Active roll steering device and unmanned tricycle

Abstract

The present invention discloses an active roll steering device and an unmanned three-wheeled vehicle, wherein the active roll steering device comprises a mounting frame, a wheel, an active steering mechanism and an active roll mechanism; the active steering mechanism is arranged on the mounting frame, and the active steering mechanism is used to drive the wheel to rotate; the active roll mechanism is arranged on the mounting frame, and the active roll mechanism is used to drive the active steering mechanism to tilt, thereby driving one of its wheels to tilt; by arranging the active steering mechanism to drive the wheel to rotate, the vehicle can actively control the steering of the wheel, and by arranging the active roll mechanism to drive the active steering mechanism, the wheel can be controlled to tilt without affecting the steering of the wheel, and when the vehicle turns, the vehicle can be actively tilted to avoid overturning due to excessive vehicle speed or excessive vehicle tonnage, the safety performance is higher, the vehicle roll angle and the rotation angle can be actively adjusted, and the vehicle has higher maneuverability and flexibility.

Description

Technical Field

[0001] The invention relates to the field of unmanned driving technology, and in particular to an active roll steering device and an unmanned driving tricycle. Background Art

[0002] When a vehicle turns or passes an inclined road, it needs to tilt the vehicle body at a certain angle to resist centrifugal force, keep the vehicle body stable, and prevent the vehicle from running out of the curve. Currently, passive roll and rotation mechanisms are commonly used, and the roll angle and rotation angle of the vehicle can only be passively adjusted, resulting in low mobility and flexibility of the vehicle. Summary of the invention

[0003] The purpose of the present invention is to provide an active roll steering device and an unmanned tricycle, aiming to solve the problem in the prior art that the roll angle and the rotation angle of the vehicle can only be passively adjusted and the maneuverability and flexibility of the vehicle are low.

[0004] In a first aspect, an embodiment of the present invention provides an active roll steering device, comprising:

[0005] The mounting frame is a bilaterally symmetrical frame;

[0006] Wheels, set two;

[0007] An active steering mechanism, disposed on the mounting frame, for driving the wheels to rotate;

[0008] The active roll mechanism is arranged on the mounting frame and is used to drive the active steering mechanism to roll, thereby driving one of the wheels to roll.

[0009] In a second aspect, an embodiment of the present invention provides an unmanned three-wheeled vehicle, including an active roll steering device, and further comprising:

[0010] Body frame;

[0011] A laser radar installed on the vehicle body frame to sense information about obstacles ahead;

[0012] A plurality of binocular cameras are provided and installed around the vehicle body frame, and the binocular cameras are used to detect image information around the vehicle body;

[0013] A roll steering motor controller is arranged in the vehicle body frame, and the roll steering motor controller is used to control the active roll steering device to perform active steering and / or roll maneuvering;

[0014] A wheel hub motor is arranged in the vehicle body frame, and the wheel hub motor is used to provide power for the tricycle;

[0015] A wheel hub motor controller is arranged in the vehicle body frame, and the wheel hub motor controller is used to control the wheel hub motor;

[0016] A gyroscope is arranged in the vehicle body frame, and the gyroscope is used to detect the roll angle of the vehicle body;

[0017] A navigation system, arranged in the vehicle body frame, the navigation system being used to realize autonomous navigation;

[0018] A DBS hydraulic brake, disposed in the vehicle body frame, the DBS hydraulic brake is used to provide brake pressure and brake-by-wire control;

[0019] A DBS controller, disposed in the vehicle body frame, the DBS controller being used to control the DBS hydraulic brake;

[0020] A power module, installed in the middle of the bottom of the vehicle body frame, for providing electrical energy;

[0021] The navigation system, the laser radar, the binocular camera, and the gyroscope are respectively connected to an industrial computer arranged in the vehicle body frame, the navigation system sends a position signal to the industrial computer through a first signal path, the laser radar sends a distance signal between the vehicle body and the road obstacle to the industrial computer through a second signal path, the binocular camera sends a vehicle body side image signal to the industrial computer through a third signal path, and the gyroscope sends a vehicle body roll angle signal to the industrial computer through a fourth signal path;

[0022] The industrial computer is connected to the VCU arranged in the vehicle body frame, and the VCU is connected to the roll steering motor controller, the wheel hub motor controller and the DBS controller. The industrial computer controls the roll steering motor controller, the wheel hub motor controller and the DBS controller through the VCU to respectively drive the active roll steering device, the wheel hub motor and the DBS hydraulic brake to work.

