Three-axis unmanned vehicle and comprehensive vehicle control system, and obstacle crossing method thereof

Abstract

The invention discloses a comprehensive vehicle control system of a three-axle unmanned vehicle. The comprehensive vehicle control system comprises a suspension control system at least comprising a suspension lifting system and an axle distance adjusting system, a steering control system, a power supply system and a vehicle running power system, wherein the suspension lifting system is used for adjusting the height of a corresponding wheel of the three-axle unmanned vehicle to achieve lifting of a chassis of the three-axle unmanned vehicle, and the axle distance adjusting system is used for changing the horizontal position of a corresponding axle of the three-axle unmanned vehicle to achieve wheelbase adjustment of the three-axle unmanned vehicle; the steering control system is used for realizing high-speed front wheel steering or low-speed four-wheel steering of the three-shaft unmanned vehicle; the power supply system is connected with the suspension lifting system, the wheelbase adjusting system and the steering control system and provides power; and the vehicle running power system is used for providing hydraulic power drive or oil-electricity hybrid power drive for rotation of all wheels. The system is advantaged in that the chassis height, the wheel direction and the wheel base of the unmanned vehicle can be changed, and diversity, high trafficability and stability of the unmanned vehicle during running are improved.

Description

technical field [0001] The present invention relates to the technical field of ground mobile platforms, specifically a three-axis unmanned vehicle, and based on the three-axis unmanned vehicle, the present invention also provides an integrated vehicle control system and an obstacle surmounting method for the three-axis unmanned vehicle. Background technique [0002] As an important part of the future unmanned driving system, unmanned vehicles are developing in the direction of autonomy, collaboration, and diversification. With the advancement of technology, unmanned vehicles will have stronger task execution capabilities and a better environment Adaptability, developing in the direction of miniaturization, light weight, and intelligence, and can be seamlessly integrated with manned driving systems or other unmanned driving systems. [0003] For the walking and driving system of unmanned vehicles, in order to meet the development direction from performing reconnaissance and s...

AI Technical Summary

Problems solved by technology

[0005] In the traditional wheeled chassis, since the center of gravity and height of the chassis structure of the whole vehicle are fixed, the position and height of the axles and wheels are also basically fixed, so the pressure ratio of the body weight distribution to each axle is constant. When driving on complex terrain, it will seriously affect the balance of the unmanned vehicle, causing the unmanned vehicle to appear unstable, roll over, slip, etc. when driving, turning, overcoming obstacles or crossing trenches, etc., and even cannot realize the corresponding functions

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