CN110641394A - Full-wire control chassis special for unmanned vehicle and without human driving mechanism - Google Patents
Full-wire control chassis special for unmanned vehicle and without human driving mechanism Download PDFInfo
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- CN110641394A CN110641394A CN201910864628.9A CN201910864628A CN110641394A CN 110641394 A CN110641394 A CN 110641394A CN 201910864628 A CN201910864628 A CN 201910864628A CN 110641394 A CN110641394 A CN 110641394A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
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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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a full-wire control chassis special for an unmanned vehicle, which omits a human driving mechanism. The full drive-by-wire chassis mainly includes: the system comprises a vehicle body, wheels connected with the vehicle body through a suspension system, a brake-by-wire system, a steering-by-wire system, a drive-by-wire system, a power system and a whole vehicle communication system, wherein the brake-by-wire system, the steering-by-wire system, the drive-by-wire system, the power system and the whole vehicle; the brake-by-wire system controls the electronic hydraulic brake system through a brake motor command to realize vehicle braking; the steer-by-wire system provides steering torque to the steering wheel through a steering motor; the drive-by-wire system provides driving torque for the driving wheel through the driving motor; the whole vehicle communication system comprises: CAN bus and VCU; the upper-layer automatic driving system of the vehicle is connected with the VCU through the CAN bus; the VCU is respectively connected with the brake-by-wire system, the steer-by-wire system and the drive-by-wire system through the CAN bus. The full-line control chassis has the characteristics of modularization and universalization, and can meet the use requirements of the multifunctional unmanned vehicle.
Description
Technical Field
The invention relates to an automobile chassis, in particular to a full-line control chassis, and belongs to the technical field of unmanned and vehicle chassis.
Background
The automatic driving technology is an important development direction of the future automobile industry and is one of important handgrips for falling to the ground of the artificial intelligence industry. The unmanned vehicle is a vehicle with autonomous behavior capability and completely omitting a human driving mechanism, has the characteristics of intellectualization, wire control, robotization and multifunction, and is an important component of an automatic driving vehicle. The unmanned vehicle aims to replace human beings to execute operation tasks, including but not limited to civil or military tasks such as striking, fighting, patrol, reconnaissance, logistics, transportation, ferrying, distribution, cleaning and the like, has very wide application prospects in the civil or military field, is an important component of future intelligent transportation and smart city construction, is an important support for development of new generation army equipment in China, and has important strategic significance for national economic development and national defense safety construction in China.
Compared with the traditional vehicle, the overall configuration, the layout form, the control system, the actuating mechanism and the like of the unmanned vehicle are completely different, so that the research and development of the unmanned vehicle provide great challenges for theories and technologies such as overall design, dynamics and control of the vehicle. Due to special use functions, a human operation mechanism is completely omitted from the unmanned vehicle, and a chassis of the unmanned vehicle is required to adopt a full-wire control architecture, namely a steering system, a driving system and a braking system are completely controlled by an electronic control system, so that full-wire steering, wire-control driving and wire-control braking are realized. Therefore, the overall design and control technology of the fully-wired chassis is one of the important key technologies of the unmanned vehicle.
Disclosure of Invention
In view of the above, the present invention provides a full-wire control chassis dedicated for an unmanned vehicle, which omits a human driving mechanism, wherein the chassis design adopts a full-electric and full-wire control design scheme, so as to realize full-wire control of driving, steering and braking systems, and eliminate driving structures for human control, such as pedals, a steering wheel and a transmission mechanism thereof, thereby meeting the overall design requirements of a multifunctional unmanned vehicle.