[0023] The embodiment of the present invention drives the wheel rotation by setting an active steering mechanism, so that the vehicle can actively control the steering of the wheel, and drives the active steering mechanism by setting an active roll mechanism, so that the wheel roll can be controlled without affecting the steering of the wheel. When the vehicle turns, the vehicle can be actively rolled to avoid rollover caused by excessive vehicle speed or excessive vehicle tonnage. The safety performance is higher, the vehicle roll angle and rotation angle can be actively adjusted, and the vehicle has higher maneuverability and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0025] Figure 1 A schematic structural diagram of an active roll steering device provided by an embodiment of the present invention;

[0026] Figure 2 Another schematic diagram of the structure of the active roll steering device provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the structure of an unmanned tricycle provided by an embodiment of the present invention;

[0028] Figure 4 A schematic block diagram of the connection relationship of the unmanned tricycle provided in an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the structure of an active roll steering device in a roll state provided by an embodiment of the present invention;

[0030] Figure 6 Another schematic diagram of the structure of the active roll steering device provided by an embodiment of the present invention in a roll state;

[0031] Figure 7 A schematic diagram of the structure of an active roll steering device in a steering state provided by an embodiment of the present invention;

[0032] Figure 8 Another schematic diagram of the structure of the active roll steering device provided by an embodiment of the present invention in a steering state;

[0033] Fig. 9 A schematic diagram of the structure of an active roll steering device provided by an embodiment of the present invention in a roll steering state;

[0034] Fig.10 Another structural schematic diagram of the active roll steering device provided by an embodiment of the present invention in a roll steering state. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0037] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0038] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0039] See also Figure 1-2 , an active roll steering device includes a mounting frame 100, two wheels 400, an active steering mechanism and an active roll mechanism.

[0040] The mounting frame 100 is a bilaterally symmetrical frame; the active steering mechanism is arranged on the mounting frame 100, and the active steering mechanism is used to drive the wheel 400 to rotate; the active roll mechanism is arranged on the mounting frame 100, and the active roll mechanism is used to drive the active steering mechanism to roll, thereby driving one of the wheels 400 to roll.

[0041] In this embodiment, an active steering mechanism is provided to drive the wheel 400 to rotate, so that the vehicle can actively control the steering of the wheel 400, and an active roll mechanism is provided to drive the active steering mechanism, so that the roll of the wheel 400 can be controlled without affecting the steering of the wheel 400. When the vehicle turns, the vehicle can be actively rolled to avoid rollover caused by excessive vehicle speed or excessive vehicle tonnage, with higher safety performance, the vehicle roll angle and rotation angle can be actively adjusted, and the vehicle has higher maneuverability and flexibility.

[0042] The mounting frame 100 is arranged to be bilaterally symmetrical, and the same-direction steering operation of the two wheels 400 can be achieved through only one set of driving devices.

[0043] In one embodiment, the active steering mechanism includes a steering actuator, a steering base 230 , a steering rocker arm 240 , a steering tie rod 220 and a steering arm 210 .

[0044] The steering actuator is arranged in the vertical plane of the left and right symmetry axis on the mounting frame 100; one end of the top of the steering base 230 can be horizontally rotated to connect to the active roll mechanism; the bottom side of the steering rocker arm 240 can be rotatably connected to the wheel 400, and the top of the steering rocker arm 240 can be vertically rotated to connect to the bottom of the steering base 230: one end of the steering rod 220 is rotationally connected to the other end of the top of the steering base 230 through a first rotating member; the other end of the steering rod 220 is rotationally connected to one end of the steering arm 210 through a second rotating member, and the other end of the steering arm 210 is fixed to the flange of the steering actuator.

[0045] There are two steering bases 230 , two steering rocker arms 240 , two steering tie rods 220 and two steering arms 210 , respectively, and they are symmetrically arranged on the left and right sides of the steering actuator.

[0046] In this embodiment, by symmetrically arranging the steering mating components (i.e., the steering base 230, the steering rocker arm 240, the steering tie rod 220 and the steering arm 210) on the left and right sides of the steering actuator, when the steering actuator rotates, the steering arm 210 rotates synchronously (the two steering arms 210 are located on the same radial direction of the output shaft of the steering actuator and are respectively located on both sides of the output shaft), and the steering base 230 is pulled / pushed to rotate horizontally by the steering tie rod 220, and the steering rocker arm 240 rotates and drives the corresponding wheel 400 to rotate.

[0047] See also Figure 7-8 , the principle of the active steering mechanism is explained below through an example:

[0048] When turning right, the output shaft of the steering actuator is controlled to output counterclockwise, and the two steering arms 210 rotate counterclockwise synchronously. The steering arm 210 located on the right side of the steering actuator pulls the corresponding steering rod 220 forward, so that the steering rod 220 drives one end of the corresponding steering base 230 forward. The other end of the steering base 230 can be rotated to connect to the active roll mechanism. Therefore, the steering base 230 as a whole rotates clockwise on the horizontal plane with one end connected to the active roll mechanism as the axis. At this time, the corresponding wheel 400 rotates clockwise.

[0049] The steering arm 210 located on the left side of the steering actuator pushes the corresponding steering rod 220 backward, so that the steering rod 220 drives one end of the corresponding steering base 230 backward. The other end of the steering base 230 can be rotated to connect to the active roll mechanism. Therefore, the steering base 230 as a whole rotates clockwise on the horizontal plane with the other end as the axis. At this time, the corresponding wheel 400 rotates clockwise. In this way, the two wheels 400 can be driven to rotate synchronously through a steering actuator, and the rotation direction and angle are consistent.

[0050] In one embodiment, the first rotating member includes a first ball stud rod end joint bearing and a first ball head that are rotatably connected, the first ball head is vertically arranged on the top of the steering base 230, and the first ball stud rod end joint bearing is arranged at one end of the steering rod 220.

