Drive-by-wire chassis system, control method, central controller and vehicle

Abstract

The invention relates to a drive-by-wire chassis system, a control method, a central controller and a vehicle, the drive-by-wire chassis system comprises the central controller, a drive-by-wire steering wheel, a drive-by-wire brake pedal, a drive-by-wire accelerator pedal and four wheel edge motors, and each wheel edge motor is used for being connected with a wheel; the central controller is connected with the drive-by-wire steering wheel, the drive-by-wire brake pedal, the drive-by-wire accelerator pedal and the four wheel side motors and used for controlling the wheel side motors to work according to the current vehicle data output by the drive-by-wire steering wheel, the drive-by-wire brake pedal and the drive-by-wire accelerator pedal. The central controller reasonably controls the four wheel-side motors to perform corresponding work according to current vehicle data reflecting driving intentions and vehicle running conditions, so that functions of advancing, retreating, braking, steering, electronic stability control and the like can be realized, and transmission, braking, steering, electronic stability control and other systems with complicated structures do not need to be designed; the overall mechanical structure and the electric appliance structure of the drive-by-wire chassis system are simpler and more efficient.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and particularly relates to a by-wire chassis system, a control method of the by-wire chassis system, a central controller, and a vehicle. Background Art

[0002] At present, compared with the traditional braking and steering systems in the by-wire chassis system, the by-wire braking and by-wire steering in the by-wire chassis system achieve decoupling between the operating mechanism and the actuator. However, essentially, the by-wire braking still provides braking force by pressing the brake disc with the brake caliper to achieve the braking function; the by-wire steering drives the steering rack through the steering motor, pulls the steering tie rod to drive the wheels to turn, and achieves the steering function. That is to say, the current by-wire braking and by-wire steering solutions still retain the traditional mechanical actuating mechanism. Only the traditional mechanical connection between the actuator and the driver controller (brake pedal and steering wheel) is replaced by an electrical signal connection, achieving decoupling between the actuator and the controller. The mechanical structure complexity of the braking system and the steering system has not been reduced. At the same time, a by-wire control system is added, and each control system is controlled by an independent ECU, increasing the complexity of the electrical structure, resulting in a complex overall structure of the by-wire chassis system and an increase in system cost. Summary of the Invention

[0003] The present invention provides a by-wire chassis system, a control method of the by-wire chassis system, a central controller, and a vehicle to simplify the overall structure of the by-wire chassis system.

[0004] An embodiment of the present invention provides a by-wire chassis system, including a central controller, a by-wire steering wheel, a by-wire brake pedal, a by-wire accelerator pedal, and four in-wheel motors, and each of the in-wheel motors is used to connect to a wheel;

[0005] The central controller is connected to the by-wire steering wheel, the by-wire brake pedal, the by-wire accelerator pedal, and the four in-wheel motors, and is configured to control the operation of the in-wheel motors according to the current vehicle data output by the by-wire steering wheel, the by-wire brake pedal, and the by-wire accelerator pedal.

[0006] Preferably, the by-wire chassis system further includes a power distribution unit and a power battery;

[0007] The power distribution unit is connected to the power battery and the four in-wheel motors;

[0008] The central controller is connected to the power distribution unit, and is configured to control the power battery to supply power to the in-wheel motors through the power distribution unit according to the current vehicle data.

[0009] Preferably, the by-wire chassis system further includes a wheel speed sensor, a vehicle speed sensor, and a slope sensor;

[0010] The wheel speed sensor is disposed on the wheel and is used to collect the current wheel speed and send it to the central controller;

[0011] The vehicle speed sensor is disposed on the vehicle body and is used to collect the current vehicle speed and send it to the central controller;

[0012] The slope sensor is disposed on the vehicle body and is used to collect the current slope and send it to the central controller;

[0013] The central controller is used to control the operation of the wheel side motor according to the current wheel speed, the current vehicle speed, and the current slope.

[0014] The present invention further provides a control method for a by-wire chassis system, which is applicable to the by-wire chassis system described in any one of the foregoing technical solutions. The control method includes:

[0015] Obtain current vehicle data;

[0016] Determine the current working mode according to the current vehicle data;

[0017] Based on the current working mode, control the operation of the wheel side motor.

[0018] Preferably, the obtaining of the current vehicle data includes:

[0019] Obtain current vehicle data, where the current vehicle data includes the current steering wheel angle and the current accelerator pedal depth;

[0020] The determining of the current working mode according to the current vehicle data includes:

[0021] If the current steering wheel angle is less than the first steering wheel angle threshold and the current accelerator pedal depth is greater than the first accelerator pedal depth threshold, then determine that the current working mode is the driving mode;

[0022] The controlling of the operation of the wheel side motor based on the current working mode includes:

[0023] If the current working mode is the driving mode, then control the wheel side motor to drive the wheel to operate.

[0024] Preferably, the current vehicle data further includes current operation data,

[0025] The determining that the current working mode is the driving mode includes:

[0026] Determine the current driving condition according to the current operation data;

[0027] If the current driving condition is the first driving condition, then determine that the current working mode is the four-wheel drive mode;

[0028] If the current driving condition is not the first driving condition, determine that the current working mode is the dual-drive mode.

[0029] Preferably, the current operation data includes the current vehicle speed;

[0030] Determining the current driving condition according to the current operation data includes:

[0031] Compare the current vehicle speed with a first vehicle speed threshold;

[0032] If the current vehicle speed is greater than the first vehicle speed threshold, determine that the current driving condition is the first driving condition;

[0033] If the current vehicle speed is not greater than the first vehicle speed threshold, determine that the current driving condition is not the first driving condition.

[0034] Preferably, the current operation data includes the current slope;

[0035] Determining the current driving condition according to the current operation data includes:

[0036] Compare the current slope with a first slope threshold;

[0037] If the current slope is greater than the first slope threshold, determine that the current driving condition is the first driving condition;

[0038] If the current slope is not greater than the first slope threshold, determine that the current driving condition is not the first driving condition.

[0039] Preferably, the current operation data includes the current wheel speed and the current vehicle speed;

[0040] Determining the current driving condition according to the current operation data includes:

[0041] Obtain a current speed ratio according to the current wheel speed and the current vehicle speed;

[0042] If the current speed ratio is greater than a first ratio threshold, determine that the current driving condition is the first driving condition;

[0043] If the current speed ratio is not greater than the first ratio threshold, determine that the current driving condition is not the first driving condition.

[0044] Preferably, the current operation data includes the current accelerator pedal depth;

[0045] Determining the current driving condition according to the current operation data includes:

[0046] Compare the current accelerator pedal depth with a second accelerator pedal depth threshold;

[0047] If the current accelerator pedal depth is greater than the second accelerator pedal depth threshold, determine that the current driving condition is a first driving condition;

[0048] If the current accelerator pedal depth is not greater than the second accelerator pedal depth threshold, determine that the current driving condition is not the first driving condition.

[0049] Preferably, if the current working mode is the driving mode, controlling the in-wheel motors to drive the wheels to work includes:

[0050] If the current working mode is a four-wheel drive mode, supply power to the four in-wheel motors so that the four in-wheel motors drive the wheels to work;

[0051] If the current working mode is a two-wheel drive mode, supply power to the two in-wheel motors on the same axle so that the two in-wheel motors drive the wheels to work.

