CN117325601A

CN117325601A - Vehicle chassis balance control method, electronic device and storage medium

Info

Publication number: CN117325601A
Application number: CN202311302755.2A
Authority: CN
Inventors: 任游; 黄开勇; 黄文强; 黄耀红
Original assignee: FENGSHEN XIANGYANG AUTOMOBILE CO LTD; Dongfeng Nissan Passenger Vehicle Co
Current assignee: FENGSHEN XIANGYANG AUTOMOBILE CO LTD; Dongfeng Nissan Passenger Vehicle Co
Priority date: 2023-10-09
Filing date: 2023-10-09
Publication date: 2024-01-02

Abstract

The invention discloses a vehicle chassis balance control method, electronic equipment and a storage medium. The vehicle chassis balance control method comprises the following steps: detecting the posture of the chassis; according to the chassis gesture, the lifting motor of the wheel group corresponding to the chassis gesture is controlled to execute the action corresponding to the chassis gesture. According to the invention, the chassis gesture is detected, and the lifting motor of the wheel set corresponding to the chassis gesture is controlled to execute the action corresponding to the chassis gesture according to the chassis gesture, so that the functions of lifting the chassis of the vehicle, actively keeping the levelness of the chassis, moving parallel and changing the track at a high speed, turning with ultra-small radius, rotating in situ, accelerating and decelerating, compensating the gravity center offset and the like can be realized.

Description

Vehicle chassis balance control method, electronic device and storage medium

Technical Field

The invention relates to the technical field of vehicles, in particular to a vehicle chassis balance control method, electronic equipment and a storage medium.

Background

The vehicle and the device using the wheel train to move are all provided with suspension systems, mainly realizing driving forward and backward, steering, changing the moving direction, avoiding shock and improving the stability in running and the like. In order to realize the functions, the chassis system is provided with a power assembly, a transmission mechanism, a steering motor, a shock absorbing mechanism and the like, and has the defects of complex structure, large number of parts, inconvenient maintenance and adjustment, large energy consumption for mechanism operation and the like.

Meanwhile, the existing vehicle chassis system cannot actively adjust the suspension structure in the process of passing through a rugged road surface, an inclined road surface or acceleration and deceleration, so that the vehicle body is bumpy and inclined along with the adjustment, and most of vibration can be counteracted through the vibration absorbing system, but people still feel uncomfortable. In particular, in the fields requiring high-precision movement such as military, scientific research, and medicine, it is necessary to eliminate adverse effects due to extremely small vibration and tilting of the vehicle body.

Disclosure of Invention

Based on this, it is necessary to provide a vehicle chassis balance control method, an electronic device and a storage medium, which solve the technical problem that the prior art cannot actively adjust the suspension structure of the vehicle, resulting in the bumping and tilting of the vehicle body.

The invention provides a vehicle chassis balance control method, which comprises the following steps:

detecting a chassis gesture, wherein the chassis gesture comprises a front high and a rear low, a front low and a rear high, a left high and a right low, and a left low and a right high;

and controlling the lifting motor of the wheel group corresponding to the chassis gesture to execute the action corresponding to the chassis gesture according to the chassis gesture.

Further, prior to the detecting the chassis pose, the method further comprises:

And defining a plurality of wheel sets of the vehicle, and setting the wheel sets as a left front wheel set, a right front wheel set, a left rear wheel set or a right rear wheel set.

Still further, the defining the wheel sets for the plurality of wheel sets of the vehicle, wherein the wheel sets are a left front wheel set, a right front wheel set, a left rear wheel set or a right rear wheel set, includes:

the following steps are sequentially performed for each wheel set:

controlling the wheel set to move upwards or downwards to a limit position;

detecting the attitude of the chassis when the wheel set moves to the limit position;

and setting the wheel sets as a left front wheel set, a right front wheel set, a left rear wheel set or a right rear wheel set according to the posture of the chassis.

Further, according to the chassis posture, controlling the lifting motor of the wheel group corresponding to the chassis posture to execute the action corresponding to the chassis posture, including:

when the chassis is low in front and high in back, the lifting motors of the left front wheel set and the right front wheel set are controlled to move downwards, and the lifting motors of the left rear wheel set and the right rear wheel set are controlled to move upwards; or alternatively

When the chassis is in a front high-back low state, the lifting motors of the left front wheel set and the right front wheel set are controlled to move upwards, and the lifting motors of the left rear wheel set and the right rear wheel set are controlled to move downwards; or alternatively

When the chassis is in a left high-right low posture, the lifting motors of the left front wheel set and the left rear wheel set are controlled to move upwards, and the lifting motors of the right front wheel set and the right rear wheel set are controlled to move downwards; or alternatively

When the chassis is in a left low and right high posture, the lifting motors of the left front wheel set and the left rear wheel set are controlled to move downwards, and the lifting motors of the right front wheel set and the right rear wheel set are controlled to move upwards.

Still further:

when the chassis posture is low in front and high in back, the lifting motor for controlling the left front side wheel set and the right front side wheel set moves downwards, the lifting motor for controlling the left rear side wheel set and the right rear side wheel set moves upwards, and the lifting motor comprises: when the chassis posture is low in front and high in back, detecting the backward acceleration of the vehicle, controlling the lifting motors of the left front wheel set and the right front wheel set to move downwards, and controlling the lifting motors of the left rear wheel set and the right rear wheel set to move upwards until the backward acceleration is zero or the lifting motors reach the limit position;

when the chassis gesture is high back low, the elevator motor of control left front side wheelset and right front side wheelset upwards moves, and the elevator motor of control left rear side wheelset and right rear side wheelset moves down, includes: when the chassis posture is high in front and low in back, detecting the forward acceleration of the vehicle, controlling the lifting motors of the left front wheel set and the right front wheel set to move upwards, and controlling the lifting motors of the left rear wheel set and the right rear wheel set to move downwards until the forward acceleration is zero or the lifting motors reach the limit position;

When the chassis gesture is high right, the elevator motor of control left front side wheelset and left rear side wheelset upwards moves, and the elevator motor of control right front side wheelset and right rear side wheelset moves downwards, includes: when the chassis posture is high left and low right, detecting transverse acceleration, controlling lifting motors of a left front side wheel set and a left rear side wheel set to move upwards, and controlling lifting motors of a right front side wheel set and a right rear side wheel set to move downwards until the transverse acceleration is zero or the lifting motors reach an extreme position;

when the chassis gesture is low right, the elevator motor of control left front side wheelset and left rear side wheelset moves down, and the elevator motor of control right front side wheelset and right rear side wheelset upwards moves, includes: when the chassis posture is left low and right high, detecting transverse acceleration, controlling lifting motors of a left front side wheel set and a left rear side wheel set to move downwards, and controlling lifting motors of a right front side wheel set and a right rear side wheel set to move upwards until the transverse acceleration is zero or the lifting motors reach an extreme position.

