RU2778064C1 - Vehicle and method for driving the vehicle - Google Patents

Abstract

FIELD: vehicles.

SUBSTANCE: invention relates to vehicles. In the method for driving a vehicle in a parking position, the vehicle is in a state of stable equilibrium, leaning on the front support wheels. When switching to drive mode, the vehicle moves the cab to a position parallel to the ground and enters a state of unstable equilibrium. In the process of movement, the vehicle is controlled by the controls, while the vehicle continuously ensures the position of the cabin, parallel to the ground, based on the constant analysis of data received by the central microprocessor from the gyroscope, accelerometer, magnetometer, cabin position sensor using a microprocessor that includes a reverse pendulum system. The vehicle can change the position of the cabin and the angular speed of the wheels. The cab is moved forward or backward by a linear actuator. At the end of the movement, the cabin moves forward until it rests on the support wheels and enters a state of stable equilibrium.

EFFECT: invention increases maneuverability.

6 cl, 5 dwg

Description

The invention relates to electric vehicles and robotics, such as electric vehicles and gyro scooters, namely to a dynamically and automatically stabilized vehicle, including mechanical elements of wheels, platforms and housings, a control unit based on a processor and sensors, and portable electrical power sources, and also the method of controlling the claimed vehicle, including the control of stability and balancing. The vehicle can be used as a personal transport, taxi, carsharing, a means of delivering goods, a platform for robotic systems.

An important trend in the development of urban vehicles is the widespread introduction of electric transport - electric vehicles, electric buses, etc. At the same time, one of the main limiting factors in the development of electric vehicles is the low energy density in comparison with gasoline cars. Lithium-ion batteries have an energy density of 250 Wh/kg, while gasoline has an energy density of 2700 Wh/kg. To ensure a range similar to a gasoline car, electric cars need to be made with a large and expensive battery (taking into account similar mass parameters), which also affects maneuverability, since significant energy costs are required for high adaptability to movement at speed.

Known individual vehicles (means of personal mobility), for the most part, are two- or one-wheeled bodyless vehicles with human or electric traction - a bicycle, a segway, a gyro scooter, a scooter, a monowheel. The main advantages of such vehicles are maneuverability, compactness, energy efficiency, low cost. These factors make the presented vehicles more and more popular among urban residents. It is important to note that during movement, balancing (keeping the vehicle in balance) is carried out by the human body independently. This requires the constant involvement of the driver, energy consumption. Also, this type of balancing has a number of additional disadvantages:

- does not allow to make the carrying capacity above a third of the mass of a person.

- does not allow you to install the cabin on the vehicle and withstand weather conditions, as well as increase safety.

- does not allow people with difficulties in body coordination to control the vehicle

- requires long driving and balancing training

The presented disadvantages do not allow the vehicle to be driven onto public roads without serious restrictions in control, and also make the vehicle unsuitable for use in rainy, snowy, cold and hot weather.

And vice versa - electric cars and electric buses have good weather protection and do not require balancing, but they require huge energy costs and have minimal maneuverability.

A vehicle is known from the prior art, comprising a front axle with a pair of front wheels, having a track width adjustable between a wide track and a narrow track, a driven rear axle with a rear wheel, a track width control device adapted to change the track width of the front wheels and change the wheelbase between the front axle and the rear axle so that the wheelbase is longer for the wide gauge front wheels than for the narrow gauge front wheels, and the vehicle includes a steering device adapted to control the rear wheel when the front wheels are set to a narrow gauge, where the front wheels are non-rotating when installed on a narrow gauge (RU 2570184 C2, class B60B 35/10, published on 12/10/2015). The technical result of the analogue is an increase in maneuverability, however, based on the drawings, it is obvious that such a complex structure of axles and tracks that change their position does not adapt quickly enough to changing environments and the maneuverability of a vehicle with fewer structures will be significantly higher at any speed.