[0052] Preferably, the obtaining of the current vehicle data includes:

[0053] Obtain current vehicle data, where the current vehicle data includes the current brake pedal depth;

[0054] The determining of the current working mode according to the current vehicle data includes:

[0055] If the current brake pedal depth is less than a first brake pedal depth threshold, determine that the current working mode is an energy recovery mode;

[0056] If the current brake pedal depth is not less than the first brake pedal depth threshold, determine that the current working mode is a rapid braking mode;

[0057] The controlling of the in-wheel motors to work based on the current working mode includes:

[0058] If the current working mode is the energy recovery mode, control the in-wheel motors to charge the power battery;

[0059] If the current working mode is the rapid braking mode, control the power distribution unit to drive the in-wheel motors to provide reverse torque.

[0060] Preferably, the obtaining of the current vehicle data includes:

[0061] Obtain current vehicle data, where the current vehicle data includes the current steering wheel angle;

[0062] The determining of the current working mode according to the current vehicle data includes:

[0063] If the current steering wheel angle is greater than 0, determine that the current working mode is the steering mode;

[0064] Based on the current working mode, controlling the wheel hub motor to work includes:

[0065] If the current working mode is the steering mode, supply power to the wheel hub motor to generate a torque difference between two wheels on the same axle.

[0066] Preferably, the current vehicle data further includes the current vehicle speed;

[0067] Determining that the current working mode is the steering mode includes:

[0068] If the current vehicle speed is less than the second vehicle speed threshold and the current steering wheel angle is less than the second steering wheel angle threshold, determine that the current working mode is the front-wheel steering mode;

[0069] If the current vehicle speed is less than the second vehicle speed threshold and the current steering wheel angle is not less than the second steering wheel angle threshold, determine that the current working mode is the front-and-rear wheel reverse steering mode;

[0070] If the current vehicle speed is greater than the second vehicle speed threshold, determine that the current working mode is the front-and-rear wheel same-direction steering mode.

[0071] Preferably, when the current working mode is the steering mode, supplying power to the wheel hub motor to generate a torque difference between two wheels on the same axle includes:

[0072] If the current working mode is the front-wheel steering mode, supply power to the wheel hub motor to generate a torque difference between two front wheels;

[0073] If the current working mode is the front-and-rear wheel reverse steering mode, supply power to the wheel hub motor to generate a torque difference between two front wheels and a torque difference between two rear wheels, and make the steering of two front wheels and two rear wheels opposite;

[0074] If the current working mode is the front-and-rear wheel same-direction steering mode, supply power to the wheel hub motor to generate a torque difference between two front wheels and a torque difference between two rear wheels, and make the steering of two front wheels and two rear wheels the same.

[0075] The present invention also provides a central controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor. It is characterized in that when the processor executes the computer program, it implements the control method of the by-wire chassis system as described in any of the foregoing technical solutions.

[0076] The present invention also provides a vehicle, comprising four wheels and the by-wire chassis system according to any of the foregoing technical solutions, wherein each wheel motor is connected to one of the wheels.

[0077] In the by-wire chassis system, the control method of the by-wire chassis system, the central controller and the vehicle provided by the embodiments of the present invention, the central controller reasonably controls the four wheel motors to perform corresponding operations according to the current vehicle data reflecting the driving intention and the vehicle operation conditions, and further controls the corresponding wheels to perform corresponding operations, so that the vehicle realizes steering, braking, advancing or retreating according to the driving intention of the driver; that is to say, by reasonably controlling the operations of the four wheel motors, the functions such as advancing, retreating, braking, steering and electronic stability control can be realized, so that the central controller can replace the traditional drive ECU, brake ECU, steering ECU and ESP controller, thus eliminating the need to design complex transmission, braking, steering and electronic stability control systems. The overall mechanical structure and electrical structure of the by-wire chassis system are simpler and more efficient, which is beneficial to the lightweight design of the vehicle and reduces the development cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 FIG. 9 is a schematic structural diagram of a by-wire chassis system provided by an embodiment of the present invention;

[0079] Figure 2 FIG. 13 is a flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0080] Figure 3 FIG. 17 is another flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0081] Figure 4 FIG. 21 is another flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0082] Figure 5 FIG. 25 is another flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0083] Figure 6 FIG. 29 is another flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0084] Figure 7 FIG. 33 is another flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0085] Figure 8 FIG. 37 is another flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0086] Figure 9 FIG. 41 is another flowchart of a control method of a by-wire chassis system provided by an embodiment of the present invention;

[0087] Figure 10 It is another flowchart of the control method of the by-wire chassis system provided by an embodiment of the present invention;

[0088] Figure 11 It is another flowchart of the control method of the by-wire chassis system provided by an embodiment of the present invention;

[0089] Figure 12 It is another flowchart of the control method of the by-wire chassis system provided by an embodiment of the present invention;

[0090] Figure 13 It is another flowchart of the control method of the by-wire chassis system provided by an embodiment of the present invention.

[0091] In the figure: 1. Central controller; 2. By-wire steering wheel; 3. By-wire brake pedal; 4. By-wire accelerator pedal; 5. Wheel motor; 6. Power distribution unit; 7. Power battery; 8. Wheel. Detailed implementation manners

[0092] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0093] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0094] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0095] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0096] As shown Figure 1 As shown, the steer-by-wire chassis system provided by the embodiment of the present invention includes a central controller 1, a steer-by-wire steering wheel 2, a steer-by-wire brake pedal 3, a steer-by-wire accelerator pedal 4, and four in-wheel motors 5. Each in-wheel motor 5 is used to connect to a wheel 8; the central controller 1 is connected to the steer-by-wire steering wheel 2, the steer-by-wire brake pedal 3, the steer-by-wire accelerator pedal 4, and the four in-wheel motors 5, and is used to control the operation of the in-wheel motors 5 according to the current vehicle data output by the steer-by-wire steering wheel 2, the steer-by-wire brake pedal 3, and the steer-by-wire accelerator pedal 4.

[0097] Wherein, the current vehicle data refers to the vehicle data detected at the current moment. As an example, the current vehicle data includes current intention data for reflecting the driving intention of the driver and current operation data for reflecting the running condition of the vehicle. The current intention data includes, but is not limited to, the current steering wheel angle, the current brake pedal depth, and the current accelerator pedal depth. The current operation data includes, but is not limited to, the current vehicle speed, the current wheel speed, and the current slope.

[0098] As an example, during the driving process of the vehicle, the driver performs corresponding operations on the steer-by-wire steering wheel 2, the steer-by-wire brake pedal 3, and the steer-by-wire accelerator pedal 4 according to the driving intention, so as to obtain the current vehicle data reflecting the driving intention. The current vehicle data includes, but is not limited to, the current steering wheel angle, the current brake pedal depth, and the current accelerator pedal depth, and transmits the current vehicle data to the central controller 1. The central controller 1 controls the operation of the four in-wheel motors 5 according to the current vehicle data, so that the in-wheel motors 5 control the corresponding wheels 8 to work, and the vehicle runs according to the driving intention of the driver. The driving intention refers to the intention that the driver needs to turn, brake, move forward or backward, which is analyzed according to the operations of the driver on the steer-by-wire steering wheel 2, the steer-by-wire accelerator pedal 4, and the steer-by-wire brake pedal 3.

