Electric vehicle test platform and test method thereof

Abstract

The invention provides an electric vehicle test platform and method, and the platform comprises a vehicle frame and a control module, the vehicle frame comprises a main support, a driver seat and a connecting frame, the connecting frame is installed at the front end of the main support, the driver seat is installed on the main support through a sliding rail, and a rear wheel hub is installed at the rear of the main vehicle frame through a power box. A control mechanism used for controlling a vehicle body is installed on the main support, a steering wheel is arranged on the main support and located right in front of a driver seat, the steering wheel is connected with a front axle through a hydraulic supporting rod, front hubs are installed at the two ends of the front axle, front wheels are installed on the front hubs, and an electric switch pedal and a brake pedal are arranged on the main support and located below the steering wheel. The steering wheel is connected with the power box through the control connecting assembly, and a hub motor is installed in the power box. The device is high in universality, high in safety, low in manufacturing cost and convenient to transport.

Description

Technical Field

[0001] The invention relates to a testing device, in particular to an electric vehicle testing platform and a testing method thereof. Background Art

[0002] As a representative of green travel, electric vehicles are gradually becoming an important direction for the development of the automobile industry. As an important branch of electric vehicles, electric vehicles not only inherit the characteristics of electric vehicles with strong mobility and flexible control, but also effectively reduce noise and exhaust emissions through electrification transformation, which is more in line with the concept of environmentally friendly travel in modern cities. Most traditional electric vehicles use internal combustion engines as their power source. Although they have advantages such as rapid acceleration and exciting driving experience, they also have shortcomings such as high noise and exhaust emissions that pollute the environment. In addition, internal combustion locomotives have high maintenance costs and relatively low energy utilization efficiency. Therefore, exploring and developing electric vehicles has become a trend, aiming to overcome these limitations through technological innovation.

[0003] The electric vehicle experimental test platform is a professional equipment designed for evaluating the performance of electric karts. It simulates actual road driving conditions and conducts comprehensive tests on key indicators such as the braking performance, acceleration performance, and handling stability of electric vehicles. Through the testing of the test platform, it can be ensured that the performance and quality of electric vehicles in the design and production process meet the standard requirements. The electric vehicle test platform simulates the braking process of the vehicle at different speeds through equipment such as a roller reaction brake test bench or a flat brake test bench, measures parameters such as braking force and braking distance, and evaluates the braking performance of the vehicle. It uses professional acceleration test equipment to measure the time required for the electric vehicle to accelerate from zero to a certain speed and evaluate the acceleration performance of the vehicle. And by simulating different driving conditions and driving operations, the handling stability and driving safety of electric vehicles are tested. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an electric vehicle testing platform in view of the above-mentioned deficiencies in the prior art, which has strong versatility, high safety, low manufacturing cost and is easy to transport.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: an electric vehicle test platform, characterized in that it includes a frame and a control module, the frame includes a main bracket, a driver's seat and a connecting frame, the connecting frame is installed at the front end of the main bracket, the driver's seat is installed on the main bracket through a slide rail, the rear of the main frame is installed with a rear wheel hub through a power box, the main bracket is installed with a control mechanism for controlling the vehicle body, a steering wheel is arranged on the main bracket directly in front of the driver's seat, the steering wheel is connected to the front wheel axle through a steering connecting rod, front wheel hubs are installed at both ends of the front wheel axle, and front wheels are installed on the front wheel hub, an accelerator pedal and a brake pedal are arranged on the main bracket below the steering wheel, the steering wheel is connected to the power box through a manipulation connection assembly, and a hub motor is installed in the power box.

[0006] Preferably, the steering wheel is movably mounted on the connecting frame through the front support frame, the direction connecting rod is rotatably mounted on the front support frame, the side of the direction connecting rod is hinged to the top of the hydraulic support rod, and the bottom of the hydraulic support rod is hinged to the main support.

[0007] Preferably, it also includes a ram horn component, the ram horn component includes a ram horn steering knuckle and a mounting frame, the mounting frame is fixedly mounted on the main bracket, ram horn mounting seats are arranged at both ends of the mounting frame, the ram horn mounting seat is connected to the fixed tooth block through fixing bolts, the upper end surface of the fixed tooth block is meshingly connected to the adjusting block, adjusting bolts are arranged on both sides of the fixed tooth block, the adjusting bolts contact the side surface of the top pressure adjusting block, the ram horn steering knuckle is installed in the ram horn mounting seat through the mounting bolts, and the adjusting block is simultaneously fixed to the fixed tooth block by the mounting bolts and the adjusting bolts, the ram horn steering knuckle is connected to the front wheel to adjust the contact angle of the front wheel with the ground by adjusting the elevation angle of the ram horn steering knuckle.