Further, the method further comprises the following steps:

responding to the steering of the vehicle, and selecting a steering mode to be parallel lane change, in-situ turning or conventional steering according to the state of the vehicle;

When the steering mode is parallel lane changing, controlling all the travelling wheels of the wheel sets of the vehicle to deflect towards a target lane, and enabling the travelling wheels of the wheel sets to rotate in the same direction; or alternatively

When the steering mode is in-situ turning, an auxiliary circle taking the center point of the vehicle as the center of the circle is established, the travelling wheels of the wheel sets on the left side and the right side of the vehicle are controlled to reversely rotate along the tangential parallel direction of the auxiliary circle, and the rotation directions of the travelling wheels of the wheel sets on the left side and the right side are opposite; or alternatively

When the steering mode is conventional steering, an auxiliary circle taking a steering center point as a circle center is established, the travelling wheels of the wheel groups on the left side and the right side of the vehicle are controlled to rotate in the same direction along the tangential parallel direction of the auxiliary circle, and the rotation directions of the travelling wheels of the wheel groups on the left side and the right side are the same.

Still further, the selecting a steering mode as parallel lane change, turn around in place, or conventional steering according to the vehicle state in response to the vehicle steering, comprising:

and when the chassis height of the vehicle is smaller than or equal to the preset height threshold, selecting the steering mode as conventional steering or in-situ turning, and according to the turning radius or the vehicle speed of the vehicle, selecting the steering mode as conventional steering or parallel lane change.

Still further, when the chassis height of the vehicle is less than or equal to a preset height threshold, according to the turning radius or the vehicle speed of the vehicle, the steering mode is selected to be conventional steering or parallel lane change, including:

when the chassis height of the vehicle is smaller than or equal to a preset height threshold value, the following steps are performed:

when the turning radius of the vehicle is smaller than a preset radius threshold value, selecting a steering mode as conventional steering;

when the turning radius is greater than or equal to a preset radius threshold value: and if the speed of the vehicle is greater than or equal to the preset speed threshold, selecting the steering mode as parallel lane change.

The present invention provides an electronic device including:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to at least one of the processors; wherein,

the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the vehicle chassis balancing control method as previously described.

The present invention provides a storage medium storing computer instructions that, when executed by a computer, are operable to perform all the steps of a vehicle chassis balance control method as described above.

According to the invention, the chassis gesture is detected, and the lifting motor of the wheel group corresponding to the chassis gesture is controlled to execute the action corresponding to the chassis gesture according to the chassis gesture, so that the functions of lifting the chassis of the vehicle, actively maintaining the levelness of the chassis, moving in parallel at a high speed, changing lanes, turning with an ultra-small radius, rotating in situ, accelerating and decelerating, compensating for gravity center offset and the like can be realized.

Drawings

FIG. 1 is a flowchart illustrating a vehicle chassis balance control method according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a vehicle chassis balance control method according to another embodiment of the present invention;

FIG. 3 is a vehicle chassis balancing control system according to a preferred embodiment of the present invention;

FIG. 4 is a schematic diagram of a wheel set definition according to a preferred embodiment of the present invention;

FIG. 5 is a workflow diagram of a system start-up procedure in accordance with a preferred embodiment of the present invention

FIG. 6 is a flowchart showing the steering control operation in the preferred embodiment of the present invention;

FIG. 7 is a flowchart illustrating the operation of the brake process control logic during vehicle travel in accordance with the preferred embodiment of the present invention;

FIG. 8 is a workflow diagram of a chassis height setting process according to a preferred embodiment of the present invention

Fig. 9 is a schematic diagram of a hardware structure of an electronic device according to the present invention.

Detailed Description

Specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.

Referring to fig. 1, a flowchart of a vehicle chassis balance control method according to an embodiment of the present invention includes:

step S101, detecting a chassis gesture, wherein the chassis gesture comprises front high and rear low, front low and rear high, left high and right low and left low and right high;

step S102, according to the chassis gesture, controlling a lifting motor of a wheel group corresponding to the chassis gesture to execute actions corresponding to the chassis gesture.

In particular, the invention may be applied to an electronic device, such as an electronic controller unit (Electronic Control Unit, ECU), of a vehicle having processing capabilities.

First, the electronic device performs step S101 to detect the chassis posture.

Specifically, chassis levelness deviation, pitch angle, roll angle data, and the like can be detected by a gyroscope of the vehicle. And determining the chassis posture based on the chassis levelness deviation, the pitch angle and the roll angle data.

Wherein, chassis gesture includes:

front low and rear high, i.e. the front of the vehicle is lower than the center of the chassis, and the rear of the vehicle is higher than the center of the chassis;

front high and rear low, i.e. the front of the vehicle is higher than the center of the chassis, and the rear of the vehicle is lower than the center of the chassis;

left high and right low, i.e. the center of the chassis of the vehicle left Fang Gaoyu, and the right of the vehicle is lower than the center of the chassis;

right high left low, i.e. the vehicle left is lower than the chassis center and the vehicle right is higher than the chassis center.

And then, executing step S102, and controlling a lifting motor of a wheel group corresponding to the chassis gesture to execute the action corresponding to the chassis gesture according to the chassis gesture.

