CN116923533A - Four-wheel independent steering drive-by-wire experiment chassis based on remote driving - Google Patents

Four-wheel independent steering drive-by-wire experiment chassis based on remote driving Download PDF

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Publication number
CN116923533A
CN116923533A CN202310971645.9A CN202310971645A CN116923533A CN 116923533 A CN116923533 A CN 116923533A CN 202310971645 A CN202310971645 A CN 202310971645A CN 116923533 A CN116923533 A CN 116923533A
Authority
CN
China
Prior art keywords
steering
driving
vehicle
chassis frame
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310971645.9A
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Chinese (zh)
Inventor
李忠利
陈广修
汪俊
孙静格
马理想
王帅
韩冲
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Henan University of Science and Technology
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Henan University of Science and Technology
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Publication date
Application filed by Henan University of Science and Technology filed Critical Henan University of Science and Technology
Priority to CN202310971645.9A priority Critical patent/CN116923533A/en
Publication of CN116923533A publication Critical patent/CN116923533A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B62D5/0418—Electric motor acting on road wheel carriers
    • 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
    • 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
    • B60R16/03—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 supply of electrical power to vehicle subsystems or for
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The utility model provides a four-wheel independent steering drive-by-wire experiment chassis based on remote driving, includes chassis frame, on-vehicle control unit, remote control unit and four steering drive unit, and steering drive unit's steering motor passes through the link mechanism of moving away to avoid possible earthquakes and is connected with chassis frame, and steering motor's bottom is connected with the reduction gear, and the bottom of reduction gear is connected with the steering spindle, and the bottom of steering spindle is connected with the bearing frame, wears to be equipped with the drive shaft on the bearing frame, installs driving motor and wheel on the drive shaft. During emergency braking, an additional friction force is generated in a mode of reverse deflection of the rear wheels, so that lateral deflection braking is realized, braking distance is shortened, faster response speed and safer braking distance are provided, an ideal scaling experiment platform is provided for subsequent research on multiple steering modes and driving/braking combined control strategies of the intelligent electric vehicle, the intelligent electric vehicle steering system can be used for operation stability teaching experiments, and research and development of four-wheel independent steering systems of the electric vehicle are facilitated.