[0099] In the steer-by-wire chassis system provided by the embodiment of the present invention, the central controller 1 reasonably controls the four in-wheel motors 5 to perform corresponding operations according to the current vehicle data reflecting the driving intention and the running condition of the vehicle, so as to control the corresponding wheels 8 to perform corresponding operations, so that the vehicle can turn, brake, move forward or backward according to the driving intention of the driver; that is to say, the central controller 1 can realize functions such as forward, backward, braking, steering, and electronic stability control by reasonably controlling the operation of the four in-wheel motors 5, so that the central controller 1 can replace the traditional drive ECU, brake ECU, steering ECU, and ESP controller, thus eliminating the need to design complex transmission, braking, steering, and electronic stability control systems. The overall mechanical structure and electrical structure of the steer-by-wire chassis system are simpler and more efficient, which is beneficial to the lightweight design of the vehicle and reduces the development cost.

[0100] In one embodiment, as shown Figure 1As shown in the figure, the drive-by-wire chassis system further includes a power distribution unit 6 and a power battery 7; the power distribution unit 6 is connected to the power battery 7 and the four in-wheel motors 5; the central controller 1 is connected to the power distribution unit 6 and is configured to control the power battery 7 to supply power to the in-wheel motors 5 through the power distribution unit 6 according to the current vehicle data.

[0101] In this example, the central controller 1 outputs a target power distribution signal to the power distribution unit 6 according to the current vehicle data. The power distribution unit 6 controls the power battery 7 to supply power to the corresponding in-wheel motor 5 according to the target power distribution signal, thereby driving the corresponding wheel 8 to perform corresponding movements, so that the vehicle can turn, brake, move forward or backward according to the driver's driving intention. With this design, through the cooperation of the central controller 1, the power distribution unit 6 and the power battery 7, the direction and magnitude of the current supplied to the four in-wheel motors 5 are controlled to enable the vehicle to turn, brake, move forward or backward according to the driver's driving intention. The control variables of the drive-by-wire chassis system are simple, and the overall structure is simple, reducing the control difficulty.

[0102] In one embodiment, the drive-by-wire chassis system further includes a wheel speed sensor, a vehicle speed sensor and a slope sensor; the wheel speed sensor is arranged on the wheel 8 and is configured to collect the current wheel speed and send it to the central controller 1; the vehicle speed sensor is arranged on the vehicle body and is configured to collect the current vehicle speed and send it to the central controller 1; the slope sensor is arranged on the vehicle body and is configured to collect the current slope and send it to the central controller 1; the central controller 1 is configured to control the in-wheel motor 5 to work according to the current wheel speed, the current vehicle speed and the current slope.

[0103] In this example, the current operating data of the vehicle is detected by the corresponding sensing device. Specifically, the wheel speed sensor is used to collect the current wheel speed and send it to the central controller 1, the vehicle speed sensor is used to collect the current vehicle speed and send it to the central controller 1, the slope sensor is used to collect the current slope and send it to the central controller 1. The central controller 1 analyzes the operating conditions of the vehicle at the current moment according to the current operating data such as the current wheel speed, the current vehicle speed and the current slope, and at the same time combines the current intention data to supply power to the corresponding in-wheel motor 5, so that the in-wheel motor 5 controls the corresponding wheel 8 to run, thereby enabling the vehicle to turn, brake, move forward or backward according to the driver's driving intention. With this design, it is beneficial to accurately control the driving of the vehicle and ensure the stable driving of the vehicle.

[0104] The present invention also provides a control method for a drive-by-wire chassis system. Taking the central controller 1 in which this method is applied to the above drive-by-wire chassis system as an example for illustration, as Figure 2 shown, the control method of the drive-by-wire chassis system includes:

[0105] S201: Obtain the current vehicle data;

[0106] S202: Determine the current working mode according to the current vehicle data;

[0107] S203: Based on the current working mode, control the wheel side motor 5 to work.

[0108] Among them, the current vehicle data refers to the vehicle data detected at the current moment. As an example, the current vehicle data includes current intention data for reflecting the driver's driving intention and current operation data for reflecting the vehicle operation condition. The current intention data includes, but is not limited to, the current steering wheel angle, the current brake pedal depth, and the current accelerator pedal depth. The current operation data includes, but is not limited to, the current vehicle speed, the current wheel speed, and the current slope.

[0109] As an example, in step S201, when the driver is driving the vehicle, the central controller 1 can obtain the current vehicle data. Specifically, the central controller 1 can obtain the vehicle data detected at the current moment, including, but is not limited to, the current steering wheel angle, the current accelerator pedal depth, the current vehicle speed, the current wheel speed, the current slope, and the current brake pedal depth, so that the central controller 1 can judge the current working mode according to the current vehicle data.

[0110] Among them, the current working mode refers to the working mode of the vehicle at the current moment.

[0111] As an example, in step S202, the central controller 1 analyzes the driver's driving intention according to the current vehicle data, and then determines the current working mode based on the driving intention. Specifically, the current vehicle data includes current intention data and current operation data. The central controller 1 analyzes the driver's driving intention, that is, to steer, brake, move forward or backward, according to the current intention data, including, but is not limited to, the current steering wheel angle, the current accelerator pedal depth, and the current brake pedal depth. At the same time, the central controller 1 judges the vehicle operation condition at the current moment according to the current operation data, including, but is not limited to, the current vehicle speed, the current wheel speed, and the real-time working condition of the wheel side motor 5. The central controller 1 combines the driving intention and the vehicle operation condition to determine the current working mode, so as to control the vehicle to steer, brake, move forward or backward according to the driving intention.

[0112] As an example, in step S203, the central controller 1 controls the wheel side motor 5 to work based on the current working mode. That is to say, after determining the current working mode, the central controller 1 controls the wheel side motor 5 to work, that is, the central controller 1 controls one wheel side motor 5, two wheel side motors 5, three wheel side motors 5 or four wheel side motors 5 to perform the work corresponding to the current working mode, so that the wheel side motor 5 drives the corresponding wheel 8 to perform corresponding operations, so as to control the vehicle to steer, brake, move forward or backward according to the driver's driving intention.

[0113] In this embodiment, the central controller 1 acquires the current vehicle data, determines the current working mode according to the current vehicle data, and then controls the four in-wheel motors 5 to operate based on the current working mode, so that the vehicle steers, brakes, moves forward or backward according to the driver's driving intention. That is to say, in the present invention, functions such as vehicle driving, braking, steering and electronic stability control are all realized by the central controller 1 controlling the operation of the in-wheel motors 5. The control variables are simple, the system integration degree is higher, the control difficulty is reduced, and it is beneficial to realize autonomous driving.

[0114] In one embodiment, as Figure 3 shown, a control method for a by-wire chassis system is provided. The control method for the by-wire chassis system includes:

[0115] S301: Acquire the current vehicle data, where the current vehicle data includes the current steering wheel angle and the current accelerator pedal depth;

[0116] S302: If the current steering wheel angle is less than the first steering wheel angle threshold and the current accelerator pedal depth is greater than the first accelerator pedal depth threshold, determine that the current working mode is the driving mode;

[0117] S303: If the current working mode is the driving mode, control the in-wheel motor 5 to drive the wheel 8 to operate.