The wheel set comprises a travelling wheel and a wheel set control unit, wherein the wheel set control unit comprises a servo motor controller, a steering motor controller, a direct current motor controller, a lifting motor, a steering motor and a travelling motor. The vehicle is started and stopped by the aid of a full-line control technology, and three running actions of walking, lifting and steering of the walking wheels are accurately controlled effectively; running in the front-rear direction; lifting and controlling the chassis; steering control, and the like. The lifting motor controls the lifting of the travelling wheels to change the suspension height of the chassis (frame), the steering motor controls the travelling wheels to steer to change the travelling angle of the vehicle, and the travelling motor controls the travelling wheels to rotate to drive the vehicle.

The positional relationship of the respective members of the wheel train unit has been described in detail in chinese patent (application No. 2020103544953; application publication No. CN111619296 a) for a suspension system for a train wheel movement apparatus, and the description thereof is omitted here.

The lifting motors of the different wheel sets execute actions corresponding to the chassis postures, so that lifting of the travelling wheels is controlled, the suspension height of the chassis is changed, and the chassis postures are adjusted, so that intelligent chassis balance control is realized.

Fig. 2 is a flowchart of a vehicle chassis balance control method according to another embodiment of the present invention, including:

step S201, defining a plurality of wheel sets of the vehicle, and setting the wheel sets as a left front wheel set, a right front wheel set, a left rear wheel set or a right rear wheel set.

In one embodiment, the defining the wheel sets for the plurality of wheel sets of the vehicle is set as a left front wheel set, a right front wheel set, a left rear wheel set, or a right rear wheel set, and includes:

The following steps are sequentially performed for each wheel set:

controlling the wheel set to move upwards or downwards to a limit position;

Step S202, detecting the chassis gesture, wherein the chassis gesture comprises front high and back low, front low and back high, left high and right low and left low and right high.

Step S203, when the chassis posture is that the front is low and the rear is high, controlling the lifting motors of the left front wheel set and the right front wheel set to move downwards, and controlling the lifting motors of the left rear wheel set and the right rear wheel set to move upwards; or alternatively

In one embodiment, when the chassis posture is low in front and high in back, the lifting motor for controlling the left front wheel set and the right front wheel set moves downwards, the lifting motor for controlling the left rear wheel set and the right rear wheel set moves upwards, and the lifting motor comprises: when the chassis posture is low in front and high in back, detecting the backward acceleration of the vehicle, controlling the lifting motors of the left front wheel set and the right front wheel set to move downwards, and controlling the lifting motors of the left rear wheel set and the right rear wheel set to move upwards until the backward acceleration is zero or the lifting motors reach the limit position;

Step S204, responding to the steering of the vehicle, and selecting a steering mode to be parallel lane change, in-situ turning or conventional steering according to the state of the vehicle;

In one embodiment, the responding to the vehicle steering, selecting the steering mode as parallel lane change, in-situ turning or normal steering according to the vehicle state comprises the following steps:

In one embodiment, when the chassis height of the vehicle is less than or equal to a preset height threshold, according to a turning radius or a vehicle speed of the vehicle, the steering mode is selected to be conventional steering or parallel lane change, including:

Specifically, as shown in fig. 3, a vehicle chassis balance control system according to a preferred embodiment of the present invention includes: the central processing unit 10, the bus controller 20, the manual driving unit 30, the plurality of wheel group control units 41/42/43 to 4n, the information acquisition unit 50, and other accessories such as a battery management module 60 that controls a power battery 63, a hub 61, and a communication cable 62.

Wherein, the central processing unit 10 comprises: the system comprises seven functional modules, namely a wheelset definition management module 11, a running speed management module 12, a vehicle posture management module 13, a position management module 14, a roadway information operation module 15, a safety device management module 16 and an entertainment system module 17. The running speed management of the vehicle can be realized, and the running speed management comprises the detection of the current, the torque and the rotation speed of the running motor on each wheel set; actively judging the inclination angle (including pitch angle and roll angle) of the vehicle body, and calculating the current vehicle position and destination position path; defining the position, the direction and the wheel diameter size of each wheel set control unit, and converting the running speed and the wheel rotating speed by the system; identifying road identification marks and optimizing a driving mode in real time; the vehicle safety sensor comprises safety detection around a vehicle body such as millimeter wave radar, a 3D scanning camera and a 360-degree vehicle body sensor, and signal feedback of actions such as intelligent deceleration and acceleration, collision early warning, automatic parking, active lane change and the like is realized; the human-computer interaction system is integrated with the entertainment system, so that the human-computer interaction system is more beneficial to the operation of passengers, such as the voice input of instructions, the operation of a touch screen and the like, and the customized functions of manual driving, manual adjustment of the height of a chassis of a vehicle and the like are realized.

In the running process of the control system, the central processing unit collects and calculates the information of the information acquisition unit 50, the manual driving unit 30 and the battery management module 60, exchanges data with the control units of all the wheel sets through the bus controller 20, issues action instructions and receives feedback signals.

The bus controller 20 is used for effectively connecting the central controller 10 with the wheel set control units, transmitting upstream and downstream data in real time, and expanding interfaces when the number of the wheel set control units is increased.

The manual driving unit 30 temporarily switches the basic driving functions reserved for the manual driving mode in the case where the vehicle is not automatically driven (e.g., no positioning or navigation information, road blocking with an obstacle, expedited driving on an irregular road, etc.). It includes a steering wheel angle sensor 31, an accelerator pedal sensor 32, and a brake pedal sensor 33. The manual driving unit is connected with the central processing unit through the touch display screen 34 and the man-machine interaction controller 35 and is communicated with the central processing unit, and is started only when the manual driving mode is switched. Basic driving conditions such as the direction, the speed, the chassis height setting, the lamplight opening and closing of the vehicle can be controlled, but the safety functions of the vehicle cannot be canceled, such as: and an alarm and active emergency braking function of the collision sensor.