The unmanned vehicle special full-line control chassis with the human driving mechanism omitted comprises: the brake-by-wire system is fixedly arranged on the vehicle body, and comprises a vehicle body, wheels connected with the vehicle body through a suspension system, a brake-by-wire system, a steering-by-wire system, a drive-by-wire system, a power system and a whole vehicle communication system;
the brake-by-wire system includes: the brake device comprises a brake motor, a brake motor controller, a brake transmission mechanism and a hydraulic brake module; the brake motor controller is used for controlling the torque and the rotation angle of the brake motor; the power output end of the brake motor is connected with a brake transmission mechanism, and the brake transmission mechanism is used for converting the torque output by the brake motor into the actuating force of the hydraulic brake module; the hydraulic brake module is connected with a brake caliper in the wheel, and after the hydraulic brake module is actuated, brake oil is provided for the brake caliper, so that a brake piston in the brake caliper acts to drive a brake block to press a brake disc;
the steer-by-wire system is a motor steering system, a steering motor provides steering torque for wheels serving as steering wheels, and the steering motor is controlled by a steering motor position controller;
the drive-by-wire system is a motor drive system, a drive motor provides drive torque for wheels serving as drive wheels, and the drive motor is controlled by a drive motor controller;
the power system adopts a power battery to supply power for the electronic equipment on the full-wire control chassis;
the vehicle communication system comprises: CAN bus and VCU; the upper-layer automatic driving system of the vehicle is connected with the VCU through the CAN bus, and the upper-layer automatic driving system and the VCU are in bidirectional communication; the VCU is respectively connected with the driving motor controller, the steering motor controller and the braking motor controller through CAN buses;
the upper-layer automatic driving system of the vehicle sends a target instruction to the VCU through the CAN bus, wherein the target instruction comprises the following steps: and the VCU controls the driving, braking and steering actions of the unmanned vehicle through the driving motor controller, the steering motor controller and the braking motor controller according to the received target instruction.
As a preferable aspect of the present invention, the hydraulic brake module includes: the brake oil way and the brake oil cylinder are used as a brake energy storage device;
the brake transmission mechanism is used for converting the torque output by the brake motor into linear motion, and the output end of the brake transmission mechanism is connected with the piston rod of the brake main cylinder to drive the piston rod of the brake main cylinder to move linearly;
and an oil outlet of the brake master cylinder is connected with the brake caliper through a brake oil path.
As a preferred aspect of the present invention, the brake actuator includes: the brake reducer, the connecting shaft, the brake gear and the brake rack are arranged on the brake shaft; the output shaft of the brake motor is connected with the brake reducer, the output end of the brake reducer is connected with the gear shaft of the brake gear through a connecting shaft, the brake rack is meshed with the brake gear to form a gear rack transmission mechanism, and the brake rack is connected with the piston rod of the brake oil cylinder and used for pushing the piston rod of the brake oil cylinder to move linearly.
Has the advantages that:
(1) the invention provides a full-wire control chassis which is specially used for unmanned vehicles and omits human driving mechanisms, has the characteristics of modularization and universalization, and can meet the use requirements of unmanned vehicles with different functions.
(2) The brake-by-wire system in the full-wire-control chassis can accurately control the braking force by controlling the brake motor, can realize quick response, has small delay and can ensure the quick establishment of the braking pressure; therefore, the brake-by-wire system has the advantages of sensitive control and quick response.
(3) The invention realizes high-precision steer-by-wire, drive-by-wire and brake-by-wire, and can meet the high-precision control requirement of the unmanned vehicle in different use scenes.
(4) Various power supply and communication interfaces are reserved on the vehicle body, and multifunctional unmanned vehicle development can be rapidly realized through the additional installation of the upper installation module.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the braking system of the invention.
Fig. 3 is a schematic structural view of the steering system of the present invention.
FIG. 4 is a schematic diagram of a driving system according to the present invention.
Fig. 5 is a schematic view of the suspension system of the present invention.
FIG. 6 is a flow chart of control signals of the drive-by-wire system according to the present invention.
Wherein: 1-suspension system, 2-drive-by-wire system, 3-brake-by-wire system, 4-steering-by-wire system, 5-battery system, 6-steering motor position controller, 7-brake motor controller, 8-VCU, 9-brake energy storage device, 10-piston rod, 301-brake motor, 302-brake reducer, 303-connecting shaft, 304-brake gear, 305-brake rack, 401-steering motor, 402-steering reducer, 403-steering gear, 404-steering rack, 405-steering pull rod, 201-drive motor, 202-drive reducer, 203-drive differential, 204-universal joint, 206-drive shaft
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a special all-wire control chassis for an unmanned vehicle, which can realize high-precision wire-controlled steering, wire-controlled driving and wire-controlled braking and can meet the high-precision control requirements of the unmanned vehicle in different use scenes.