[0118] Among them, step S301 is a specific implementation manner of the above step S201, step S302 is a specific implementation manner of the above step S202, and step S303 is a specific implementation manner of the above step S203.

[0119] Among them, the current steering wheel angle refers to the rotation angle of the by-wire steering wheel 2 detected at the current moment. The current accelerator pedal depth refers to the depth of the driver stepping on the by-wire accelerator pedal 4 detected at the current moment.

[0120] As an example, in step S301, when the driver drives the vehicle, the central controller 1 acquires the current steering wheel angle and the current accelerator pedal depth.

[0121] Among them, the first steering wheel angle threshold refers to the preset rotation angle of the by-wire steering wheel 2, which is used to judge whether the current working mode is the driving mode. The first accelerator pedal depth threshold refers to a preset depth threshold for the by-wire accelerator pedal 4 to be stepped on, and it is a threshold for evaluating whether the vehicle enters the driving mode. The driving mode refers to the working mode in which the in-wheel motor 5 provides driving force to make the vehicle move forward or backward.

[0122] As an example, in step S302, after the central controller 1 obtains the current steering wheel angle and the current accelerator pedal depth, it compares the current steering wheel angle with the first steering wheel angle threshold, and compares the current accelerator pedal depth with the first accelerator pedal depth threshold. When the current steering wheel angle is less than the first steering wheel angle threshold and the current accelerator pedal depth is greater than the first accelerator pedal depth threshold, it indicates that the driver does not operate the steer-by-wire steering wheel 2 for a large steering operation, and the driver steps on the accelerator pedal to control the vehicle to go straight. At this time, the current working mode can be determined to be the driving mode.

[0123] As an example, in step S303, after the central controller 1 determines that the current working mode is the driving mode, it controls the in-wheel motor 5 to drive the wheel 8 to work. Specifically, after the central controller 1 determines that the current working mode is the driving mode, it outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to the in-wheel motor 5 according to the target power distribution signal, so that the powered in-wheel motor 5 drives the corresponding wheel 8 to run, thereby driving the vehicle forward or backward. Among them, the target power distribution signal is a signal output by the central controller 1 based on the current working mode to control the power distribution unit 6 to supply power to the corresponding in-wheel motor 5.

[0124] In this example, the current steering wheel angle is compared with the pre-set first steering wheel angle threshold, and the current accelerator pedal depth is compared with the pre-set first accelerator pedal depth threshold. When the current steering wheel angle is less than the first steering wheel angle threshold and the current accelerator pedal depth is greater than the first accelerator pedal depth threshold, it is determined that the vehicle is in the driving mode, so as to control the in-wheel motor 5 to drive the corresponding wheel 8 to run, realizing the driving of the vehicle; with such a design, it is judged whether the vehicle is in the driving mode through the current steering wheel angle and the current accelerator pedal depth, and the judgment is more accurate and fast, which is beneficial for the vehicle to drive in real time according to the driver's driving intention.

[0125] In one embodiment, the current vehicle data further includes current operation data.

[0126] As Figure 4 shown, in step S302, determining that the current working mode is the driving mode includes:

[0127] S401: Determine the current driving condition according to the current operation data;

[0128] S402: If the current driving condition is the first driving condition, determine that the current working mode is the four-wheel drive mode;

[0129] S403: If the current driving condition is not the first driving condition, determine that the current working mode is the two-wheel drive mode.

[0130] Among them, the current operation data is data used to reflect the vehicle operation conditions, which does not reflect the driving intention, and specifically includes but is not limited to the current accelerator pedal depth, the current vehicle speed, the current wheel speed, and the current slope.

[0131] Among them, the current driving condition refers to the driving condition of the vehicle at the current moment obtained by analyzing the current operation data. The first driving condition refers to the preset vehicle driving conditions, including but not limited to the large throttle acceleration condition, the high-speed driving condition, the large slope climbing condition, and the low adhesion road surface condition, etc.

[0132] Among them, the drive mode includes two types: four-wheel drive mode and two-wheel drive mode. The four-wheel drive mode is a drive mode that controls the operation of four wheels 8 to make the vehicle move forward or backward. The two-wheel drive mode is a drive mode that controls the operation of two wheels 8 on the same axle, that is, controls the operation of two front wheels or two rear wheels to make the vehicle move forward or backward.

[0133] As an example, the central controller 1 analyzes the vehicle operation conditions based on the current operation data, thereby judging the current driving condition of the vehicle. If it is judged that the current driving condition is the first driving condition, the central controller 1 determines that the current working mode is the four-wheel drive mode and controls the operation of the four wheels 8 to make the vehicle move forward or backward; if it is judged that the current driving condition is not the first driving condition, the central controller 1 determines that the current working mode is the two-wheel drive mode and controls the operation of two front wheels or two rear wheels to make the vehicle move forward or backward. With such a design, the vehicle operation conditions are analyzed through the current operation data of the vehicle, thereby further differentiating the drive mode into the four-wheel drive mode and the two-wheel drive mode, improving the control accuracy, and being beneficial to achieving the best economy and enhancing the product competitiveness while ensuring the normal and safe driving of the vehicle.

[0134] In one embodiment, the current operation data includes the current vehicle speed;

[0135] As Figure 5 shown, step S401, that is, determining the current driving condition according to the current operation data, includes:

[0136] S501: Compare the current vehicle speed with the first vehicle speed threshold;

[0137] S502: If the current vehicle speed is greater than the first vehicle speed threshold, determine that the current driving condition is the first driving condition;

[0138] S503: If the current vehicle speed is not greater than the first vehicle speed threshold, determine that the current driving condition is not the first driving condition.

[0139] Among them, the current vehicle speed refers to the vehicle speed detected at the current moment. The first vehicle speed threshold is a preset vehicle speed threshold used to judge whether the current driving condition reaches the high-speed driving condition.

[0140] As an example, the central controller 1 compares the current vehicle speed with the first vehicle speed threshold. When the current vehicle speed is greater than the first vehicle speed threshold, it is determined that the current driving condition reaches the high-speed driving condition, that is, it is determined that the current driving condition is the first driving condition. Thus, the central controller 1 determines that the current working mode is the four-wheel drive mode. When the current vehicle speed is not greater than the first vehicle speed threshold, it is determined that the current driving condition does not reach the high-speed driving condition, that is, it is determined that the current driving condition is not the first driving condition. Thus, the central controller 1 determines that the current working mode is the two-wheel drive mode. With this design, by using the current vehicle speed to determine whether the current driving condition of the vehicle reaches the high-speed driving condition, and thus determining whether to adopt the four-wheel drive mode or the two-wheel drive mode, while ensuring the safe driving of the vehicle, it is beneficial to achieve the best economy.

[0141] In one embodiment, the current operating data includes the current slope;

[0142] As Figure 6 shown, step S401, that is, determining the current driving condition according to the current operating data, includes:

[0143] S601: Compare the current slope with the first slope threshold;

[0144] S602: If the current slope is greater than the first slope threshold, determine that the current driving condition is the first driving condition;

[0145] S603: If the current slope is not greater than the first slope threshold, determine that the current driving condition is not the first driving condition.

[0146] Wherein, the current slope refers to the slope of the road where the vehicle is located detected at the current moment. The first slope threshold is a preset slope threshold used to determine whether the current driving condition reaches the large-slope climbing condition.