Each wheel group control unit 41/42/43-4 n comprises six parts of a servo motor controller, a steering motor controller, a direct current motor controller, a lifting motor, a steering motor and a walking motor. Taking the wheel set control unit 41 as an example, it includes a servo motor controller 411, a steering motor controller 412, a direct current motor controller 413, a lifting motor 414, a steering motor 415, and a traveling motor 416. The travelling wheels and the wheel set controller form a wheel set. Wherein, servo motor controller control elevator motor, steering motor controller control steering motor, direct current motor controller control walking motor.

The information acquisition unit 50 includes eight subsystems of a satellite antenna 51, a gyro sensor 52, an acceleration sensor 53, a millimeter wave radar 54, a 3D scanning camera 55, a 360 ° vehicle sensor 56, a microphone 57, a communication module 58, and the like. Wherein the satellite antenna 51 is used for realizing vehicle positioning and navigation route tracking; the gyro sensor 52 is a gesture CPU (central processing unit) for detecting the gesture (pitch angle and roll angle) of the vehicle and feeding back the gesture to the central processing unit, and sends an adjustment instruction to the wheel set control unit in real time through the bus controller so as to realize the active balance of the vehicle; the acceleration sensor 53 is a gesture CPU which detects the speed change of the vehicle and feeds back the speed change to the central processing unit when the vehicle is accelerated and braked suddenly, and sends an adjustment instruction to the wheel set control unit in real time through a bus controller, and the wheel set lifting motor at the corresponding position acts to realize the gravity center offset compensation function of the chassis of the vehicle; the millimeter wave radar 54 is a device for detecting the distance and position of an obstacle in the traveling direction during the traveling of a vehicle, and belongs to a long-distance detection device; the 3D scanning camera 55 is a binocular 3D camera, and determines the distance between the object and the camera by overlapping images, and the 3D scanning camera may also be fused with a laser radar to determine the object distance. The method comprises the steps of carrying out a first treatment on the surface of the The 360 ° vehicle sensor 56 is a short-distance detection device for detecting the distance and position of objects around the vehicle in a state where the vehicle is running or stopped; the microphone 57 collects sound, and performs active noise reduction by controlling the change of the 'vehicle setting' through voice and collecting the environmental sound at the same time; the communication module 58 is a bidirectional data exchange device, and can realize the interaction requirements of vehicle OTA system upgrade, navigation map online, vehicle position online, surrounding intelligent terminal interaction, remote control, online entertainment communication and the like.

The controllers, units and sensors of the present invention are all wire-controlled, so that the power cable hub 61, internal communication interface and communication cable 62 are indispensable, and the system requires continuous power supply, so that the battery management module 60 is the main energy conversion and distribution device in the process of obtaining power from the power battery 601. The above devices are all accessory devices of the present invention.

In the vehicle chassis balance control method of the present embodiment, step S201 is first executed to define a plurality of wheel sets of the vehicle, and the wheel sets are set to be a left front wheel set, a right front wheel set, a left rear wheel set or a right rear wheel set.

Firstly, the wheel group definition management module 11 in the central processing unit 10 is used for defining the positions and numbers of all wheel groups, and the definition can be completed through a display screen on a man-machine interaction controller. As shown in fig. 4, the rapid definition method: in the plan view of the vehicle, rectangular coordinates are drawn by taking the center point of the vehicle as 0 point, and the forward and right turning directions are respectively indicated by a letter "Y" and a letter "X". The left front wheelset 41 is numbered (-X, Y); the right front wheel set 42 is numbered (X, Y); the left rear wheel set 43 is numbered (-X, -Y); the right rear wheel set 44 is numbered (X, -Y).

the following steps are sequentially performed for each wheel set:

controlling the wheel set to move upwards or downwards to a limit position;

Specifically, in the first stage of the system start, the system automatically makes the height adjusting mechanism of each modularized wheel set (namely the stroke of the shock absorber of the traditional automobile) act up and down for one cycle, and at the moment, the gyroscope installed on the chassis frame can sense the whole inclination angle and displacement of the chassis, so that the position of the wheel set in the action in the whole chassis can be calculated, and a unique name is automatically set for the wheel set, thereby completing the definition of the wheel set of the modularized wheel set.

The embodiment automatically defines the wheel groups, only controls one wheel group at a time, controls the wheel group to ascend or descend to the limit position through the lifting motor of the wheel group, and then detects the posture of the chassis.

The upward movement of the wheel set means that the lifting motor moves upward, and at the moment, the travelling wheel rises along with the upward movement, but due to the action of gravity, the travelling wheel does not leave the ground and is lifted up, and the travelling wheel always keeps contact with the ground, so that the chassis can be in a downward state. And conversely, when the wheel group moves downwards, the lifting motor moves downwards. The walking wheel can be downward, but the chassis can be lifted upward because the walking wheel is propped against the ground.

In some embodiments:

when one wheel set is controlled to rise to the limit position, detecting that the chassis posture is high in front and low in back, and low in left and right, judging that the wheel set is a left front wheel set;

when one wheel set is controlled to rise to the limit position, detecting that the chassis posture is high in front and low in back, and high in left and right, judging that the wheel set is a right front wheel set;

when one wheel set is controlled to rise to the limit position, detecting that the chassis posture is front low and rear high, and left high and right low, judging that the wheel set is a left rear wheel set;

when one wheel set is controlled to rise to the limit position, the chassis posture is detected to be front low and rear high, and left low and right high, and the wheel set is judged to be a right rear wheel set.

In some embodiments, after the defining the wheel sets for the plurality of wheel sets of the vehicle, and setting the wheel sets as the front left wheel set, the front right wheel set, the rear left wheel set, or the rear right wheel set, the method further comprises:

the wheelset definition is shown.

Specifically, adjustments may be made at the time of vehicle self-test to confirm whether there is an error in the wheelset definition to alert the user to make the correction. Such as misplacement in front and back, misplacement in left and right directions, etc. Meanwhile, after confirming that the motion of the wheel set is consistent with the chassis change gesture obtained by the channel information operation module of the central processing unit and the gyroscope, the horizontal adjustment of the chassis is carried out, so that the chassis enters a working preparation state of a static level of the chassis.