[0008] Preferably, the upper end surface of the fixed tooth block and the lower end surface of the adjusting block are provided with a plurality of strip teeth which are equidistantly distributed and extend along the axial direction of the adjusting bolt.

[0009] Preferably, hub motors are arranged at the four corners of the main support, and the hub motors are connected to the rear wheels and the front wheels through sprocket chain drive.

[0010] Preferably, the two rear wheel hubs are mounted at both ends of the rear wheel axle, the two front wheel hubs are mounted at both ends of the front wheel axle, the front wheels are mounted on the front wheel hubs, and the rear wheels are mounted on the rear wheel hubs, and the rear wheel hubs and the front wheel hubs are both transmission-connected to the hub motors.

[0011] Preferably, the front end of the main bracket is connected to a front beam, the front side of the front beam is symmetrically connected to two shock-absorbing springs, the rear side of the front beam is symmetrically connected to two oblique beams, the top of the front beam is fixedly connected to the main bracket via a connecting plate, the oblique beam and the front beam form an isosceles triangle support structure, mounting blocks are provided at both ends of the front beam, connecting sleeves are installed in the mounting blocks, the connecting sleeves are connected to the front wheel axle and the connecting rod, the two ends of the front beam are fixedly connected to ear plates, the ear plates are connected to shock-absorbing springs via rings, and the ends of the shock-absorbing springs are connected to buffer blocks.

[0012] Preferably, the control module includes a controller, a speed sensor and a throttle sensor, the speed sensor and the throttle sensor are connected to the controller, the throttle sensor is installed on the accelerator pedal, the speed sensor is installed on the output shaft of the hub motor, a battery pack is installed in the main bracket, the controller is also connected to a human-computer interaction unit, an infrared sensor, a wireless communication module and a remote control module are installed around the main bracket, and the remote control module is wirelessly connected to the remote control.

[0013] Preferably, the vehicle frame uses high-strength aluminum profiles.

[0014] An electric vehicle testing method based on an electric vehicle testing platform comprises the following steps:

[0015] S1, specify the remote control signal M: when the vehicle is started in pedal mode, M=1; when the accelerator pedal is disabled in remote control mode, M=0; when the remote control is not operated for 10 seconds, the pedal mode is restored, M=1;

[0016] S2, specifying the state coefficient C in pedal mode: after the vehicle starts, stepping on the left brake pedal is the braking state C=0, and stepping on the brake pedal twice quickly is the reverse mode C=1;

[0017] S3. Specify the braking coefficient B: The braking coefficient is divided into four levels according to the degree of pedaling. The angle between the brake pedal and the horizontal plane is φ:

[0018] When 42°≤φ≤45°, B0=0-100, no braking response

[0019] When 33°≤φ<42°, B1=100-400, the vehicle is in slow braking,

[0020] When 24°≤φ<33°, B2=400-700, the vehicle is in normal braking,

[0021] When 15°≤φ<24°, B3=700-1000, the vehicle is in emergency braking;

[0022] S4. Specified infrared detection distance coefficient D:

[0023] When the distance to the obstacle S≤2m, D0=0 triggers emergency braking, and B=B3;

[0024] When the distance to the obstacle is 2m<S≤3m, D1=50 triggers normal braking, and B=B2;

[0025] When the distance to the obstacle is 3m<S≤5m, D2=100 triggers slow braking, and B=B1

[0026] S5, the accelerator pedal trigger coefficient is set to S, the brake pedal trigger coefficient is set to E, and in the initial default state, S=0, E=0;

[0027] In M1 mode, the brake pedal is pressed to open, the maximum speed is 3km / h, at this time S=0, E=1;

[0028] In M2 mode, the brake pedal is not depressed and the maximum speed is 6 km / h. At this time, S=0 and E=0.

[0029] In M3 mode, the accelerator pedal is pressed to start the maximum speed of 8 km / h, at which time S=1, E=0;

[0030] S6. The accelerator pedal stepping coefficient T is specified, and the angle between the accelerator pedal and the horizontal plane is α.