The task that the author solved was to create a vehicle that can be easily and stably controlled at any speed, using the advantages of two-wheeled means of individual mobility, as well as protection from external conditions, safety and control principles from classic cars, while following the trend to use electric motors as engine.

The technical result provided by the invention is to increase the maneuverability of the vehicle. Agility for the purpose of this application refers to the ease of driving and controlling the behavior of a vehicle at both low and high speeds, when moving straight or curved on a flat surface, as well as on a surface with bumps, when climbing or descending.

This result is achieved due to the cumulative effect of the physical reduction in the weight of the vehicle relative to conventional cars, as well as the structural equipment of a two-wheeled vehicle with a single-axle arrangement of wheels with the possibility of their rotation and automatic displacement of the center of gravity by moving the cab along the X axis using a linear actuator, and from the fact that that by means of motors, driven wheels or motor-wheels they change the angular velocity of these wheels, providing a change in the center of gravity relative to the fulcrum of the vehicle on the plane and a change in the linear speed of the vehicle, moreover, these actions occur independently of the driver, automatically when reading telemetry indicators from sensors and processing this data by a microprocessor in the control unit.

In addition, the specified result is achieved when implementing the claimed method.

Brief description of the drawings.

In FIG. 1 shows a vehicle with a single-axle arrangement of wheels from different angles, where:

1 - platform;

2 - motor-wheels or driven wheels;

3 - linear actuator;

4 - cabin;

5 - support wheels.

In FIG. 2 is a diagram of the vehicle platform.

In FIG. 3 shows a diagram of a vehicle control unit.

6 - execution error of the previous command;

7 - orientation in space;

8 - angular velocity;

9 - linear acceleration;

10 - cabin position;

11 - angular velocity of the left wheel;

12 - angular velocity of the right wheel;

13 - acceleration command;

14 - turn command;

15 - block for balancing and executing commands;

16 - command to move the cabin;

17 - speed/force command to the left wheel;

18 - speed/force command to the right wheel.

In FIG. 4 shows a physical model of vehicle balancing.

In FIG. 5 shows the algorithm for controlling vehicle performance.

19 - target;

20 - plan;

21 - implementation of the plan;

23 - evaluation of the result;

23 - feedback mechanism.

Referring to FIG. 1-2, in the preferred embodiment of the invention, the vehicle consists of a cab 4 and a carrier platform 1, under which at least one linear actuator 3 is located, two main wheels 2, such as motor wheels or driven wheels, frames, and the wheels made with the possibility of rectilinear or curvilinear movement of the vehicle with or without acceleration, and are installed on opposite sides of the platform parallel to each other by means of a rigid connection with the frame or with the help of shock absorbers or springs. Cabin 4 is connected to linear actuator 3 and has four additional support wheels 5. Linear actuator 3, which is a structural element of the vehicle, is designed to move cab 4 along the X axis (forward and backward) relative to platform 1. In order to increase maneuverability, it is important that the movement of the cabin was smooth, for which the vector control of motors, linear actuators, the use of motors, such as steppers, as a means of high-precision linear movement of goods, is used. In this case, the cabin 4, designed to accommodate the driver, passengers and/or cargo, is protected from external conditions. The vehicle contains at least one engine and a vehicle control unit (figure 3), consisting of a steering wheel, gas pedal, brake pedal, control panel, microprocessor, balancing unit and command execution 15 and sensors, while the sensors are a gyroscope, an accelerometer, a magnetometer, a cab position sensor and an ecoder of the angular position of the main wheels 2. Support wheels 5 can be mounted on the cab to ensure the stability of the vehicle in a standing position or for use during emergency braking. In addition, due to the linear actuator, the vehicle is configured to perform an emergency ejection. The central microprocessor is designed to receive data from sensors and controls, as well as to ensure the calculation and sending of commands to motor-wheels or wheels driven by a linear actuator. The central microprocessor is located inside the cab on the dashboard and is made in the form of a touch monitor. In this case, the block for balancing and executing commands 15 is located inside the cab on the dashboard.