[0147] As an example, the central controller 1 compares the current slope with the first slope threshold. When the current slope is greater than the first slope threshold, it is determined that the current driving condition reaches the large-slope climbing condition, that is, it is determined that the current driving condition is the first driving condition. Thus, the central controller 1 determines that the current working mode is the four-wheel drive mode. When the current slope is not greater than the first slope threshold, it is determined that the current driving condition does not reach the large-slope climbing condition, that is, it is determined that the current driving condition is not the first driving condition. Thus, the central controller 1 determines that the current working mode is the two-wheel drive mode. With this design, by using the current slope to determine whether it reaches the large-slope climbing condition, and thus determining whether to adopt the four-wheel drive mode or the two-wheel drive mode, while ensuring the safe driving of the vehicle, it is beneficial to achieve the best economy.

[0148] In one embodiment, the current operating data includes the current wheel speed and the current vehicle speed;

[0149] As shown in Figure 7 Step S401, that is, determining the current driving condition according to the current running data, includes:

[0150] S701: Obtaining the current speed ratio according to the current wheel speed and the current vehicle speed;

[0151] S702: If the current speed ratio is greater than the first ratio threshold, determining that the current driving condition is the first driving condition;

[0152] S703: If the current speed ratio is not greater than the first ratio threshold, determining that the current driving condition is not the first driving condition.

[0153] Wherein, the current wheel speed refers to the rotational speed of the wheel 8 detected at the current moment. The current speed ratio refers to the ratio of the current wheel speed to the current vehicle speed. The first ratio threshold is a preset speed ratio threshold for determining whether the wheel 8 slips.

[0154] As an example, the central controller 1 obtains the current speed ratio according to the current wheel speed and the current vehicle speed, and compares the current speed ratio with the first ratio threshold. If the current speed ratio is greater than the first ratio threshold, it is determined that the wheel 8 slips, that is, the friction between the wheel 8 and the ground is small, which means that the current driving condition reaches the low-adhesion road surface condition, and then it is determined that the current driving condition is the first driving condition. Thus, the central controller 1 determines that the current working mode is the four-wheel drive mode; if the current speed ratio is not greater than the first ratio threshold, it is determined that the wheel 8 does not slip, that is, the friction between the wheel 8 and the ground is large, which means that the current driving condition is not the low-adhesion road surface condition, and then it is determined that the current driving condition is not the first driving condition. Thus, the central controller 1 determines that the current working mode is the two-wheel drive mode. With such a design, by using the ratio of the current wheel speed to the current vehicle speed to determine whether the low-adhesion road surface condition is reached, and then determining whether to adopt the four-wheel drive mode or the two-wheel drive mode, while ensuring the safe driving of the vehicle, it is beneficial to achieve the best economy.

[0155] In one embodiment, the current running data further includes the current accelerator pedal depth;

[0156] As shown in Figure 8 Step S401, that is, determining the current driving condition according to the current running data, includes:

[0157] S801: Comparing the current accelerator pedal depth with the second accelerator pedal depth threshold;

[0158] S802: If the current accelerator pedal depth is greater than the second accelerator pedal depth threshold, determining that the current driving condition is the first driving condition;

[0159] S803: If the current accelerator pedal depth is not greater than the second accelerator pedal depth threshold, it is determined that the current driving condition is not the first driving condition.

[0160] Wherein, the second accelerator pedal depth threshold is a preset depth threshold at which the drive-by-wire accelerator pedal 4 is depressed, and is a threshold used to evaluate whether the current driving condition reaches the wide-open throttle acceleration condition. The second accelerator pedal depth threshold is greater than the first accelerator pedal depth threshold.

[0161] As an example, after the current accelerator pedal depth is greater than the first accelerator pedal depth threshold, the central controller 1 then compares the current accelerator pedal depth with the second accelerator pedal depth threshold. If the current accelerator pedal depth is greater than the second accelerator pedal depth threshold, it is determined that the current driving condition reaches the wide-open throttle acceleration condition, that is, it is determined that the current driving condition is the first driving condition. Thus, the central controller 1 determines that the current working mode is the four-wheel drive mode; if the current accelerator pedal depth is not greater than the second accelerator pedal depth threshold, it is determined that the current driving condition does not reach the wide-open throttle acceleration condition, that is, it is determined that the current driving condition is not the first driving condition. Thus, the central controller 1 determines that the current working mode is the two-wheel drive mode. With such a design, it is possible to determine whether the current driving condition of the vehicle reaches the wide-open throttle acceleration condition by the current accelerator pedal depth, so as to determine whether to adopt the four-wheel drive mode or the two-wheel drive mode, which is beneficial to achieving the best economy while ensuring the safe driving of the vehicle.

[0162] In one embodiment, as Figure 9 shown, step S303, that is, if the current working mode is the drive mode, control the four in-wheel motors 5 to drive the wheels 8 to work, including:

[0163] S901: If the current working mode is the four-wheel drive mode, supply power to the four in-wheel motors 5 so that the four in-wheel motors 5 drive the wheels 8 to work;

[0164] S902: If the current working mode is the two-wheel drive mode, supply power to the two in-wheel motors 5 on the same axle so that the two in-wheel motors 5 drive the wheels 8 to work.

[0165] As an example, when the central controller 1 determines that the current driving condition is the first driving condition, that is, determines that the current working mode is the four-wheel drive mode, it outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to the four in-wheel motors M1, M2, M3, and M4 simultaneously according to the target power distribution signal, thereby controlling the operation of the four wheels 8 to realize the forward or backward movement of the vehicle. Specifically, when the vehicle moves forward, the four in-wheel motors 5 drive the four wheels 8 to rotate forward, and the ground provides a forward reaction force F LF 、F RF 、F LR and FRR , driving the vehicle forward; when the vehicle reverses, the four in-wheel motors 5 drive the four wheels 8 to rotate backward, and the ground provides a backward reaction force f to the wheels 8 LF 、f RF 、f LR and f RR , driving the vehicle in reverse.

[0166] As an example, when the central controller 1 determines that the current driving condition is not the first driving condition, that is, when it determines that the current working mode is the dual-drive mode, it outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to the two in-wheel motors 5 on the same axle according to the target power distribution signal, that is, to supply power to the two in-wheel motors 5 of M1 and M2 or to the two in-wheel motors 5 of M3 and M4, so as to control the operation of the two wheels 8 on the same axle, that is, to control the operation of the two front wheels or the two rear wheels, and realize the forward or backward movement of the vehicle.

[0167] In this example, the dual-drive mode includes the front-wheel drive mode and the rear-wheel drive mode. Among them, the front-wheel drive mode refers to the dual-drive mode in which the two front wheels are controlled to operate to make the vehicle move forward or backward. The rear-wheel drive mode refers to the dual-drive mode in which the two rear wheels are controlled to operate to make the vehicle move forward or backward. When the current working mode is the dual-drive mode, the front-wheel drive mode or the rear-wheel drive mode can be preferentially selected according to the user's preset.

[0168] As an example, in the front-wheel drive mode, when the vehicle moves forward, the power distribution unit 6 controls the power battery 7 to supply power to the two in-wheel motors 5 of M1 and M2 according to the target power distribution signal, so that the two in-wheel motors 5 of M1 and M2 drive the two front wheels to rotate forward, and the ground provides a forward reaction force F to the front wheels LF and F RF , to drive the vehicle forward; when the vehicle reverses, the power distribution unit 6 controls the power battery 7 to supply power to the two in-wheel motors 5 of M1 and M2 according to the target power distribution signal, so that the two in-wheel motors 5 of M1 and M2 drive the two front wheels to rotate backward, and the ground provides a backward reaction force f to the front wheels LF and f RF , to drive the vehicle in reverse.