[0031] When 42°≤α≤45°, T0=0-100, the switch has no response.

[0032] When 33°≤α<42°, T1=100-400, in the first gear,

[0033] When 24°≤α<33°, T2=400-700, in the second gear,

[0034] When 15°≤α<24°, T3=700-1000, which is the third gear.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] 1. The present invention has a simple and reasonable structure, strong practicability, low production cost, safety and reliability, and can meet the testing and theoretical research needs of electric vehicles.

[0037] 2. The present invention adjusts the contact angle between the tire and the ground by adjusting the left and right and front and back positions of the adjusting block on the fixed tooth block to drive the elevation angle of the ram-horn steering knuckle. The left and right position adjustment of the adjusting block is achieved by adjusting bolts, and the front and back position adjustment of the adjusting block is achieved by installing bolts and matching teeth. The structure is simple and the operation is convenient, which effectively solves the problem of adjusting the contact angle between the kart tire and the ground.

[0038] 3. The frame of the present invention adopts high-strength aluminum profiles to optimize the aerodynamic performance of the vehicle body as a whole. The driver's seat adopts a sliding design to meet the driving needs of different groups of people. By adopting direct drive of the wheel hub motor, the force on the wheel hub motor bearing is more reasonable, the transmission system is simplified, and the vehicle power efficiency is improved. At the same time, the center of gravity of the vehicle is lowered and the control stability is enhanced. In addition, the steering wheel can adjust the feedback force and lift adjustment to enhance the driving feel. To a certain extent, the performance and safety of the electric vehicle test platform are improved.

[0039] The present invention is further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention from a first viewing angle.

[0041] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention from a second viewing angle.

[0042] Figure 3 It is a partial enlarged structural schematic diagram of the present invention.

[0043] Figure 4 It is a structural schematic diagram of the horn assembly in the present invention.

[0044] Figure 5 It is a structural schematic diagram of the front beam part in the present invention.

[0045] Figure 6 It is a schematic diagram of the flow chart of the testing method in the present invention.

[0046] Description of reference numerals:

[0047] 1—main bracket; 2—driver's seat; 3—connecting frame;

[0048] 4—Hydraulic support rod; 5—Front support frame; 6—Steering wheel;

[0049] 7—slide rail; 8—power box; 9—claw assembly;

[0050] 9-1—Claw steering knuckle; 9-2—Claw mounting seat; 9-3—Fixing bolt;

[0051] 9-4—Fixed gear block; 9-5—Adjusting block; 9-6—Adjusting bolt;

[0052] 9-7—Mounting bolts; 10—Front beam; 11—Shock absorber spring;

[0053] 12—inclined beam; 13—connecting plate; 14—mounting block;

[0054] 15—front wheel axle; 16—connecting rod; 17—ear plate;

[0055] 18—ring; 19—buffer block; 20—rear wheel;

[0056] 21—rear wheel axle; 22—brake pedal; 23—accelerator pedal;

[0057] 24—Front wheel; 25—Steering link. DETAILED DESCRIPTION

[0058] Example 1

[0059] like Figures 1 to 5 As shown, this embodiment provides an electric vehicle test platform, including a frame and a control module, the frame including a main support 1, a driver's seat 2 and a connecting frame 3, the connecting frame 3 is installed at the front end of the main support 1, the driver's seat 2 is installed on the main support 1 through a slide rail 7, the rear of the main frame is installed with a rear wheel hub through a power box 8, the main support 1 is installed with a control mechanism for controlling the vehicle body, a steering wheel 6 is arranged on the main support 1 in front of the driver's seat 2, the steering wheel 6 is connected to the front wheel axle 15 through a direction connecting rod 25, front wheel hubs are installed at both ends of the front wheel axle 15, and a front wheel 24 is installed on the front wheel hub, an accelerator pedal 23 and a brake pedal 22 are arranged on the main support 1 below the steering wheel 6, the steering wheel 6 is connected to the power box 8 through a manipulation connection assembly, and a hub motor is installed in the power box 8.

[0060] In this embodiment, the steering wheel 6 is movably mounted on the connecting frame 3 through the front support frame 5, and the direction link 25 is rotatably mounted on the front support frame 5. The side of the direction link 25 is hinged to the top of the hydraulic support rod 4, and the bottom of the hydraulic support rod 4 is hinged to the main bracket 1.