The vehicle contains a power source designed to supply electricity to all components of the vehicle. The power source is made in the form of at least one battery, which is made with the possibility of its quick removal for charging outside the vehicle. Inside the cab of the vehicle, under the dashboard, there is a connector for charging the batteries. The vehicle contains sensors configured to provide determination of the position of the vehicle in space and odometry of moving elements.

The vehicle can be equipped with electric locks on the door, windshield washers, windshield wipers, sound alarm, audio system, monitor for displaying operational and statistical indicators of the vehicle. In this case, the monitor may be configured to be operated by means of a touch touch. In addition, the vehicle is equipped with front headlights with parking light, low beam and high beam functions located at the bottom of the cab front panel. At the same time, the rear parking lights and brake lights are located in the lower part of the rear panel of the cab. In addition, the vehicle is equipped with front and rear turn signal indicators located on the lower parts of the front and rear panels of the cab, respectively. The vehicle is equipped with a central electromechanical door lock and a ventilation, air cooling or interior heating system. A vehicle makes a turn by rotating motor wheels or driven wheels, which have different rotation speeds.

In particular case 1, a stepper motor is used as the motor vehicle.

In particular case 2, additional support wheels equipped with brakes are located on the cab or carrier platform of the vehicle.

In particular case 3, the vehicle is equipped with additional sensors, namely, a GNSS/GPS/GLONASS global positioning sensor, all-round cameras, and a 3D lidar.

The cab and frame of the vehicle are made of lightweight, high-strength materials with cross-sections and shapes that provide sufficient strength and rigidity. Typical materials include, but are not limited to, composite reinforced polymers such as plastics, graphite plastic materials, and aluminium. This allows the cabin and the entire vehicle to be light in weight for high energy efficiency and maneuverability.

Referring to FIG. 3-5, the method of driving a vehicle according to claim 1, including performing the following sequence of steps

- in the parking position, the vehicle waits in a state of stable equilibrium, leaning on the front support wheels,

- the driver and passenger enter the cabin through the door,

- switch the vehicle to driving mode

- the vehicle moves the cabin to its position parallel to the ground, and goes into a state of unstable equilibrium,

- in the process of movement, the driver only controls the vehicle using the controls familiar to him - the steering wheel, gas and brake pedals, the direction switch, and the vehicle continuously ensures the position of the cabin parallel to the ground, based on the constant analysis of the data that the central microprocessor of the control unit receives from gyroscope sensors, accelerometer, magnetometer, cockpit position sensor using a microprocessor that includes a reverse pendulum system, as well as

- if necessary, the vehicle changes the position of the cab and the angular speeds of the wheels, the movement of the vehicle cab forward or backward relative to the axis of the motor-wheels or wheels with the vehicle drive is carried out by means of a linear actuator,

- at the end of the movement, the driver transfers the vehicle to the parking state,

- the cab moves forward until it rests on the support wheels and enters a state of stable equilibrium.

When implementing the method, the vehicle may be in the state - parking . In this case, the cabin 4 of the vehicle moves forward, and the vehicle enters a state of stable equilibrium by relying on the front support wheels 5. In this position, the vehicle is in the off state.

So, in the parking position, the vehicle is in a state of stable equilibrium, leaning on the front support wheels 5. Then the driver and passenger enter the cab using the front door. The driver switches the vehicle to the driving mode, which allows the cab to be moved until the cab is in a position parallel to the ground, and the entire vehicle is in an unstable equilibrium state.

The vehicle is set in motion as follows.

The vehicle may be in a state of motion . The cabin 4 of the vehicle is in a position parallel to the ground level. The angular velocity of the wheels changes in accordance with the commands of the driver. Balancing is performed by moving the cabin 4, as well as changing the angular velocity of the motor-wheels or driven wheels 2. The forward movement of the vehicle is performed by rotating both motor-wheels or driven wheels 2, rotating at the same speed in the forward direction. The reverse movement of the vehicle is performed by rotating both motor wheels or driven wheels 2 rotating at the same speed in the rear direction.