Description

Four-wheel independent steering drive-by-wire experiment chassis based on remote driving
Technical Field
The invention relates to the field of electric vehicle experiment chassis, in particular to a four-wheel independent steering drive-by-wire experiment chassis based on remote driving.
Background
The steering of the traditional electric automobile is operated through the connection of mechanical parts, the steering transmission ratio is fixed, the driving comfort is greatly influenced, and along with the rapid development of electronic technology and control theory, the mechanical parts in the electric automobile are replaced by electronic control elements, and the development and research of a drive-by-wire chassis become trend. Four-wheel independent steering means that four wheels of an automobile can all independently steer, so that the automobile can turn and adjust the direction more easily, and a driver can control the automobile more accurately. The stability and the operability of the vehicle during high-speed running can be improved, the roll of the vehicle is reduced, and the braking distance is greatly shortened by adopting lateral deviation braking during emergency, so that the accident is reduced. In addition to improving drivability and stability, four-wheel independent steering may also reduce the radius of the vehicle when turning at low speeds, thereby making it easier for the vehicle to pass through tight bends or narrow lanes.
In order to research the four-wheel steering technology of the electric vehicle, the prior art designs and develops a drive-by-wire experiment chassis, builds a four-wheel independent steering drive-by-wire chassis scaling model, lays a foundation for subsequent development and research of the electric vehicle, cancels a traditional braking system and a parking mechanism, and has great potential for improving and researching dynamics control performance. However, the existing four-wheel independent steering drive-by-wire experiment chassis encounters special conditions, such as insufficient braking performance in emergency or when large-torque braking is required in slope parking, so that research and development of the four-wheel independent steering system of the electric vehicle are restricted.
Disclosure of Invention
The invention aims to provide a four-wheel independent steering drive-by-wire experiment chassis based on remote driving, which improves the operation stability and the braking effect under emergency.
The technical scheme adopted by the invention for solving the technical problems is as follows: the four-wheel independent steering drive-by-wire experiment chassis based on remote driving comprises a chassis frame, a vehicle-mounted control unit, a remote control unit and four steering drive units, wherein the chassis frame is a rectangular frame which is horizontally arranged, the four steering drive units are respectively arranged at four corners of the chassis frame, each steering drive unit comprises a steering motor, one side of each steering motor, which faces the chassis frame, is connected with the chassis frame through a shock-absorbing connecting rod mechanism, the bottom end of each steering motor is connected with a speed reducer, the bottom ends of the speed reducers are connected with steering shafts, the steering shafts of the four steering drive units are mutually parallel, the bottom ends of the steering shafts are connected with bearing seats, driving shafts penetrate through the bearing seats, the driving shafts are mutually perpendicular to the steering shafts, driving motors and wheels are arranged on the driving shafts, the driving motors can drive the driving shafts to rotate so that the four wheels can cooperate to drive the chassis frame to move, and batteries for supplying power for the steering drive units are also arranged on the chassis frame;
the vehicle-mounted control unit comprises a vehicle-mounted computer and a bus communication device, the vehicle-mounted computer and the bus communication device are arranged on the chassis frame, the remote control unit comprises a driving simulator and a wireless communication device, the driving simulator can transmit driving instructions to the vehicle-mounted computer through the wireless communication device, and the vehicle-mounted computer can control steering motors and driving motors of the four steering driving units to operate through the bus communication device;
when the chassis frame moves, defining two wheels which are close to the front end of the chassis frame along the movement direction as front wheels and two wheels which are close to the rear end of the chassis frame along the movement direction as rear wheels; when the vehicle-mounted computer receives an emergency braking instruction transmitted by the driving simulator, the vehicle-mounted computer enables the steering motors corresponding to the two rear wheels to synchronously and reversely rotate, so that one sides of the two rear wheels, which are close to the front end of the chassis frame, deflect by the same angle along the direction away from the chassis frame, and braking force of the two rear wheels is increased conveniently;
angle of deflection of rear wheelαThe calculation method is that the vehicle-mounted computer obtains the required braking force according to the emergency braking instructionThen calculating the deflection angle by the formula (1)α，
Formula (1);
in the formula (1), the components are as follows,is a lateral component>For longitudinal component->And->Are represented by the formula (2),
formula (2);
in the formula (2), D is a peak factor, C is a shape factor, B is a rigidity factor, E is a curvature factor,S h for the amount of lateral compensation,S v is the longitudinal compensation quantity;
substituted into (1)When the variables in formula (2)xTo the deflection angleα；
Substituted into (1)When the variables in formula (2)xIs slip rateλ。
Preferably, the driving simulator comprises a simulated steering wheel and a simulated pedal assembly.
Preferably, the simulated steering wheel is a Luo Ji g29 force feedback steering wheel.
Preferably, the steering motor is a direct current servo motor with a self-locking function, and when the rear wheels deflect, the steering motor performs self-locking.
According to the technical scheme, the invention has the beneficial effects that:
the four wheels of the invention are respectively provided with an independent steering motor and are independently controllable, more and more flexible steering movement modes can be realized by matching with a driving mode of a driving computer, in addition, during emergency braking, additional friction force is generated by adopting a mode of reverse deflection of a rear wheel, thereby realizing lateral braking, shortening braking distance, providing faster response speed and safer braking distance, realizing independent steering of four wheels, improving the operation stability of the vehicle and the braking effect under emergency conditions, providing an ideal scaling experiment platform for subsequent research on various steering modes and driving/braking combined control strategies of the intelligent electric vehicle, being applicable to operation stability teaching experiments and being beneficial to research and development of four-wheel independent steering systems of the electric vehicle.