Specifically, due to the reasons of uneven current parking ground, wheel set position exchange and the like, the system necessity carries out self-checking on the action loading of lifting, steering and low-turning torque of the travelling wheels on each wheel set one by one, ensures that each movable mechanism works normally, and judges the position of the chassis of the vehicle where the wheel set is located during lifting self-checking.

The vehicle self-checking comprises system self-checking and dynamic self-checking of each wheel set unit. The system self-checking comprises battery electric quantity detection, signal communication of each sensor and data detection, and then dynamic self-checking of each wheel set unit is carried out. The vehicle self-test procedure is as follows:

1. And (3) confirming the plugging state of cables of each wheel set: the system gives a voltage to each wheel set one by one to confirm whether a feedback relay of the wheel set is on signal.

2. The state of each wheel set lifting mechanism is confirmed for the first time: the system gives a lifting action signal to each wheel group one by one, and confirms whether the lifting signal is normal.

3. And (3) confirming the state of steering mechanisms of all wheel groups: the system gives a steering action signal to each wheel group one by one, and confirms whether the feedback of the angle sensor of the steering action is received.

4. Confirming the low-rotation torque state of each wheel set: the system gives a low-rotation-speed action signal to the travelling wheels of each wheel group one by one to confirm whether the travelling wheels are suspended. When the vehicle is stopped on an uneven road surface, a state that one traveling wheel is suspended possibly exists, at the moment, the hub of the traveling wheel is electrified to realize low-speed rotation, and when the feedback torque is too low (the driving current is too small), the traveling wheel is automatically lowered to enable the traveling wheel to contact the ground.

5. Through the wheelset elevating system of unsettled walking wheel of adjustment, make the whole contact ground of walking wheel: in this case, the first automatic correction is performed.

6. And (3) self-checking the wheel set position: the lifting mechanism of each wheel group acts one by one, the direction and the variation of the inclination of the frame are detected through the gyroscope on the frame, the position of each wheel group is determined, and the definition of the wheel group of the modularized wheel group is completed.

7. Self-test was not corrected by the wheelset: at this time, the second automatic correction is performed, and prompt information is issued to the user. At present, the positions of the wheel sets installed on the vehicle are generally symmetrically distributed, so when the positions of the individual wheel sets and the positions of other wheel sets are detected to have obvious asymmetric states, namely correction is performed, the average value of non-specific data of the other wheel sets is taken, and a user is prompted through voice, a touch screen and the like. Specifically, the horizontal distance between the self-checking failed wheel set and the center of the chassis is set as an average value of the horizontal distances between the rest wheel sets and the center of the chassis, and the vertical distance between the self-checking failed wheel set and the center of the chassis is set as an average value of the vertical distances between the rest wheel sets and the center of the chassis.

8. And (5) completing the primary automatic horizontal adjustment of the chassis.

Then, step S202 is performed to detect the chassis posture.

Step S203 is executed according to the chassis posture, when the chassis posture is low in front and high in back, the lifting motors of the left front wheel set and the right front wheel set are controlled to move downwards, and the lifting motors of the left rear wheel set and the right rear wheel set are controlled to move upwards; or alternatively

The chassis levelness of the vehicle is subject to the change of the loading position on the vehicle, the change of the tire air pressure and the change of the road surface fluctuation in running, so that the original levelness cannot be kept all the time, and the absolute level without deviation cannot be kept, and the system can be adjusted when the gyroscope detects that the deviation of the chassis levelness reaches the threshold value. Therefore, the operation pressure of the system can be reduced, the operation times of the lifting mechanism can be reduced, and the stability of the whole mechanism is improved.

Specifically, when the posture of the vehicle (chassis) changes and an adjustment threshold value exceeding the levelness ±1° appears, the embodiment automatically adjusts with reference to the action comparison table, and the comparison table is an indication of the adjustment action direction which should be implemented by the four wheel sets when the chassis tilts to different directions, so that the logic relationship is clear when later control software development is facilitated. The actions are expressed in the following four forms:

1. The front of the vehicle (chassis) is low and high, and the left front side and the right front side wheel set lifting mechanism move downwards; the lifting mechanisms of the left rear side and the right rear side wheel sets move upwards to realize the front elevation and the rear reduction of the vehicle (chassis) and finally reach the level;

2. the front of the vehicle (chassis) is high and low, and the lifting mechanism of the left front side and the right front side wheel sets moves upwards; the left rear side and right rear side wheel set lifting mechanisms move downwards to realize the front descending and rear lifting of the vehicle (chassis) and finally reach the level;

3. the left side of the vehicle (chassis) is high and low, and the left front side and the left rear side of the vehicle (chassis) are provided with a lifting mechanism which moves upwards; the lifting mechanisms of the right front side and the right rear side wheel sets move downwards, so that the left side of a vehicle (chassis) is lowered, the right side of the vehicle is lifted and finally the vehicle reaches the level;

the left side of the vehicle (chassis) is low and high, and the left front side and the left rear side of the vehicle (chassis) are provided with a lifting mechanism which moves downwards; the lifting mechanisms of the right front side and the right rear side wheel sets move upwards, so that the left side of a vehicle (chassis) is lifted, the right side of the vehicle is lowered and finally the vehicle reaches the level.

Specifically, when the vehicle accelerates, a backward acceleration is generated, and the wheel set is adjusted so that the backward acceleration is 0, that is, the chassis reaches the level. When the vehicle brakes and decelerates, the forward acceleration is generated, and the wheel set is adjusted to enable the forward acceleration to be 0, namely the chassis reaches the level. When the vehicle turns, the transverse acceleration is generated, and the transverse acceleration is 0 through adjusting the wheel set, namely the chassis reaches the level.