As shown in fig. 1, the all-wire chassis includes: the vehicle comprises a vehicle body, four wheels connected with the vehicle body through a suspension system 1, a brake-by-wire system 3, a steering-by-wire system 4, a drive-by-wire system 2, a power system, a whole vehicle CAN communication network and a reserved power supply and communication interface, wherein the brake-by-wire system, the drive-by-wire system, the power system and the whole vehicle CAN.
The universal chassis adopts the arrangement form of front wheel steering and rear wheel driving, namely a drive-by-wire system 2 is arranged at the rear part of the vehicle and is respectively connected with two rear wheels; the steer-by-wire system 4 is arranged at the front part of the vehicle and is respectively connected with two front wheels; the brake-by-wire system 3 is connected with brake calipers on four wheels to realize the braking of the vehicle; the suspension system 1 is located on both sides of the vehicle body and is used for connecting the vehicle body and the wheels.
As shown in fig. 2, the brake-by-wire system is used for realizing deceleration and braking force control of the unmanned vehicle, and comprises: brake motor 301, brake retarder 302, connecting shaft 303, brake gear 304, brake rack 305, brake motor controller 7 and brake energy storage device 9. The braking energy storage device 9 is a braking oil cylinder, and the braking motor controller 7 is used for controlling the torque and the rotation angle of the braking motor 301; the brake motor controller 7 is connected with a VCU (the VCU is a core electronic control unit for realizing the control decision of the whole vehicle) on the unmanned vehicle through a bus. An output shaft of the brake motor 301 is connected with a brake reducer 302, an output end of the brake reducer 302 is connected with a gear shaft of a brake gear 304 through a connecting shaft 303, a brake rack 305 is meshed with the brake gear 304 to form a gear-rack transmission mechanism, rotation of the brake gear 304 is converted into linear motion of the brake rack 305, and the brake rack 305 is in threaded connection with a piston rod 10 of a brake cylinder and used for pushing the piston rod 10 of the brake cylinder to move linearly.
The brake installed in the wheel is a fixed caliper disc brake and comprises a brake disc and a brake caliper, wherein the brake disc is fixed on a wheel hub, and the brake disc is a body for finally realizing braking force by a hydraulic braking module. More than one brake piston is installed in the brake caliper, the brake pistons respectively press the brake pads on two sides of the brake disc, and when the brake pistons move towards the brake disc and press the brake pads against the brake disc, the brake pads clamp the brake disc to generate friction torque for preventing the wheel from rotating, so that braking is realized.
In four wheels of the unmanned vehicle, a caliper disc brake is installed in each wheel, and when a piston rod 10 of a brake cylinder moves linearly, a brake-by-wire system simultaneously supplies brake fluid to a caliper of the four brakes, thereby pushing a brake piston installed in the caliper to move linearly. The method specifically comprises the following steps: the brake main cylinder is provided with two oil outlets, and each oil outlet is connected with one brake oil path and is respectively used for braking two front wheel brakes and two rear wheel brakes. The two brake oil paths have the same structural form, and take the brake oil path for braking two front wheel brakes as an example, the brake oil path comprises three brake oil pipes and a three-way joint, and the three-way joint is provided with an inlet and two outlets; the oil outlet of the brake master cylinder is communicated with the inlet of the three-way joint through a brake oil pipe, and two outlets of the three-way joint are respectively connected with brake calipers of two front wheel brakes through a brake oil pipe and are used for pushing a brake piston arranged in the brake calipers to move linearly. Similarly, the other oil outlet of the brake master cylinder provides brake fluid for the brake calipers of the two rear wheel brakes through the brake oil way.
