capable of cooperating with a navigation system and an autopilot system to regulate each wheel assembly in accordance with drive instructions.
13. A computer-readable storage medium storing a program, wherein the program when executed implements the steps of the control method of an electric vehicle according to any one of claims 7 to 10.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910454297.1A CN110143127B (en) | 2019-05-29 | 2019-05-29 | Electric automobile, control method, computer device and storage medium |
| TW109118193A TWI751569B (en) | 2019-05-29 | 2020-05-29 | Electric vehicle, automatic driving method and equipment, automatic freight transportation method and system |
| PCT/CN2020/093443 WO2020239099A1 (en) | 2019-05-29 | 2020-05-29 | Electric vehicle, automatic driving method and equipment, automatic freight transportation method and system |
| US17/614,263 US20220227236A1 (en) | 2019-05-29 | 2020-05-29 | Electric vehicle, automatic driving method and device, automatic freighting method and system |
| EP20813593.9A EP3978288A4 (en) | 2019-05-29 | 2020-05-29 | Electric vehicle, automatic driving method and equipment, automatic freight transportation method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910454297.1A CN110143127B (en) | 2019-05-29 | 2019-05-29 | Electric automobile, control method, computer device and storage medium |
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| CN110143127A CN110143127A (en) | 2019-08-20 |
| CN110143127B true CN110143127B (en) | 2023-05-30 |
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| GB201405527D0 (en) * | 2014-03-27 | 2014-05-14 | Mill Facility The Ltd | A driveable vehicle unit |
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| FR2844245A1 (en) * | 2002-09-10 | 2004-03-12 | Jean Marie Obry | Universal transport vehicle with adjustable wheelbase and wheel track, includes four independent wheels, each mounted on suspension arms articulating on chassis and simultaneously adjusted by threaded rod and collars |
| EP2388153A1 (en) * | 2010-05-17 | 2011-11-23 | Jaxa Networks | A vehicle having variable track |
| CN104085362A (en) * | 2014-07-02 | 2014-10-08 | 浙江吉利控股集团有限公司 | Wheel track adjusting system and wheel track adjusting method based on wheel track adjusting system |
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