[0061] In this embodiment, a ram horn component 9 is also included, and the ram horn component 9 includes a ram horn steering knuckle 9-1 and a mounting frame. The mounting frame is fixedly mounted on the main bracket 1, and ram horn mounting seats 9-2 are arranged at both ends of the mounting frame. The ram horn mounting seat 9-2 is connected to the fixed tooth block 9-4 through a fixing bolt 9-3, and the upper end surface of the fixed tooth block 9-4 is meshingly connected to the adjusting block 9-5. Adjusting bolts 9-6 are arranged on both sides of the fixed tooth block 9-4, and the adjusting bolts 9-6 contact the side of the top pressure adjusting block 9-5. The ram horn steering knuckle 9-1 is installed in the ram horn mounting seat 9-2 through the mounting bolt 9-7, and the adjusting block 9-5 is fixed on the fixed tooth block 9-4 by the mounting bolt 9-7 and the adjusting bolt 9-6 at the same time. The ram horn steering knuckle 9-1 is connected to the front wheel 24, and the contact angle of the front wheel 24 with the ground is adjusted by adjusting the elevation angle of the ram horn steering knuckle 1.

[0062] In this embodiment, the upper end surface of the fixed tooth block 9-4 and the lower end surface of the adjusting block 9-5 are provided with a plurality of strip teeth equidistantly distributed and extending along the axial direction of the adjusting bolt 9-6.

[0063] In this embodiment, hub motors are arranged at the four corners of the main support 1 , and the hub motors are connected to the rear wheel 20 and the front wheel 24 through a sprocket chain drive.

[0064] In this embodiment, two rear wheel hubs are installed at both ends of the rear wheel axle 21, and two front wheel hubs are installed at both ends of the front wheel axle. The front wheel hubs are installed with front wheels 24, and the rear wheel hubs are installed with rear wheels 20. The rear wheel hubs and the front wheel hubs are both connected to the hub motors.

[0065] In this embodiment, the front end of the main bracket 1 is connected to a front beam 10, and two shock-absorbing springs 11 are symmetrically connected to the front side of the front beam 10, and two oblique beams 12 are symmetrically connected to the rear side of the front beam 10. The top of the front beam 10 is fixedly connected to the main bracket 1 through a connecting plate 13, and the oblique beam 12 and the front beam 10 form an isosceles triangle support structure. Mounting blocks 14 are arranged at both ends of the front beam 10, and connecting sleeves are installed in the mounting blocks 14. The connecting sleeves are connected to the front wheel axle 15 and the connecting rod 16. The two ends of the front beam 10 are fixedly connected to ear plates 17, and the ear plates 17 are connected to the shock-absorbing springs 11 through rings 18. The end of the shock-absorbing spring 11 is connected to a buffer block 19.

[0066] In this embodiment, brake calipers and brake discs connected to the brake pedal 22 are provided on both the front wheel hub and the rear wheel hub.

[0067] In this embodiment, the control module includes a controller, a speed sensor and a throttle sensor, the speed sensor and the throttle sensor are connected to the controller, the throttle sensor is installed on the accelerator pedal 23, the speed sensor is installed on the output shaft of the hub motor, a battery pack is installed in the main bracket 1, the controller is also connected to the human-computer interaction unit, and an infrared sensor, a wireless communication module and a remote control module are installed on the side of the main bracket 1, and the remote control module is wirelessly connected to the remote control.

[0068] Example 2

[0069] like Figure 6 As shown, an electric vehicle testing method based on an electric vehicle testing platform comprises the following steps:

[0070] S1, specifying the remote control signal M: when the vehicle is started in pedal mode, M=1; when the vehicle is started in remote control mode, the accelerator pedal 23 is invalid, M=0; when the remote controller is not operated for 10 seconds, the pedal mode is restored, M=1;

[0071] S2, specifying the state coefficient C in the pedal mode: after the vehicle starts, stepping on the left brake pedal 22 is the braking state C=0, and stepping on the brake pedal 22 twice quickly is the reverse mode C=1;

[0072] S3. Specifying the braking coefficient B: The braking coefficient is divided into four levels according to the degree of pedaling. The angle between the brake pedal 22 and the horizontal plane is φ:

[0073] When 42°≤φ≤45°, B0=0-100, no braking response

[0074] When 33°≤φ<42°, B1=100-400, the vehicle is in slow braking,

[0075] When 24°≤φ<33°, B2=400-700, the vehicle is in normal braking,

[0076] When 15°≤φ<24°, B3=700-1000, the vehicle is in emergency braking;