In the vehicle forward acceleration automatic mode state, the satellite antenna 51 receives satellite signals and determines the current position of the vehicle, and the 3D scanning camera 55 detects the road convex-concave height difference value in front and behind the driving route to set the detection range: the front side is 20 m, the rear side is 10 m, so as to judge the road condition, the central processing unit 10 receives the feedback signals of the two sensors, road planning and chassis height adjustment are carried out, the road is rugged, the chassis is lifted, the road is flat, the chassis is lowered, the adjustment signals are issued to all wheel set control units 41/42/43-4 n by the bus controller 20, the servo motor controllers in the wheel set control units calculate the rotation direction and torque, the lifting motor 41-2 is driven to rotate the swing arm to lift or lower the chassis of the vehicle, and the sum of the corresponding torque of the lifting motor of each wheel set is kept to be equal to the total load of the vehicle to support the chassis to keep stable. In the lifting process, the gyroscope 52 detects the levelness deviation of the chassis, the state CPU12 in the central processing unit 10 detects pitch angle and roll angle data according to the gyroscope sensor 52, and sends an adjusting signal to the wheel group definition 11 to carry out wheel group distribution after calculation, and the adjusting signal is issued to the designated received wheel group control units 41/42/43-4 n through the bus controller 20 to complete intelligent active adjustment of the chassis and always keep the levelness error within the range of +/-1 degree. After the central processing unit 10 finishes the operation route planning and the chassis adjustment, the bus controller 20 sends out instructions to all wheel set control units 41/42/43-4 n, and the direct current motor controller and the walking motors 41-4 n-4 receive the instructions and then rotate the vehicle to move. During acceleration and deceleration, the front side in the traveling direction tends to slightly rise and the rear side tends to slightly fall due to the inertia of the vehicle. The acceleration sensor 53 can detect the acceleration data of the vehicle at this time and provide the data to the central processing unit 10 to realize dynamic compensation command output, and the wheelset definition 11 sends signals to the servo controller and the lifting motors 41-2-4 n-2 at corresponding positions through the bus controller 20 to act so as to keep the attitude of the vehicle always within the range of +/-1 degree of levelness error. Through the cooperation of the hardware and the control algorithm, the intelligent active balance state of the vehicle in the full-speed domain can be realized.

The gyro sensor 52 and the acceleration sensor 53 continuously maintain the operation state during the running of the vehicle in the automatic driving mode. The sensor sends the vehicle attitude data pitch angle and roll angle to the state CPU12 in the CPU 10 to perform real-time operation and issue an adjustment command, the wheel set control units 41/42/43-4 n receive the command and synchronously adjust, the torque of the lifting motor of each wheel set control unit 41-4 n is ensured to be consistent, and the intelligent active balance state of the vehicle in the suspension travel range and all road conditions can be realized.

In the embodiment, the gyroscope sensor 52 and the acceleration sensor 53 are integrated into the vehicle suspension control system, the attitude pitch angle and the roll angle are managed through the vehicle attitude management module 13, and the wheel set control unit is used for attitude adjustment, so that the control is synchronous adjustment on the basis of not changing the original height of the vehicle body, and the vehicle attitude detection and adjustment period is as follows: the CPU is used for calculating the speed to determine, the typical value is about 1-100 ms, so that the process of adjusting the vehicle posture is very fast, and the synchronous adjustment in the running process of the vehicle can be completely realized and the continuous level of the vehicle is ensured.

FIG. 5 is a workflow diagram of a system start-up procedure according to a preferred embodiment of the present invention, comprising:

step S501, the control system self-tests (including battery circuit detection), if the system is normal, step S502 is executed, otherwise, step S501 is executed after the fault is eliminated (repaired);

step S502, dynamically self-checking each wheel set, and turning to step S503 if the dynamic data of the wheel set is normal;

step S503, setting a destination;

step S504, if the automatic planning of the navigation route is completed, turning to step S508, otherwise, executing step S505;

step S505, switching the manual driving mode;

step S506, manually setting the chassis height;

step S507, detecting that the accelerator pedal is pedaled, and executing step S510;

step S508,3D scanning the driving route;

step S509, automatically adjusting the chassis height;

step S510, the travelling wheel starts to rotate;

in step S511, the vehicle posture is detected, if the posture is horizontal, the vehicle is advanced, otherwise the vehicle body posture is automatically adjusted.

Specifically, after the system self-test and the wheel set dynamic self-test are completed, the destination setting of the vehicle is performed, and the vehicle is input by voice through the microphone 57 or manually through the display screen. If the destination information is not successfully acquired, path navigation planning cannot be completed, the automatic prompt is switched to a manual driving mode, and otherwise, the automatic driving mode is started. After the manual driving requires a user to set the chassis height, the vehicle is driven forward through an accelerator pedal; the automatic driving mode automatically completes the chassis height setting by planning the data of the route and the 3D scanning camera 55, and all the running motors rotate after the chassis adjustment is completed, so that the vehicle runs. At this time, the vehicle posture management module 13 issues a command in real time through the data of the gyroscope sensor 52 and the acceleration sensor 53, so that the wheel set control units 41/42/43-4 n perform corresponding dynamic adjustment, and the vehicle level and the vehicle body stability are maintained.

When steering, triggering step S204, responding to the steering of the vehicle, and selecting a steering mode to be parallel lane change, in-situ turning or conventional steering according to the state of the vehicle;

Specifically, the present embodiment provides three steering modes, namely "parallel lane change", "turn around in place", "small radius steering". When the steering operation is performed, the steering motor operation and the traveling motor operation of each wheel set are different depending on the mode, although the steering operation is performed in the same direction. The main action forms are as follows:

1. Parallel lane changing, deflection of all wheel sets of a vehicle to a target lane, and the same-direction rotation of travelling wheels;

2. in-situ turning, all wheel set travelling wheels take the center point of the vehicle as concentric circles, left and right wheels reversely rotate along the tangential parallel direction, and the travelling paths on the left and right sides of the vehicle rotate along the opposite directions

3. And the traveling wheels of all wheel sets are rotated in the same direction along the tangential parallel direction by taking the steering center point as a concentric circle in the conventional steering, and the traveling wheels are rotated in the same direction.

When turning around in situ, the rotation direction of part of the walking motor is completely opposite to the rotation direction during running, and the vehicle needs to be completely stopped and kept stable before the steering operation starts in order to ensure the stability of the steering operation. The parallel lane change and the conventional steering can be carried out in the moving process of the vehicle, and the two steering modes are automatically judged and completed by the control system, and the judgment conditions are comprehensively calculated and obtained by planning a path, the speed, the steering angle, the chassis height and the like.