When the upper automatic driving system sends a request of the unmanned vehicle for the desired deceleration to the VCU, the VCU performs calculation to obtain a brake fluid pressure value required to be provided, and then the brake fluid pressure value is sent to the brake motor controller 7 in the brake-by-wire system through the CAN bus, and the brake motor controller 7 obtains the torque and the rotation angle required to be output by the brake motor 301 according to the received brake fluid pressure value, so as to output a control instruction to the brake motor 301. After the brake motor 301 is started, the brake motor acts on the brake energy storage device 9, pressure is applied to a brake oil path, and finally the brake motor acts on a brake caliper of a wheel, a brake piston inside the brake caliper moves to clamp a brake disc, so that the tire is prevented from rotating, and the vehicle braking action is realized.
As shown in fig. 3, the steer-by-wire system 4 is for implementing vehicle steering angle control, and includes: a steering motor 401, a steering reducer 402, a steering gear 403, a steering rack 404, a steering tie rod 405, and a steering motor position controller 6; the steering motor 401 is a servo motor, the steering motor position controller 6 is used for controlling the rotation angle of the steering motor 401, and the steering motor position controller 6 is connected with a VCU on the unmanned vehicle through a bus. An output shaft of the steering motor 401 is connected with a steering reducer 402, the output shaft of the steering reducer 402 is connected with an adapter shaft through a flat key, the adapter shaft is connected with a steering gear 403 through a spline, a steering rack 404 is meshed with the steering gear 403 to form a gear-rack transmission mechanism, rotation of the steering gear 403 is converted into linear motion of the steering rack 404, two ends of the steering rack 404 are respectively connected with a steering pull rod 405, and the other ends of the two steering pull rods 405 are respectively connected with two front wheels. Therefore, when the steering motor 401 rotates, the steering pull rod 405 is pushed through the rack-and-pinion transmission mechanism, so as to drive the front wheels to steer.
As shown in fig. 4, the drive-by-wire system 2 realizes a vehicle travel demand by torque control, and includes: the device comprises a driving motor 201, a driving motor controller, a driving reducer 202, a driving differential 203, a driving shaft 206 and a universal transmission device, wherein the universal transmission device adopts a ball cage type universal joint 204; the driving motor controller is used for controlling the driving motor 201 and is connected with the VCU on the unmanned vehicle through a bus. An output shaft of the driving motor 201 is connected with a driving speed reducer 202, an output shaft of the driving speed reducer 202 is connected with a driving differential 203 through bolts, the driving differential 203 is connected with the middle part of a driving shaft 206, and two ends of the driving shaft 206 are respectively transmitted with the ball-cage universal joints 204 on two rear wheel hubs through splines.
As shown in fig. 5, the suspension system 1 employs a front wheel macpherson suspension and a rear wheel leaf spring suspension, and is connected to a wheel-side system.
The driving system provides the energy supply of the whole vehicle, and comprises: the driving battery is directly connected with the driving motor controller and is respectively connected with the steering motor controller and the braking motor controller after passing through the DC-DC power converter; the driving battery can also supply power for low-voltage electric appliances (such as various sensors mounted on the unmanned vehicle) through the DC-DC power converter.
In order to rapidly realize the development of the multifunctional unmanned vehicle, a plurality of power supply interfaces and communication interfaces are reserved on a vehicle body, wherein the power supply interfaces are used for supplying power to the outside, and a power supply in a power system is directly connected to the power supply interfaces or is connected to the power supply interfaces through a direct current transformer, so that the power supply interfaces can provide various direct current power supply outputs (such as 5-24V and 10-25A); the communication interface is used for providing a signal flow interface for external equipment, and CAN provide multi-channel CAN communication and multi-channel RS232 communication.