The difference in these speeds can affect the value of the turning radius.

Rotation of both motor-wheels or driven wheels 2 in the same direction, in which one motor-wheel or driven wheel rotates significantly faster than the other motor-wheel or driven wheel, leads to an arcuate turn .

Spinning just one motorized or powered wheel causes the vehicle to essentially turn around the non-spinning wheel .

Rotation of motor-wheels or wheels with drive 2 in opposite directions with equal speeds turns the vehicle around a vertical axis in the middle between the wheels.

The next state of the vehicle may be - stop. The cabin 4 of the vehicle is in a position parallel to the ground level. The angular velocity of the wheels tends to zero. The position of the vehicle in space tends to remain unchanged. Balancing is performed by moving the cabin 4.

At the end of the movement, the driver puts the vehicle in the parking mode, the cab 4 moves forward to rest on the support wheels 5 and enter a state of stable equilibrium.

In the event of a critical acceleration of the vehicle or sudden braking, in which the balancing of the vehicle by the cab is not possible, the vehicle rests on the front or rear support wheels 5 .

The control of the vehicle, namely, the balancing of the vehicle is carried out as follows.

The vehicle control unit, the diagram of which is shown in Fig. 3, through the system of balancing and execution of commands 15, maintains the stability of the vehicle, taking into account the error in the execution of the previous command 6, continuously monitoring the orientation of the vehicle in space 7, the angular velocity 8, linear acceleration 9, the position (position) of the cab 10, the angular velocity of rotation left wheel 11, right wheel angular velocity 12, acceleration command 13, turn command 14, determining corrective actions to maintain stability, and directing the command 16 to the linear actuator to move the cab and speed/force commands 17 and 18 to the left and right wheel motors on taking corrective action.

In the computer system, the central microprocessor receives the readings of sensors, such as a gyroscope, an accelerometer, a magnetometer, a cabin position sensor, and, based on built-in algorithms, provides changes in the cabin position using a linear actuator 3 and the angular velocity of the motor-wheels or wheels with a drive 2 for balancing purposes vehicle, that is, keeping it parallel to the X axis, or executing control commands.

The vehicle can be controlled by the driver, who is in the cab, using such controls as the steering wheel, gas pedal, brake pedal, buttons for switching the direction of movement, buttons for turning on the vehicle. The vehicle controls, located in the cab on the vehicle dashboard, are a collection of sensors and electric motors, such as a steering angle sensor.

In this case, the steering wheel of the vehicle may also contain an electric motor for physical duplication (display) of commands received during remote or autonomous control of the vehicle. In addition, the vehicle is equipped with sensors for the level of pressing the gas and brake pedals. In addition to the above, the vehicle has a remote control unit system, including a remote control joystick that allows you to control the vehicle at a distance of less than 100 m, as well as a remote control that allows you to control the vehicle at distances of more than 100 m.

In addition, the vehicle can operate autonomously when connected to autonomous driving systems without or with driver intervention.

Motor-wheels or driven wheels 2 have electric motors and drivers, and can be made in any size, but it is optimal to use wheels with a larger diameter.

Larger contact patch with the surface, resulting in a larger footprint and greater stability, since a body with a larger footprint will be in equilibrium as long as the line of action of the center of gravity passes through the footprint.

In addition, the specified diameter of the motor-wheels and wheels with drive 2 increases the rolling friction force.

They provide a smaller angle of attack, and also reduce the force of overturning when hitting obstacles.

The ground clearance and center of gravity of the vehicle can be located without restrictions, but it is optimal to have the lowest possible center of gravity. This ensures that less cab movement is required to balance the vehicle, which saves energy and increases responsiveness. When the center of gravity drops below the axis of rotation of the motor-wheels or driven wheels, the system passes from the state of unstable equilibrium to the state of stable equilibrium. By analogy with a "roly-poly" toy, when excited, it seeks to minimize potential energy and take a state of equilibrium.