[0169] As an example, in the rear-wheel drive mode, when the vehicle moves forward, the power distribution unit 6 controls the power battery 7 to supply power to the two in-wheel motors 5 of M3 and M4 according to the target power distribution signal, so that the two in-wheel motors 5 of M3 and M4 drive the two rear wheels to rotate forward, and the ground provides a forward reaction force F to the rear wheels LR and F RR, to drive the vehicle forward; when the vehicle reverses, the electric energy distribution unit 6 controls the power battery 7 to supply power to the two in-wheel motors 5 of M3 and M4 according to the target electric energy distribution signal, so that the two in-wheel motors 5 of M3 and M4 drive the two rear wheels to rotate backward, and the ground provides a backward reaction force f LR and f RR , to drive the vehicle in reverse.

[0170] In this example, the current driving condition is judged through the current operation data, and then according to whether the current driving condition is the first driving condition, the driving mode is further divided into a four-wheel drive mode and a two-wheel drive mode, which improves the control accuracy. Under the condition of ensuring the normal and safe driving of the vehicle, it is beneficial to achieve the best economy and enhance the product competitiveness.

[0171] In one embodiment, as Figure 10 shown, a control method for a by-wire chassis system is provided. The control method for the by-wire chassis system includes:

[0172] S1001: Obtain the current vehicle data, and the current vehicle data includes the current brake pedal depth;

[0173] S1002: If the current brake pedal depth is less than the first brake pedal depth threshold, determine that the current working mode is the energy recovery mode;

[0174] S1003: If the current brake pedal depth is not less than the first brake pedal depth threshold, determine that the current working mode is the rapid braking mode;

[0175] S1004: If the current working mode is the energy recovery mode, control the in-wheel motor 5 to charge the power battery 7;

[0176] S1005: If the current working mode is the rapid braking mode, control the in-wheel motor 5 to provide reverse torque.

[0177] Among them, step S1001 is a specific implementation manner of the above step S201, steps S1002 - S1003 are a specific implementation manner of the above step S202, and steps S1004 - S1005 are a specific implementation manner of the above step S203.

[0178] Among them, the current brake pedal depth refers to the depth of the driver stepping on the by-wire brake pedal 3 detected at the current moment. The first brake pedal depth threshold refers to a preset depth threshold for the by-wire brake pedal 3 to be stepped on, and is a threshold for evaluating whether the power battery 7 needs to supply power to the in-wheel motor 5 to meet the braking requirement.

[0179] Among them, the energy recovery mode refers to a working mode in which when the vehicle decelerates slowly, the four wheels 8 drag the in-wheel motor 5 to generate electricity and charge the power battery 7.

[0180] Among them, the quick braking mode refers to the working mode in which the vehicle quickly decelerates.

[0181] As an example, when the vehicle needs to brake, the central controller 1 obtains the current depth of the brake pedal, compares the depth of the brake pedal with the first brake pedal depth threshold to obtain a comparison result, and then determines the vehicle's demand for braking force based on the comparison result, and further determines whether the power battery 7 needs to supply power to the wheel-side motor 5, so that the wheel-side motor 5 provides a reverse torque to the wheel 8.

[0182] As an example, if the current depth of the brake pedal is less than the first brake pedal depth threshold, then according to this comparison result, it is obtained that the vehicle's demand for braking forces f LF , f RF , f LR and f RR is not large. That is to say, the vehicle is in a slow deceleration state. The central controller 1 determines based on this that the current working mode is the energy recovery mode. The power battery 7 does not need to supply power to the wheel-side motor 5. The wheel 8 drags the wheel-side motor 5 to generate electricity and charge the power battery 7, realizing the recovery of braking energy and providing a reverse acting force to the wheel 8 to meet the vehicle's slow deceleration demand.

[0183] As an example, if the current depth of the brake pedal is not less than the first brake pedal depth threshold, then according to this comparison result, it is obtained that the vehicle's demand for braking forces f LF , f RF , f LR and f RR is large. That is to say, the vehicle needs to quickly decelerate. The central controller 1 determines based on this that the current working mode is the quick braking mode, and outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to the four wheel-side motors 5 according to the target power distribution signal, so that the four wheel-side motors 5 reverse, thereby providing a reverse torque to the four wheels 8 and increasing the braking forces f LF , f RF , f LR and f RR to meet the vehicle's quick deceleration demand.

[0184] In this example, by comparing the current depth of the brake pedal with the first brake pedal depth threshold to judge the vehicle's deceleration demand, the control variable is simple, the control difficulty is reduced, the vehicle's current working mode can be reasonably judged, so that the central controller 1 can reasonably supply power to the four wheel-side motors 5 through the power distribution unit 6, thereby realizing the vehicle's braking function, so as to realize the recovery of braking energy when the vehicle needs to slow down slowly, and at the same time ensure quick braking when the vehicle needs to quickly decelerate.

[0185] In one embodiment, as Figure 11 shown, a control method for a steer-by-wire chassis system is provided. The control method for the steer-by-wire chassis system includes:

[0186] S1101: Obtain current vehicle data, where the current vehicle data includes the current steering wheel angle;

[0187] S1102: If the current steering wheel angle is greater than 0, determine that the current working mode is the steering mode;

[0188] S1103: If the current working mode is the steering mode, supply power to the wheel hub motor 5 to cause a torque difference between the two wheels 8 on the same axle.

[0189] Among them, step S1101 is a specific implementation manner of the above step S201, step S1102 is a specific implementation manner of the above step S202, and step S1103 is a specific implementation manner of the above step S203.

[0190] Among them, the steering mode refers to the working mode in which the vehicle changes its driving direction.

[0191] As an example, when the driver drives the vehicle, the central controller 1 obtains the current steering wheel angle. If the current steering wheel angle is greater than 0, it is determined that the current working mode is the steering mode. The central controller 1 controls the supply of power to the wheel hub motor 5 to cause a torque difference between the two wheels 8 on the same axle. Specifically, when the current steering wheel angle is greater than 0, the central controller 1 determines that the vehicle is in a state of changing its driving direction, that is, the central controller 1 determines that the current working mode is the steering mode. Then, the central controller 1 outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to the four wheel hub motors 5 according to the target power distribution signal. By reasonably controlling the torques of the two wheel hub motors 5 on the same axle to generate a torque difference, the reaction forces of the ground on the two wheels 8 on this axle are different in magnitude, thereby generating a rotational torque to drive the vehicle to steer. With this design, when the driver turns the steer-by-wire steering wheel 2, the vehicle can be timely controlled to enter the steering mode, so that the vehicle steers according to the driver's driving intention, ensuring the accuracy of control.