As shown in fig. 6, the entire vehicle CAN communication network includes: CAN bus network and VCU; the upper-layer automatic driving system data of the vehicle is connected with the VCU through the CAN bus, and the upper-layer automatic driving system data and the VCU are in bidirectional communication; the VCU is respectively connected with the driving motor controller, the steering motor controller and the brake motor controller through the CAN bus, thereby realizing the control of a drive-by-wire system, a steering-by-wire system and a brake-by-wire system. The driving motor 201 is connected with the VCU through a CAN bus and used for feeding back the rotating speed and torque information of the driving motor 201 to the VCU; a pressure sensor (the pressure sensor is arranged in a brake oil way) for detecting the brake pressure is connected with the VCU through a CAN bus, and the detected brake pressure is sent to the VCU; the corner sensor for detecting the corner of the steering wheel is connected with the VCU through the CAN bus and sends the detected corner to the VCU; the upper automatic driving system sends a series of instructions such as target corner, vehicle speed, vehicle deceleration and the like to the VCU, and the VCU feeds back a series of real-time data such as the current actual corner, vehicle speed, brake pressure and the like of the vehicle, so that closed-loop control of the unmanned vehicle is realized.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a omit special full wire controlled chassis of unmanned car of human steering mechanism which characterized in that includes: the brake-by-wire system comprises a vehicle body, wheels connected with the vehicle body through a suspension system (1), and a brake-by-wire system (3), a steering-by-wire system (4), a drive-by-wire system (2), a power system and a whole vehicle communication system which are fixedly arranged on the vehicle body;
the brake-by-wire system (3) comprises: the brake system comprises a brake motor (301), a brake motor controller (7), a brake transmission mechanism and a hydraulic brake module; the brake motor controller (7) is used for controlling the torque and the rotation angle of the brake motor (301); the power output end of the brake motor (301) is connected with a brake transmission mechanism, and the brake transmission mechanism is used for converting the torque output by the brake motor (301) into the actuating force of the hydraulic brake module; the hydraulic brake module is connected with a brake caliper in the wheel, and after the hydraulic brake module is actuated, brake oil is provided for the brake caliper, so that a brake piston in the brake caliper acts to drive a brake block to press a brake disc;
the steer-by-wire system (4) is a motor steering system, a steering motor (301) provides steering torque to wheels serving as steering wheels, and the steering motor (301) is controlled by a steering motor position controller (6);
the drive-by-wire system (2) is a motor drive system, a drive motor (201) provides drive torque for wheels serving as drive wheels, and the drive motor (201) is controlled by a drive motor controller;
the power system adopts a power battery to supply power for the electronic equipment on the full-wire control chassis;
the vehicle communication system comprises: CAN bus and VCU; the upper-layer automatic driving system of the vehicle is connected with the VCU through the CAN bus, and the upper-layer automatic driving system and the VCU are in bidirectional communication; the VCU is respectively connected with the driving motor controller, the steering motor controller (6) and the brake motor controller (7) through CAN buses;
the upper-layer automatic driving system of the vehicle sends a target instruction to the VCU through the CAN bus, wherein the target instruction comprises the following steps: and the VCU controls the driving, braking and steering actions of the unmanned vehicle through the driving motor controller, the steering motor controller (6) and the braking motor controller (7) according to the received target command.
2. The unmanned vehicle-specific full-wire control chassis omitting human steering mechanism of claim 1, wherein the hydraulic brake module comprises: the brake oil way and the brake oil cylinder are used as a brake energy storage device (9);
the brake transmission mechanism is used for converting the torque output by the brake motor (301) into linear motion, and the output end of the brake transmission mechanism is connected with the piston rod of the brake main cylinder to drive the piston rod of the brake main cylinder to move linearly;
an oil outlet of the brake master cylinder (9) is connected with the brake caliper through a brake oil path.
3. The unmanned vehicle-specific full-wire control chassis omitting human steering mechanism according to claim 2, wherein the brake transmission mechanism comprises: the brake gear reducer (302), the connecting shaft (303), the brake gear (304) and the brake rack (305); the output shaft of the brake motor (301) is connected with the brake reducer (302), the output end of the brake reducer (302) is connected with the gear shaft of the brake gear (304) through the connecting shaft (303), the brake rack (305) is meshed with the brake gear (304) to form a gear-rack transmission mechanism, and the brake rack (305) is connected with the piston rod (10) of the brake oil cylinder and used for pushing the piston rod (10) of the brake oil cylinder to move linearly.