Wherein, when the selected steering mode is normal steering or parallel lane change:

the user can manually select conventional steering or parallel lane changing on the input device such as a touch screen or a key; or alternatively

Automatic selection is performed, and the system automatically selects conventional steering or parallel lane change according to the navigation given form route and the current road environment, such as: the navigation prompts 180-degree turning and bending, and the road is narrow, and the system adopts a 'turning around in situ' mode.

Specifically, as shown in fig. 6, a workflow diagram of steering control according to a preferred embodiment of the present invention includes:

Step S601, performing steering preparation, judging an operation mode, if the operation mode is an automatic driving mode, performing step S602, otherwise, performing step S603;

step S602, selecting a steering mode according to the navigation and the channel indication information, and executing step S605;

step S603, detecting steering wheel rotation;

step S604, calculating turning radius and automatically selecting a steering mode;

step S605, if parallel lane change is selected, step S606 is performed, otherwise step S607 is performed;

step S606, all wheel sets of the vehicle deflect towards a target lane, the travelling wheels rotate in the same direction, and step S610 is executed;

step S607, if the in-situ turning is selected, executing step S608, otherwise executing step S609;

step S608, an auxiliary circle taking a vehicle center point as a circle center is established, the travelling wheels of the wheel sets on the left side and the right side of the vehicle are controlled to reversely rotate along the tangential parallel direction of the auxiliary circle, and the travelling wheels of the wheel sets on the left side and the right side are controlled to reversely rotate, and step S610 is executed;

step S609, an auxiliary circle taking a steering center point as a circle center is established, the travelling wheels of the wheel groups on the left side and the right side of the vehicle are controlled to rotate in the same direction along the tangential line parallel direction of the auxiliary circle, and the travelling wheels of the wheel groups on the left side and the right side are identical in rotation direction, and step S610 is executed;

And step S610, detecting the vehicle posture, if the vehicle posture is horizontal, aligning all wheel sets, and finishing steering, otherwise, automatically adjusting the vehicle body posture.

Before the vehicle is subjected to steering control, the system will make a determination of the driving mode and then make a determination of the steering mode. Due to the different driving modes, the data information sources selected are different when reading the steering radius requirements. The steering mode of the automatic driving mode is obtained by comparing navigation and channel indication information; during the "manual drive" mode, the steering mode is calculated according to the selected angle and speed of the steering wheel.

The intelligent active balance suspension control system of the invention continuously works in the whole steering process. The vehicle posture management module 13 calculates the optimal posture in real time through the data of the gyroscope sensor 52 and the acceleration sensor 53 and issues instructions to enable the wheel set control units 41/42/43-4 n to perform corresponding dynamic adjustment, keep the vehicle continuously horizontal and perform centrifugal force compensation adjustment, and complete steering actions.

As shown in fig. 7, which is a flowchart illustrating the operation of the brake process control logic during the running of the vehicle according to the preferred embodiment of the present invention, the present invention comprises:

step S701, in the running of the vehicle, the braking action is determined suddenly, if the braking action is active braking, step S705 is executed, otherwise step S702 is executed;

Step S702, detecting a front obstacle, if the detected front obstacle is a warning distance, executing step S703, otherwise, continuing to detect the front obstacle;

step S703, a security prompt sounds;

step S704, if the dangerous distance is the dangerous distance, the automatic emergency brake is started, step S709 is executed, otherwise step S703 is executed;

step S705, the operation mode is determined, if the automatic driving mode is the automatic driving mode, step S706 is executed, if not, when the brake pedal is stepped on, whether the vehicle is stopped is detected, if so, the vehicle is stopped, and if not, step S701 is executed;

step S706, controlling the speed of the vehicle according to the navigation and the lane index information;

step S707, calculating a destination distance, if the destination distance is a close distance, executing step S708, otherwise, continuing to execute step S707;

step S708, automatic uniform speed braking;

step S709, decelerating the vehicle;

step S710, vehicle posture detection, if the posture is horizontal, the vehicle is stopped, and if not, the vehicle posture is automatically adjusted, and step S710 is executed again.

During the running process of the vehicle, the millimeter wave radar 54 and the 360-degree vehicle body sensor 56 keep working states, the running route of the vehicle and the positions of surrounding obstacles are monitored in real time, the relative distance value is calculated, the system calculates and judges that the warning distance is reached according to the running speed, the distance value and other information, and a safety warning sound-light signal is sent out to prompt the attention of drivers and passengers; and when the obstacle is continuously approaching and the system judges that the dangerous distance is reached, the vehicle automatically performs emergency braking, so that accidents are avoided.

When the vehicle is traveling normally and is about to reach the destination, the system will determine the driving mode. If the vehicle is in the manual driving mode, a driver is required to perform deceleration and final stopping driving actions of the vehicle by stepping on a brake pedal; if the vehicle is in the automatic driving mode, the vehicle controls the speed of the vehicle through navigation and road indication information, and the automatic deceleration and automatic stopping actions of the vehicle are realized through braking at a uniform speed in advance. The intelligent active balance suspension control system of the invention continuously works in the whole decelerating and braking process. The vehicle posture management module 13 issues a command in real time through the data of the gyroscope sensor 52 and the acceleration sensor 53, so that the wheel set control units 41/42/43-4 n perform corresponding dynamic adjustment, keep the continuous level of the vehicle and the dynamic compensation adjustment of the tilting before braking, and finish final stop.