The braking system of the vehicle is equipped with regenerative braking, motor-wheels or driven wheels; cabin inertial braking; mechanical brakes located on motor-wheels or driven wheels; brakes located on the support wheels.

All electronic devices of the vehicle are connected to each other and external participants via wired communication, for example, using protocols such as CAN, I2C, UART, Ethernet or wireless communication, for example, via channels such as WiFi, Bluetooth, radio channel used by the remote control.

In addition, vehicle telemetry data can be transmitted to a server for collection, subsequent analysis of data on the state and movement of the vehicle.

To open the doors and report the location of the vehicle to the user, display the telemetry of the vehicle, a mobile application for a smartphone can be used, obtained from the server of the provider or vehicle manufacturer.

The control commands calculated by the central micro-process are given to the motor-wheels or driven wheels and the linear actuator that moves the cab. The command to the motor-wheels or driven wheels may be the desired speed or torque. The cab position is commanded to the linear actuator. The command execution error is corrected by feedback from sensors using a cycle from control theory.

The claimed vehicle with a single-axle arrangement of wheels works by implementing the following methods. At the same time, the task of the vehicle control unit is to ensure the position of the cabin parallel to the ground when the vehicle is moving with acceleration due to the movement of the cabin, and is the task of the system with unstable equilibrium.

One example of such a problem is the inverse pendulum system, the solution of which is a basic problem in machine learning with reinforcement (reinforcement learning).

Thus, straight forward motion without vertical acceleration is considered, as shown in FIG. four.

m - the center of gravity of the vehicle;

Ftr - static friction force, equal in absolute value and opposite in direction to the force of inertia in rectilinear motion;

Fe is the force of inertia, equal in magnitude and opposite in direction to the product of the acceleration of the body and its mass;

Fn - the force of the normal reaction of the surface is equal in absolute value and opposite in direction to the force of gravity;

α is the angle between the center of mass and the fulcrum;

l - distance from the center of gravity to the fulcrum along the y axis;

k is the distance from the center of gravity to the fulcrum along the x axis.

At the moment of acceleration, forces ma with shoulder h and gravity mg with shoulder b act on the vehicle. Their moments must be equal so that the vehicle cabin does not begin to rotate in a circle centered at the fulcrum.

m*a*h = m*g*b

a*h = g*b

b = a/g*h

In this case, there are the following assumptions presented in the calculations:

- Friction in the wheel axle = 0

- No vibrations of the cabin in a stationary position

- The external forces acting on the vehicle, including the force of air resistance, are not used in the calculations.

For dynamic calculations of indicators and vehicle balancing, PIDs (PID) can be used - empirically tuned controllers, multilayer and single-layer neural networks trained by reinforcement learning in real tests, a virtual environment or in a mixed model.

Thus, the main difference between balancing in the claimed method of controlling a vehicle from other balancing systems for two-wheeled single-axle and single-wheeled personal vehicles is that the driver of this vehicle does not need to balance the vehicle by changing the center of gravity of his own body - tilting it forward or backward, left or right, squatting, transferring body weight from one leg to another, from heel to toe, etc., because in the proposed mechanism, the center of gravity is changed by moving the cab and changing the angular velocities of the vehicle wheels. The values of the commands for moving the cabin and changing the angular velocities of the motor-wheels or wheels with the vehicle drive are carried out by a central microprocess with software at each adjustable time interval by analyzing the telemetry indicators of the vehicle and calculating the commands given to the linear actuator of the cabin and the motor-wheels or wheels with drive. In this case, the driver does not need to actively and constantly balance the vehicle with his own body. The driver only controls the vehicle with the usual steering wheel controls, gas and brake pedals, and a direction switch.