[0077] S4. Specified infrared detection distance coefficient D:

[0078] When the distance to the obstacle S≤2m, D0=0 triggers emergency braking, and B=B3;

[0079] When the distance to the obstacle is 2m<S≤3m, D1=50 triggers normal braking, and B=B2;

[0080] When the distance to the obstacle is 3m<S≤5m, D2=100 triggers slow braking, and B=B1

[0081] S5, setting the trigger coefficient of the accelerator pedal 23 to S and the trigger coefficient of the brake pedal 22 to E, and in the initial default state, S=0, E=0;

[0082] In M1 mode, the brake pedal 22 is pressed to open, the maximum speed is 3 km / h, at this time S = 0, E = 1;

[0083] In M2 mode, the brake pedal 22 is not depressed and the maximum speed is 6 km / h. At this time, S=0 and E=0;

[0084] In M3 mode, the accelerator pedal 23 is pressed to open, and the maximum speed is 8 km / h, at which time S=1, E=0;

[0085] S6. The pedal coefficient T of the accelerator pedal 23 is set, and the angle between the accelerator pedal 23 and the horizontal plane is α.

[0086] When 42°≤α≤45°, T0=0-100, the switch has no response.

[0087] When 33°≤α<42°, T1=100-400, in the first gear,

[0088] When 24°≤α<33°, T2=400-700, in the second gear,

[0089] When 15°≤α<24°, T3=700-1000, which is the third gear.

[0090] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent change made to the above embodiment according to the technical essence of the invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. An electric vehicle testing platform, characterized in that: The invention comprises a vehicle frame and a control module, wherein the vehicle frame comprises a main support (1), a driver's seat (2) and a connecting frame (3), wherein the connecting frame (3) is mounted at the front end of the main support (1), the driver's seat (2) is mounted on the main support (1) via a slide rail (7), a rear wheel hub is mounted at the rear of the main frame via a power box (8), a control mechanism for controlling the vehicle body is mounted on the main support (1), a steering wheel (6) is arranged on the main support (1) in front of the driver's seat (2), the steering wheel (6) is connected to a front wheel shaft (15) via a direction connecting rod (25), front wheel hubs are mounted at both ends of the front wheel shaft (15), a front wheel (24) is mounted on the front wheel hub, an electric accelerator pedal (23) and a brake pedal (22) are arranged on the main support (1) below the steering wheel (6), and a wheel hub motor is mounted in the power box (8).

2. The electric vehicle test platform according to claim 1, characterized in that: The steering wheel (6) is movably mounted on the connecting frame (3) via the front supporting frame (5); the direction connecting rod (25) is rotatably mounted on the front supporting frame (5); the side of the direction connecting rod (25) is hinged to the top of the hydraulic supporting rod (4); and the bottom of the hydraulic supporting rod (4) is hinged to the main support (1).

3. The electric vehicle test platform according to claim 1, characterized in that: It also comprises a clevis assembly (9), the clevis assembly (9) comprising a clevis steering knuckle (9-1) and a mounting frame, the mounting frame being fixedly mounted on the main support (1), clevis mounting seats (9-2) being arranged at both ends of the mounting frame, the clevis mounting seats (9-2) being connected to a fixed tooth block (9-4) via a fixing bolt (9-3), the upper end surface of the fixed tooth block (9-4) being meshingly connected to an adjusting block (9-5), and adjusting bolts (9-6) being arranged on both sides of the fixed tooth block (9-4), The adjusting bolt (9-6) contacts the side surface of the top pressure adjusting block (9-5); the ram-horn steering knuckle (9-1) is installed in the ram-horn mounting seat (9-2) through the mounting bolt (9-7); the adjusting block (9-5) is fixed on the fixed tooth block (9-4) through the mounting bolt (9-7) and the adjusting bolt (9-6); the ram-horn steering knuckle (9-1) is connected to the front wheel (24); and the contact angle between the front wheel (24) and the ground is adjusted by adjusting the elevation angle of the ram-horn steering knuckle (1).

4. The electric vehicle test platform according to claim 3, characterized in that: The upper end surface of the fixed tooth block (9-4) and the lower end surface of the adjusting block (9-5) are provided with a plurality of strip-shaped teeth which are equidistantly distributed and extend in the axial direction of the adjusting bolt (9-6).