Fig. 8 is a workflow diagram of a chassis height setting process according to a preferred embodiment of the present invention, including:

step S801, during running of the vehicle, the operation mode is determined, if the vehicle is in the automatic driving mode, step S802 is executed, otherwise step S803 is executed;

step S802, selecting a chassis mode according to navigation and channel indication information, and executing step S806;

Step S803, the chassis height selection judgment is carried out, if the road is uneven, step S804 is carried out, otherwise, the chassis is manually lowered (energy-saving mode), wind resistance is lowered, energy consumption is reduced, vehicles smoothly pass through, and the process is ended;

step S804, if the road is rough, the chassis is manually lifted (off-road mode), the passing performance and the driver' S visual field are improved, the vehicle passes smoothly, and the process ends, otherwise, step S805 is performed;

step S805, a chassis automatic adjustment mode is manually selected, and step S806 is performed;

step S806,3D scans the driving route and automatically adjusts the chassis height;

step S807, vehicle posture detection, if the posture is horizontal, the vehicle passes smoothly, and if not, the vehicle body posture is automatically adjusted, and step S807 is executed again.

The vehicle active-balance suspension control system according to the present embodiment sets a plurality of operation modes in terms of vehicle chassis height control. Before chassis height control is performed, the system judges a driving mode, and when an automatic driving mode is adopted, the system automatically matches proper chassis height according to navigation and channel indication information and a 3D scanning driving route, and the chassis level is kept through intelligent active balance control in the whole driving process. But in some special cases, when a specific chassis height is required, such as: track travel-the lower the chassis the better; cargo loading-the carriage height needs to be consistent with the loading platform; the driving mode can be switched to the manual driving mode to realize the driving on the height-limited road section, wherein the height of the vehicle needs to be temporarily reduced to smoothly pass through, and the like. In the manual driving process, single or all wheel set lifting motors can be lifted and lowered as required within the maximum adjusting range of the wheel set control unit through modes such as voice, control buttons, touch screen setting and the like, so that the manual control of the height and the inclination of the chassis is realized.

When manual chassis adjustment is adopted, the intelligent active balance suspension control system of the vehicle stops working. At this time, when the vehicle is driven, the vehicle body swings and jolts along with the fluctuation of the road surface, and the comfort is reduced. But properly reduces the chassis height, reduces wind resistance, reduces wind noise, improves the control stability and improves the fuel economy when running at high speed; when the vehicle runs off-road at the limit, the chassis is lifted, the distance between the vehicle and the ground is increased, the field of view of passengers is improved, the collision risk of the chassis is reduced, and the trafficability is improved.

The embodiment provides a vehicle chassis balance control method, which combines a plurality of motors (lifting, steering and moving) to form a modularized wheel set, and realizes the rapid establishment of the four-wheel set and the multiple wheel set into a wheel train motion platform through connection and control. The invention can realize the automatic control functions of lifting, actively maintaining the levelness of the vehicle frame, moving parallel at high speed, changing lanes, turning with ultra-small radius, rotating in situ, accelerating and decelerating, compensating the gravity center offset and the like.

Meanwhile, the embodiment adopts electric drive, and adopts a pure line control technology, so that the design layout of the components of the vehicle chassis is greatly improved, and the vehicle size and the appearance can also have larger design space. Due to the adoption of the modularized design thought, convenience is brought to fault elimination, the plug-in operation is realized by replacing the parts, and the maintenance difficulty and the maintenance cost are greatly improved.

Fig. 9 is a schematic diagram of a hardware structure of an electronic device according to the present invention, including:

at least one processor 901; the method comprises the steps of,

a memory 902 communicatively coupled to at least one of the processors 901; wherein,

the memory 902 stores instructions executable by at least one of the processors to enable the at least one processor to perform the vehicle chassis balancing control method as previously described.

In fig. 9, a processor 901 is taken as an example.

The electronic device may further include: an input device 903 and a display device 904.

The processor 901, memory 902, input device 903, and display device 904 may be connected by a bus or other means, the connection being illustrated as a bus.

The memory 902 is used as a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the vehicle chassis balance control method in the embodiments of the present application, for example, the method flows shown in fig. 1 and fig. 2. The processor 901 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 902, that is, implements the vehicle chassis balance control method in the above-described embodiment.

The memory 902 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the vehicle chassis balance control method, or the like. In addition, the memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 902 optionally includes memory remotely located relative to the processor 901, which may be connected via a network to a device performing the vehicle chassis balancing control method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 903 may receive input user clicks and generate signal inputs related to user settings and function control of the vehicle chassis balance control method. The display device 904 may include a display apparatus such as a display screen.

The vehicle chassis balance control method in any of the method embodiments described above is performed when executed by the one or more processors 901 while the one or more modules are stored in the memory 902.

An embodiment of the present invention provides a storage medium storing computer instructions that, when executed by a computer, perform all the steps of a vehicle chassis balance control method as described above.

The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A vehicle chassis balance control method, characterized by comprising:

2. The vehicle chassis balance control method according to claim 1, characterized in that before the detecting of the chassis posture, the method further comprises:

3. The vehicle chassis balance control method according to claim 2, wherein the defining of the wheel groups of the vehicle, setting the wheel groups as a front left wheel group, a front right wheel group, a rear left wheel group, or a rear right wheel group, includes:

the following steps are sequentially performed for each wheel set:

controlling the wheel set to move upwards or downwards to a limit position;

4. The vehicle chassis balance control method according to claim 1, wherein the controlling the lift motor of the wheel group corresponding to the chassis posture according to the chassis posture to perform the action corresponding to the chassis posture includes:

5. The vehicle chassis balance control method according to claim 4, characterized in that:

6. The vehicle chassis balance control method according to claim 1, characterized by further comprising:

7. The vehicle chassis balance control method of claim 6, wherein the selecting a steering mode as parallel lane change, in-situ u-turn or conventional steering in response to vehicle steering, according to a vehicle state, comprises:

8. The vehicle chassis balance control method according to claim 7, wherein when the chassis height of the vehicle is equal to or less than a preset height threshold, selecting the steering mode to be the normal steering or the parallel lane change according to the turning radius or the vehicle speed of the vehicle comprises:

9. An electronic device, comprising:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to at least one of the processors; wherein,

the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the vehicle chassis balancing control method according to any one of claims 1 to 8.

10. A storage medium storing computer instructions which, when executed by a computer, are adapted to carry out all the steps of the vehicle chassis balancing control method according to any one of claims 1 to 8.