[0192] In one embodiment, the current vehicle data further includes the current vehicle speed;

[0193] As Figure 12 shown, in step S1102, determining that the current working mode is the steering mode includes:

[0194] S1201: Compare the current vehicle speed with a second vehicle speed threshold;

[0195] S1202: If the current vehicle speed is less than the second vehicle speed threshold and the current steering wheel angle is less than the second steering wheel angle threshold, determine that the current working mode is the front-wheel steering mode;

[0196] S1203: If the current vehicle speed is less than the second vehicle speed threshold and the current steering wheel angle is not less than the second steering wheel angle threshold, determine that the current working mode is the front-and-rear wheel reverse steering mode;

[0197] S1204: If the current vehicle speed is greater than the second vehicle speed threshold, determine that the current working mode is the front-and-rear wheel same-direction steering mode.

[0198] Among them, the second vehicle speed threshold is a pre-set vehicle speed threshold for further evaluating the steering mode. The second steering wheel angle threshold is a pre-set threshold for the rotation angle of the steer-by-wire steering wheel 2 for further distinguishing the steering mode.

[0199] Among them, the steering modes include the front-wheel steering mode, the front-and-rear wheel reverse steering mode, and the front-and-rear wheel same-direction steering mode. The front-wheel steering mode is a steering mode in which only two front wheels are driven to steer. The front-and-rear wheel reverse steering mode is a steering mode in which four wheels 8 are driven to steer and the front wheels and the rear wheels steer in opposite directions. The front-and-rear wheel same-direction steering mode is a steering mode in which four wheels 8 are driven to steer and the front wheels and the rear wheels steer in the same direction.

[0200] As an example, the central controller 1 compares the current vehicle speed with the second vehicle speed threshold and compares the current steering wheel angle with the second steering wheel angle threshold, and determines the corresponding steering mode according to the comparison results of the two.

[0201] As an example, if the current vehicle speed is less than the second vehicle speed threshold and the current steering wheel angle is less than the second steering wheel angle threshold, the central controller 1 determines that the vehicle only needs to steer through the front wheels, that is, determines that the current working mode is the front-wheel steering mode.

[0202] As an example, if the current vehicle speed is less than the second vehicle speed threshold and the current steering wheel angle is not less than the second steering wheel angle threshold, the central controller 1 determines that the vehicle needs to steer through four wheels 8 and the front wheels and the rear wheels steer in opposite directions, that is, determines that the current working mode is the front-and-rear wheel reverse steering mode.

[0203] As an example, if the current vehicle speed is greater than the second vehicle speed threshold, the central controller 1 determines that the vehicle needs to steer through four wheels 8 and the front wheels and the rear wheels steer in the same direction, that is, determines that the current working mode is the front-and-rear wheel same-direction steering mode.

[0204] In one embodiment, as Figure 13As shown in the figure, step S1103, that is, if the current working mode is the steering mode, power the wheel hub motors 5 to generate a torque difference between the two wheels 8 on the same axle, including:

[0205] S1301: If the current working mode is the front-wheel steering mode, power the wheel hub motors 5 to generate a torque difference between the two front wheels;

[0206] S1302: If the current working mode is the front-and-rear-wheel reverse steering mode, power the wheel hub motors 5 to generate a torque difference between the two front wheels and a torque difference between the two rear wheels, and make the steering directions of the two front wheels and the two rear wheels opposite;

[0207] S1303: If the current working mode is the front-and-rear-wheel same-direction steering mode, power the wheel hub motors 5 to generate a torque difference between the two front wheels and a torque difference between the two rear wheels, and make the steering directions of the two front wheels and the two rear wheels the same.

[0208] As an example, in step S1301, if the current working mode is the front-wheel steering mode, power the wheel hub motors 5 to generate a torque difference between the two front wheels. Specifically, if the central controller 1 determines that the vehicle only needs to steer through the front wheels, that is, determines that the current working mode is the front-wheel steering mode, then the central controller 1 outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to at least one of the wheel hub motors 5 in M1 and M2 according to the target power distribution signal. That is to say, supply different currents to the two wheel hub motors 5 in M1 and M2 at the same time, or only supply power to the wheel hub motor 5 in M1, or only supply power to the wheel hub motor 5 in M2. By reasonably controlling the torques of the two wheel hub motors 5 in M1 and M2, a torque difference is generated between the two front wheels, so that the reaction forces of the ground on the two front wheels are different in magnitude, and then a rotational torque is generated to drive the vehicle to steer.

[0209] As an example, in step S1302, if the current working mode is the front-and-rear-wheel reverse steering mode, power the wheel hub motors 5 to generate a torque difference between the two front wheels and a torque difference between the two rear wheels, and make the steering directions of the two front wheels and the two rear wheels opposite. Specifically, if the central controller 1 determines that the vehicle needs to steer through the four wheels 8 and the steering directions of the front wheels and the rear wheels are opposite, that is, determines that the current working mode is the front-and-rear-wheel reverse steering mode, then the central controller 1 outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to at least one of the wheel hub motors 5 in M1 and M2, and supply power to at least one of the wheel hub motors 5 in M3 and M4. At the same time, by reasonably controlling the torques of the four wheel hub motors 5 in M1, M2, M3 and M4, the steering directions of the two front wheels and the two rear wheels are opposite, realizing the front-and-rear-wheel reverse steering mode.

[0210] As an example, in step S1303, if the current working mode is the front and rear wheel co-directional steering mode, power is supplied to the wheel hub motors 5 to cause a torque difference between the two front wheels and a torque difference between the two rear wheels, and the steering of the two front wheels and the two rear wheels is the same. Specifically, if the central controller 1 determines that the vehicle needs to steer through the four wheels 8 and the steering of the front wheels and the rear wheels is the same, that is, it determines that the current working mode is the front and rear wheel co-directional steering mode, then the central controller 1 outputs a target power distribution signal to the power distribution unit 6. The power distribution unit 6 controls the power battery 7 to supply power to at least one of the wheel hub motors 5 in M1 and M2, and to supply power to at least one of the wheel hub motors 5 in M3 and M4 according to the target power distribution signal. At the same time, by reasonably controlling the torques of the four wheel hub motors 5 of M1, M2, M3, and M4, the steering of the two front wheels and the two rear wheels is made the same, realizing the front and rear wheel co-directional steering mode.

[0211] In this example, the central controller 1 reasonably controls the torque magnitudes and directions of the four wheel hub motors 5 by controlling the current direction and magnitude output to the corresponding wheel hub motors 5, achieving the purpose of steady-state control of the vehicle while ensuring normal vehicle steering.

[0212] In one embodiment, a central controller 1 is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the control method of the steer-by-wire chassis system described in the above embodiments, such as Figure 2 S201 - S203 shown, or Figures 3 to 13 as shown in, to avoid repetition, it will not be elaborated here.

[0213] In one embodiment, a vehicle is provided, including four wheels 8 and the steer-by-wire chassis system described in any of the above embodiments, and each wheel hub motor 5 is connected to a wheel 8.

[0214] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0215] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0216] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A steer-by-wire chassis system, characterized in that, It includes a central controller, a steer-by-wire steering wheel, a brake-by-wire pedal, an accelerator-by-wire pedal, and four in-wheel motors, and each of the in-wheel motors is used to connect to a wheel; The central controller is connected to the steer-by-wire steering wheel, the brake-by-wire pedal, the accelerator-by-wire pedal, and the four in-wheel motors, and is used to control the operation of the in-wheel motors according to the current vehicle data output by the steer-by-wire steering wheel, the brake-by-wire pedal, and the accelerator-by-wire pedal.