4. The unmanned vehicle-specific full steer-by-wire chassis omitting human steering mechanism of claim 1, 2 or 3, wherein said steer-by-wire system (4) comprises: the steering mechanism comprises a steering motor (401), a steering reducer (402), a steering gear (403), a steering rack (404), a steering pull rod (405) and a steering motor position controller (6); the steering motor (401) is a servo motor, and the steering motor position controller (6) is used for controlling the rotation angle of the steering motor (401); an output shaft of the steering motor (401) is connected with a steering reducer (402), an output shaft of the steering reducer (402) is connected with a steering gear (403) through a coupling shaft, a steering rack (404) is meshed with the steering gear (403) to form a gear-rack transmission mechanism, the steering rack (404) is connected with a steering pull rod (405), and the steering pull rod (405) is connected with wheels serving as steering wheels.
5. The unmanned vehicle-specific full-wire control chassis omitting human steering mechanism according to claim 1, 2 or 3, wherein the wire-controlled drive system (2) comprises: the device comprises a driving motor (201), a driving motor controller, a driving speed reducer (202), a driving differential (203), a driving shaft (206) and a universal transmission device; the driving motor controller is used for controlling a driving motor (201), an output shaft of the driving motor (201) is connected with a driving speed reducer (202), the driving speed reducer (202) is connected with a driving shaft (206) through a driving differential (203), and the driving shaft (206) is connected with a universal transmission device on a wheel hub serving as a driving wheel to transmit driving torque.
6. The unmanned vehicle-specific full-wire control chassis omitting human steering mechanism according to claim 1, 2 or 3, wherein the power system comprises: the driving battery is directly connected with the driving motor controller and is respectively connected with the steering motor controller (6) and the braking motor controller (7) through the direct-current power converter; the driving battery also supplies power to a pressure sensor, a corner sensor and other low-voltage electrical appliances which are arranged on the chassis through a direct-current power supply converter.
7. The all-wire control chassis special for the unmanned vehicle omitting the human steering mechanism as claimed in claim 1, 2 or 3, further comprising a pressure sensor for detecting brake pressure, a steering angle sensor for detecting a steering wheel angle;
the driving motor (201) is connected with the VCU through a CAN bus and used for sending the rotating speed and torque information of the driving motor (201) to the VCU; the pressure sensor is connected with the VCU through a CAN bus and used for sending the detected brake pressure to the VCU; the corner sensor is connected with the VCU through a CAN bus and used for sending the detected corner to the VCU; and the VCU performs closed-loop control on the unmanned vehicle according to the rotating speed of the driving motor fed back by the driving motor (201), the braking pressure fed back by the pressure sensor and the steering wheel steering angle fed back by the steering angle sensor.
8. The unmanned vehicle-specific full-wire control chassis with the human steering mechanism omitted as claimed in claim 1, 2 or 3, wherein the vehicle body is further provided with a communication interface for providing a signal flow interface for external equipment and a power supply interface for supplying power to the outside, and a power supply in the power system is directly connected to the power supply interface or is connected to the power supply interface through a direct current transformer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910864628.9A CN110641394A (en) | 2019-09-12 | 2019-09-12 | Full-wire control chassis special for unmanned vehicle and without human driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910864628.9A CN110641394A (en) | 2019-09-12 | 2019-09-12 | Full-wire control chassis special for unmanned vehicle and without human driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110641394A true CN110641394A (en) | 2020-01-03 |
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| CN112757915A (en) * | 2021-02-03 | 2021-05-07 | 舜泰汽车有限公司 | Wire control chassis control system based on ECU |
| CN112918455A (en) * | 2021-03-05 | 2021-06-08 | 东风汽车集团股份有限公司 | Chassis control method, system and storage medium for automatic driving of automobile |
| CN113625694A (en) * | 2021-08-30 | 2021-11-09 | 一汽解放汽车有限公司 | Chassis line control device and chassis line control test system |
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| CN114179605A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Motor redundancy multifunctional integrated wheel module and control method thereof |
| CN115294829A (en) * | 2022-07-29 | 2022-11-04 | 北京电子科技职业学院 | Motor vehicle driving teaching system based on drive-by-wire chassis |
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