Further, in the process of movement, the vehicle constantly ensures the position of the cabin parallel to the ground by analyzing the data of the sensors indicated in FIG. 3 by changing the position of the cab and the angular speeds of the wheels.

Thus, to maintain the balance of the vehicle, the following series of techniques are performed: by means of automatic control, the position of the center of gravity is changed by moving the vehicle cab using the operation of a linear actuator and changing the angular velocities of the motor-wheels or wheels with the vehicle drive. In this case, the vehicle cabin is moved forward or backward relative to the axis of the motor-wheels or wheels with a drive of the vehicle by means of a linear actuator, and the angular velocities of the motor-wheels or wheels with a drive are set and changed by the electric motor and drivers of these wheels, while the loss of balance is controlled electronically. a tracking device, and balance is restored by moving the center of gravity of the vehicle by moving the cab relative to the axis of rotation of the wheels and changing the angular velocities of the motor-wheels or driven wheels by supplying power from an on-board or external power source.

In this case, when a situation arises when, under the influence of external forces, the vehicle leaves the equilibrium state, an overturning moment occurs. With the help of a linear actuator, the vehicle cabin is moved, and by means of motors, driven wheels or motor-wheels, the angular velocity of these wheels is changed, providing a change in the center of gravity relative to the fulcrum of the vehicle on the plane and a change in the linear speed of the vehicle, sufficient for a counter-overturning moment, which compensates for the overturning moment, exceeding it, returns the position of the center of gravity of the vehicle to an equilibrium state. In this case, the control over the position of the vehicle and the resulting deviations is carried out by means of an electronic tracking device, and the drives of the linear actuator of the cabin and wheels are controlled by a computer system. The axle cab movement mechanism itself can be toothed, screw, belt, hydraulic or otherwise, the power supply of which is carried out from an on-board or external power source.

Claims (13)

1. A method of driving a vehicle, which includes the following sequence of steps: - in the parking position, the vehicle waits in a state of stable equilibrium, leaning on the front support wheels, - to start work, switch the vehicle to the driving mode, - the vehicle moves the cabin to a position parallel to the ground and enters a state of unstable equilibrium, - in the process of movement, the vehicle is controlled by means of the controls - the steering wheel, the gas and brake pedals, the travel direction switch, and the vehicle continuously ensures the position of the cab, parallel to the ground, based on the constant analysis of the data that the central microprocessor of the control unit receives from the gyroscope sensors, accelerometer, magnetometer, cockpit position sensor using a microprocessor, which includes a reverse pendulum system, as well as - if necessary, the vehicle changes the position of the cabin and the angular speeds of the wheels, and the movement of the cabin of the vehicle forward or backward relative to the axis of the motor-wheels or wheels with the drive of the vehicle is carried out by means of a linear actuator, - at the end of the movement, the vehicle is transferred to the parking state, - the cab moves forward until it rests on the support wheels and enters a state of stable equilibrium. 2. A vehicle controlled by the method according to claim 1, consisting of a cab and a carrier platform, two main wheels with a frame, at least one engine and a vehicle control unit consisting of a steering wheel, gas pedal, brake pedal, control panel and microprocessor , interconnected with sensors by wire or wireless communication, characterized in that motor-wheels or driven wheels are selected as the main wheels, the cabin is made with the ability to move forward and backward relative to the platform due to the linear actuator located under it, the sensors are a gyroscope, an accelerometer, magnetometer, cab position sensor and main wheel angle encoder. 3. The vehicle according to claim 2, characterized in that a stepper motor is used as a motor. 4. The vehicle according to claim 2, characterized in that on the cab or the carrier platform there are additional support wheels equipped with brakes. 5. The vehicle according to claim 2, characterized in that it is equipped with additional sensors, namely a GNSS/GPS/GLONASS global positioning sensor, all-round cameras, 3D lidar. 6. The vehicle according to claim 2, characterized in that the cab and frame are made of lightweight materials such as composite reinforced polymers - plastics, graphite plastic materials and aluminum.

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