Drawings
Fig. 1 is a schematic top view of the present invention in an emergency braking state.
The marks in the figure: 1. chassis frame 2, shock-absorbing link mechanism, 3, steering motor, 4, driving motor, 5, front wheel, 6, rear wheel.
Detailed Description
Referring to the drawings, the specific embodiments are as follows:
the utility model provides a four-wheel independent steering drive-by-wire experiment chassis based on remote driving, including chassis frame 1, on-vehicle control unit, remote control unit and four steering drive unit, chassis frame 1 is the rectangular frame that the level set up, four steering drive unit installs the four corners at chassis frame 1 respectively, steering drive unit includes steering motor 3, steering motor 3 is connected with chassis frame 1 through shock-absorbing link mechanism 2 towards one side of chassis frame 1, steering motor 3's bottom is connected with the reduction gear, the bottom of reduction gear is connected with the steering spindle, four steering drive unit's steering spindle mutual parallel arrangement, the bottom of steering spindle is connected with the bearing frame, wear to be equipped with the drive shaft on the bearing frame, drive shaft and steering spindle mutually perpendicular, install driving motor 4 and wheel on the drive shaft, driving motor 4 can drive the drive shaft rotation, so that four wheels cooperation drive chassis frame 1 motion, still install the battery that is used for turning to drive unit power supply on the chassis frame 1.
The vehicle-mounted control unit comprises a vehicle-mounted computer and a bus communication device, wherein the vehicle-mounted computer and the bus communication device are arranged on the chassis frame 1, the remote control unit comprises a driving simulator and a wireless communication device, the driving simulator comprises a Luo Ji g29 force feedback steering wheel and a simulation pedal assembly, the driving simulator can transmit driving instructions to the vehicle-mounted computer through the wireless communication device, and the vehicle-mounted computer can control the steering motors 3 and the driving motors 4 of the four steering driving units to operate through the bus communication device.
When the chassis frame 1 moves, two wheels which are close to the front end of the chassis frame 1 in the moving direction are defined as front wheels 5, and two wheels which are close to the rear end of the chassis frame 1 in the moving direction are defined as rear wheels 6. When the vehicle-mounted computer receives the emergency braking instruction transmitted by the driving simulator, the vehicle-mounted computer enables the steering motors 3 corresponding to the two rear wheels 6 to synchronously and reversely rotate, so that one sides of the two rear wheels 6 close to the front end of the chassis frame 1 deflect by the same angle along the direction away from the chassis frame 1, and the braking force of the two rear wheels 6 is increased conveniently. The steering motor 3 is a direct current servo motor with a self-locking function, and when the rear wheel 6 deflects, the steering motor 3 performs self-locking.
Angle of deflection of rear wheel 6αThe calculation method is that the vehicle-mounted computer obtains the required braking force according to the emergency braking instructionThen calculating the deflection angle by the formula (1)α，
Formula (1);
in the formula (1), the components are as follows,is a lateral component>For longitudinal force component->And->Are represented by the formula (2),
formula (2);
in the formula (2), D is a peak factor, C is a shape factor, B is a rigidity factor, E is a curvature factor,S h for the amount of lateral compensation,S v is the longitudinal compensation amount.
Substituted into (1)y(x) Side of the vehicle When the variables in formula (2)xTo the deflection angleα。
Substituted into (1)y(x) Longitudinal direction When the variables in formula (2)xIs slip rateλ。
The vehicle-mounted computer can also detect and receive the speed data of the vehicle, and judge the speed data of the vehicle into low-speed data and high-speed data in real time, for example, the speed of 30 km/h is set as a dividing threshold value, the vehicle-mounted computer can judge the vehicle to be in a low-speed mode when the running speed is smaller than the dividing threshold value, and the vehicle-mounted computer can judge the vehicle to be in a high-speed mode when the running speed is larger than the dividing threshold value.
When the vehicle turns at a low speed, the vehicle-mounted computer receives a vehicle speed signal and a steering wheel corner signal from the bus and calculates a target corner according to an Ackerman corner formula, the corners of four wheels are reasonably distributed, the Ackerman corner relation is met, the corresponding steering motor controls the front axle wheel and the rear axle wheel to reversely deflect, the steering radius is reduced, and the narrow space passing rate is improved.
When the vehicle turns in situ, the vehicle-mounted computer calculates a target turning angle according to an Ackerman turning angle formula after receiving a vehicle speed signal and a steering wheel turning angle signal from the bus, reasonably distributes turning angles of four wheels and meets the Ackerman turning angle relation, and the controller inputs corresponding current to a steering motor at a corresponding position to realize four-wheel accurate steering.
Because the four wheels are respectively provided with the independent steering motors and are independently controllable, more and more flexible steering movement modes can be realized by matching with a driving mode of a driving computer, in addition, during emergency braking, additional friction force is generated by adopting a mode of reverse deflection of the rear wheels, so that lateral braking is realized, braking distance is shortened, faster response speed and safer braking distance are provided, the operation stability of the vehicle and the braking effect under emergency can be improved while four-wheel independent steering can be realized, an ideal scale experiment platform is provided for subsequent research on various steering modes and driving/braking combined control strategies of the intelligent electric vehicle, and the intelligent electric vehicle can be used for operation stability teaching experiments, and is beneficial to research and development of four-wheel independent steering systems of the electric vehicle.