2. The steer-by-wire chassis system according to claim 1, wherein, The steer-by-wire chassis system further includes a power distribution unit and a power battery; The power distribution unit is connected to the power battery and the four in-wheel motors; The central controller is connected to the power distribution unit, and is used to control the power battery to supply power to the in-wheel motors through the power distribution unit according to the current vehicle data.

3. The steer-by-wire chassis system according to claim 1, characterized in that, The steer-by-wire chassis system further includes a wheel speed sensor, a vehicle speed sensor, and a slope sensor; The wheel speed sensor is arranged on the wheel and is used to collect the current wheel speed and send it to the central controller; The vehicle speed sensor is arranged on the vehicle body and is used to collect the current vehicle speed and send it to the central controller; The slope sensor is arranged on the vehicle body and is used to collect the current slope and send it to the central controller; The central controller is used to control the operation of the in-wheel motors according to the current wheel speed, the current vehicle speed, and the current slope.

4. A control method for a steer-by-wire chassis system, characterized in that, Applied to the steer-by-wire chassis system according to any one of claims 1-3, the control method includes: Obtain the current vehicle data; Determine the current working mode according to the current vehicle data; Based on the current working mode, control the operation of the in-wheel motors.

5. The control method of the by-wire chassis system according to claim 4, characterized in that The obtaining of the current vehicle data includes: Obtain the current vehicle data, and the current vehicle data includes the current steering wheel angle and the current accelerator pedal depth; The determining of the current working mode according to the current vehicle data includes: If the current steering wheel angle is less than the first steering wheel angle threshold and the current accelerator pedal depth is greater than the first accelerator pedal depth threshold, then determine that the current working mode is the driving mode; The controlling of the operation of the in-wheel motors based on the current working mode includes: If the current working mode is the driving mode, then control the in-wheel motors to drive the wheels to work.

6. The control method of the steer-by-wire chassis system according to claim 5, characterized in that, The current vehicle data further includes current operation data, The determining that the current working mode is the driving mode includes: Determine the current driving condition according to the current operation data; If the current driving condition is the first driving condition, then determine that the current working mode is the four-wheel drive mode; If the current driving condition is not the first driving condition, then determine that the current working mode is the two-wheel drive mode.

7. The control method of the by-wire chassis system according to claim 6, characterized in that The current operation data includes the current vehicle speed; The determining of the current driving condition according to the current operation data includes: Compare the current vehicle speed with the first vehicle speed threshold; If the current vehicle speed is greater than the first vehicle speed threshold, then determine that the current driving condition is the first driving condition; If the current vehicle speed is not greater than the first vehicle speed threshold, then determine that the current driving condition is not the first driving condition.

8. The control method of the steer-by-wire chassis system according to claim 6, characterized in that, The current operation data includes the current slope; Determining the current driving condition according to the current operating data includes: Comparing the current slope with a first slope threshold; If the current slope is greater than the first slope threshold, determining that the current driving condition is a first driving condition; If the current slope is not greater than the first slope threshold, determining that the current driving condition is not the first driving condition.

9. The control method of the by-wire chassis system according to claim 6, characterized in that The current operating data includes the current wheel speed and the current vehicle speed; Determining the current driving condition according to the current operating data includes: Obtaining a current speed ratio according to the current wheel speed and the current vehicle speed; If the current speed ratio is greater than a first ratio threshold, determining that the current driving condition is a first driving condition; If the current speed ratio is not greater than the first ratio threshold, determining that the current driving condition is not the first driving condition.

10. The control method of the steer-by-wire chassis system according to claim 6, characterized in that, The current operating data includes the current accelerator pedal depth; Determining the current driving condition according to the current operating data includes: Comparing the current accelerator pedal depth with a second accelerator pedal depth threshold; If the current accelerator pedal depth is greater than the second accelerator pedal depth threshold, determining that the current driving condition is a first driving condition; If the current accelerator pedal depth is not greater than the second accelerator pedal depth threshold, determining that the current driving condition is not the first driving condition.

11. The control method of the by-wire chassis system according to claim 6, characterized in that, If the current working mode is the driving mode, controlling the in-wheel motor to drive the wheels to work includes: If the current working mode is a four-wheel drive mode, supplying power to the four in-wheel motors so that the four in-wheel motors drive the wheels to work; If the current working mode is a two-wheel drive mode, supplying power to the two in-wheel motors on the same axle so that the two in-wheel motors drive the wheels to work.

12. The control method of the steer-by-wire chassis system according to claim 4, characterized in that, Obtaining the current vehicle data includes: Obtaining the current vehicle data, where the current vehicle data includes the current brake pedal depth; Determining the current working mode according to the current vehicle data includes: If the current brake pedal depth is less than a first brake pedal depth threshold, determining that the current working mode is an energy recovery mode; If the current brake pedal depth is not less than the first brake pedal depth threshold, determining that the current working mode is a rapid braking mode; Based on the current working mode, controlling the in-wheel motor to work includes: If the current working mode is the energy recovery mode, controlling the in-wheel motor to charge the power battery; If the current working mode is the rapid braking mode, controlling the power distribution unit to drive the in-wheel motor to provide reverse torque.

13. The control method of the steer-by-wire chassis system according to claim 4, characterized in that Obtaining the current vehicle data includes: Obtaining the current vehicle data, where the current vehicle data includes the current steering wheel angle; Determining the current working mode according to the current vehicle data includes: If the current steering wheel angle is greater than 0, determining that the current working mode is a steering mode; Based on the current working mode, controlling the in-wheel motor to work includes: If the current working mode is the steering mode, supplying power to the in-wheel motor so that there is a torque difference between the two wheels on the same axle.

14. The control method of the steer-by-wire chassis system according to claim 12, wherein The current vehicle data further includes the current vehicle speed; Said determining that the current working mode is the steering mode includes: If the current vehicle speed is less than a second vehicle speed threshold and the current steering wheel angle is less than a second steering wheel angle threshold, it is determined that the current working mode is the front-wheel steering mode; If the current vehicle speed is less than a second vehicle speed threshold and the current steering wheel angle is not less than a second steering wheel angle threshold, it is determined that the current working mode is the front and rear wheel reverse steering mode; If the current vehicle speed is greater than a second vehicle speed threshold, it is determined that the current working mode is the front and rear wheel same-direction steering mode.

15. The control method of the steer-by-wire chassis system according to claim 14, wherein Said if the current working mode is the steering mode, power is supplied to the in-wheel motor to cause a torque difference between two wheels on the same axle, including: If the current working mode is the front-wheel steering mode, power is supplied to the in-wheel motor to cause a torque difference between the two front wheels; If the current working mode is the front and rear wheel reverse steering mode, power is supplied to the in-wheel motor to cause a torque difference between the two front wheels and a torque difference between the two rear wheels, and the steering directions of the two front wheels and the two rear wheels are opposite; If the current working mode is the front and rear wheel same-direction steering mode, power is supplied to the in-wheel motor to cause a torque difference between the two front wheels and a torque difference between the two rear wheels, and the steering directions of the two front wheels and the two rear wheels are the same.

16. A central controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method of the by-wire chassis system according to any one of claims 4-15.

17. A vehicle, characterized in that, It includes four wheels and the by-wire chassis system according to any one of claims 1-3, and each in-wheel motor is connected to one of the wheels.

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