5. The electric vehicle test platform according to claim 1, characterized in that: Hub motors are arranged at the four corners of the main support (1), and the hub motors are connected to the rear wheel (20) and the front wheel (24) through a sprocket chain drive.

6. The electric vehicle test platform according to claim 5, characterized in that: Two rear wheel hubs are mounted on both ends of a rear wheel axle (21), two front wheel hubs are mounted on both ends of a front wheel axle, front wheels (24) are mounted on the front wheel hubs, and rear wheels (20) are mounted on the rear wheel hubs. The rear wheel hubs and the front wheel hubs are both drivingly connected to the wheel hub motors.

7. The electric vehicle testing platform according to claim 1, characterized in that: The front end of the main support (1) is connected to a front beam (10), the front side of the front beam (10) is symmetrically connected to two shock absorbing springs (11), the rear side of the front beam (10) is symmetrically connected to two inclined beams (12), the top of the front beam (10) is fixedly connected to the main support (1) through a connecting plate (13), the inclined beam (12) and the front beam (10) form an isosceles triangle support structure, mounting blocks (14) are arranged at both ends of the front beam (10), connecting sleeves are installed in the mounting blocks (14), the connecting sleeves are connected to the front wheel axle (15) and the connecting rod (16), the two ends of the front beam (10) are fixedly connected to ear plates (17), the ear plates (17) are connected to the shock absorbing springs (11) through collars (18), and the ends of the shock absorbing springs (11) are connected to buffer blocks (19).

8. The electric vehicle test platform according to claim 5, characterized in that: The control module comprises a controller, a speed sensor and a throttle sensor, wherein the speed sensor and the throttle sensor are connected to the controller, the throttle sensor is mounted on the accelerator pedal (23), and the speed sensor is mounted on the output shaft of the wheel hub motor. A battery pack is mounted in the main bracket (1), and the controller is also connected to a human-machine interaction unit. An infrared sensor, a wireless communication module and a remote control module are mounted on the periphery of the main bracket (1), and the remote control module is wirelessly connected to a remote controller.

9. An electric vehicle testing method based on the electric vehicle testing platform according to claims 1-8, characterized in that: The following steps are involved: S1, specifying the remote control signal M: when the vehicle is started in pedal mode, M=1; when the accelerator pedal (23) is invalid when the vehicle is started in remote control mode, M=0; when the remote control is not operated for 10 seconds, the pedal mode is restored, M=1; S2, specifying the state coefficient C in the pedal mode: after the vehicle starts, stepping on the left brake pedal (22) is the braking state C=0, and stepping on the brake pedal (22) twice quickly is the reverse mode C=1; S3. Specifying the braking coefficient B: The braking coefficient is divided into four levels according to the degree of pedaling. The angle between the brake pedal (22) and the horizontal plane is φ: When 42°≤φ≤45°, B0=0-100, no braking response When 33°≤φ<42°, B1=100-400, the vehicle is in slow braking, When 24°≤φ<33°, B2=400-700, the vehicle is in normal braking, When 15°≤φ<24°, B3=700-1000, the vehicle is in emergency braking; S4. Specified infrared detection distance coefficient D: When the distance to the obstacle S≤2m, D0=0 triggers emergency braking, and B=B3; When the distance to the obstacle is 2m<S≤3m, D1=50 triggers normal braking, and B=B2; When the distance to the obstacle is 3m<S≤5m, D2=100 triggers slow braking, and B=B1 S5, setting the trigger coefficient of the accelerator pedal (23) to S and the trigger coefficient of the brake pedal (22) to E, and in the initial default state, S=0 and E=0; In M1 mode, the brake pedal (22) is pressed to open, the maximum speed is 3 km / h, at this time S = 0, E = 1; In M2 mode, the brake pedal (22) is not depressed and the maximum speed is 6 km / h. At this time, S=0 and E=0; In M3 mode, the accelerator pedal (23) is pressed to turn on the vehicle, and the maximum speed is 8 km / h. At this time, S=1 and E=0. S6. The pedal coefficient T of the accelerator pedal (23) is set, and the angle between the accelerator pedal (23) and the horizontal plane is α. When 42°≤α≤45°, T0=0-100, the switch has no response. When 33°≤α<42°, T1=100-400, in the first gear, When 24°≤α<33°, T2=400-700, in the second gear, When 15°≤α<24°, T3=700-1000, which is the third gear.

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