Claims (4)

1. Four-wheel independent steering drive-by-wire experiment chassis based on remote driving, its characterized in that: the vehicle-mounted steering device comprises a chassis frame (1), a vehicle-mounted control unit, a remote control unit and four steering driving units, wherein the chassis frame (1) is a rectangular frame which is horizontally arranged, the four steering driving units are respectively arranged at four corners of the chassis frame (1), each steering driving unit comprises a steering motor (3), one side, facing the chassis frame (1), of each steering motor (3) is connected with the chassis frame (1) through a shock-absorbing connecting rod mechanism (2), the bottom end of each steering motor (3) is connected with a speed reducer, the bottom end of each speed reducer is connected with a steering shaft, the steering shafts of the four steering driving units are mutually parallel, the bottom ends of the steering shafts are connected with bearing blocks, driving shafts penetrate through the bearing blocks and are mutually perpendicular to the steering shafts, driving motors (4) and wheels are arranged on the driving shafts, the driving motors (4) can drive the driving shafts to rotate so that the four wheels can be matched to drive the chassis frame (1) to move, and batteries for supplying power for the steering driving units are further arranged on the chassis frame (1).
The vehicle-mounted control unit comprises a vehicle-mounted computer and a bus communication device which are arranged on the chassis frame (1), the remote control unit comprises a driving simulator and a wireless communication device, the driving simulator can transmit driving instructions to the vehicle-mounted computer through the wireless communication device, and the vehicle-mounted computer can control the steering motor (3) and the driving motor (4) of the four steering driving units to operate through the bus communication device;
when the chassis frame (1) moves, two wheels which are close to the front end of the chassis frame (1) along the movement direction are defined as front wheels (5), and two wheels which are close to the rear end of the chassis frame (1) along the movement direction are defined as rear wheels (6); when the vehicle-mounted computer receives an emergency braking instruction transmitted by the driving simulator, the vehicle-mounted computer enables the steering motors (3) corresponding to the two rear wheels (6) to synchronously and reversely rotate, so that one side, close to the front end of the chassis frame (1), of the two rear wheels (6) is deflected by the same angle along the direction away from the chassis frame (1), and the braking force of the two rear wheels (6) is increased conveniently;
deflection angle of rear wheel (6)αThe calculation method is that the vehicle-mounted computer obtains the required braking force according to the emergency braking instructionThen calculating the deflection angle by the formula (1)α，
Formula (1);
in the formula (1), the components are as follows,is a lateral component>For longitudinal component->And->Are represented by the formula (2),
formula (2);
in the formula (2), D is a peak factor, C is a shape factor, B is a rigidity factor, E is a curvature factor,S h for the amount of lateral compensation,S v is the longitudinal compensation quantity;
substituted into (1)When the variables in formula (2)xTo the deflection angleα；
Substituted into (1)When the variables in formula (2)xIs slip rateλ。
2. The remote-driving-based four-wheel independent steering drive-by-wire experimental chassis of claim 1, wherein: the driving simulator includes a simulated steering wheel and a simulated pedal assembly.
3. The four-wheel independent steering drive-by-wire experimental chassis based on remote driving according to claim 2, wherein: the simulated steering wheel is Luo Ji g29 force feedback steering wheel.
4. The remote-driving-based four-wheel independent steering drive-by-wire experimental chassis of claim 1, wherein: the steering motor (3) is a direct current servo motor with a self-locking function, and when the rear wheel (6) deflects, the steering motor (3) performs self-locking.
CN202310971645.9A 2023-08-03 2023-08-03 Four-wheel independent steering drive-by-wire experiment chassis based on remote driving Pending CN116923533A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310971645.9A CN116923533A (en) 2023-08-03 2023-08-03 Four-wheel independent steering drive-by-wire experiment chassis based on remote driving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310971645.9A CN116923533A (en) 2023-08-03 2023-08-03 Four-wheel independent steering drive-by-wire experiment chassis based on remote driving

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CN116923533A true CN116923533A (en) 2023-10-24

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Country Status (1)

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