[0051] In this embodiment, by arranging the ball stud rod end joint bearing and the ball head to rotate in coordination, the rotation is made freer and the rotation angle is larger, and free rotation can be performed within a hemispherical surface.

[0052] In one embodiment, the second rotating member includes a second ball stud rod end joint bearing and a second ball head that are rotatably connected, the second ball stud rod end joint bearing is arranged at the other end of the steering rod 220, and the second ball head is vertically arranged at one end of the steering arm 210.

[0053] In this embodiment, by arranging the ball stud rod end joint bearing and the ball head to rotate in coordination, the rotation is made freer and the rotation angle is larger, and free rotation can be performed within a hemispherical surface.

[0054] In one embodiment, the active roll mechanism includes a roll actuator, a roll swing arm 310 , a roll rocker arm 330 and a roll tie rod 320 .

[0055] The roll actuator is arranged in the vertical plane of the left and right symmetry axis on the mounting frame 100; one end of the roll swing arm 310 is connected to the roll actuator; one end of the roll rocker arm 330 is vertically rotatably connected to the mounting frame 100, and the bottom of the roll rocker arm 330 is connected to the active steering mechanism; one end of the roll rod 320 is rotatably connected to the other end of the roll swing arm 310 through a third rotating member, and the other end of the roll rod 320 is rotatably connected to the other end of the roll rocker arm 330 through a fourth rotating member.

[0056] There are two roll swing arms 310 , two roll rocker arms 330 and two roll tie rods 320 , respectively, and they are symmetrically arranged on the left and right sides of the roll actuator.

[0057] In this embodiment, by symmetrically arranging the roll matching components (i.e., the roll swing arm 310, the roll rocker arm 330 and the roll rod 320) on the left and right sides of the roll actuator, when the roll actuator rotates, the roll swing arm 310 rotates synchronously (the two roll swing arms 310 are located on the same radial direction of the output shaft of the roll actuator and are respectively located on both sides of the output shaft), and the roll rocker arm 330 is pulled / pushed by the roll rod 320 to rotate vertically, and the active steering mechanism moves upward / downward, thereby driving the roll between the two wheels 400.

[0058] See also Figure 5-6 , the principle of the active roll mechanism is explained below through an example:

[0059] When turning right, it is necessary to make a certain height difference between the left and right wheels 400, that is, the height of the right wheel 400 is higher than that of the left wheel, so that the vehicle body tilts to the right as a whole. In this way, the centripetal force of the turn is overcome and rollover is avoided. When turning right, the roll actuator rotates counterclockwise, causing the right roll swing arm 310 to rotate counterclockwise. At this time, the end of the roll swing arm 310 away from the roll actuator swings upward, and pulls the corresponding roll rod 320 upward, driving the corresponding roll rocker arm 330 to rotate upward, and then pulls the active steering mechanism upward (actually pulling the steering base in the active steering mechanism), and the right wheel 400 is pulled upward.

[0060] Similarly, the roll swing arm 310 on the left side rotates counterclockwise, and at this time, the end of the roll swing arm 310 away from the roll actuator swings downward, pushing the corresponding roll rod 320 downward, driving the roll rocker arm 330 to rotate downward, and then pushing the active steering mechanism downward, and the wheel 400 on the left side is pushed downward.

[0061] Specifically, the connection point between the active steering mechanism and the active roll mechanism is at the bottom of the roll rocker arm 330, and one end of the steering base 230 can be horizontally rotatably connected to the bottom of the corresponding roll rocker arm 330 through a rotating shaft; when rolling, the roll rocker arm 330 is driven to rotate on the vertical plane, thereby driving the active steering mechanism connected to the roll rocker arm 330 to swing up and down as a whole; when turning, the steering base 230 is driven to rotate around the rotating connection point with the bottom of the roll rocker arm 330, thereby driving the corresponding wheel 400 connected to the steering rocker arm 240 to turn, so that the roll and steering operations can be realized separately without affecting each other, and the roll operation can be performed separately, the steering operation can also be performed separately, or the operations can be performed simultaneously, please refer to Figure 9-10 .

[0062] Specifically, when the roll rocker arm 330 rotates vertically and thus drives the active steering mechanism to rotate, the steering rocker arm 240 connected to the active steering mechanism will have a certain inclination, which can be adjusted through the rotating shaft between the steering rocker arm 240 and the steering base 230 so that the steering rocker arm 240 is always perpendicular to the horizontal plane.

[0063] In one embodiment, the third rotating member is a first ball hinge.

[0064] In this embodiment, by setting it as a ball hinge, the rotation is freer and the rotation angle is larger, and it can rotate freely within a hemispherical surface.

[0065] In one embodiment, the fourth rotating member is a second ball hinge.

[0066] In this embodiment, by setting it as a ball hinge, the rotation is freer and the rotation angle is larger, and it can rotate freely within a hemispherical surface.

[0067] In one embodiment, a shock absorber is disposed between the steering rocker arm 240 and the steering base 230 .

[0068] In this embodiment, a shock absorber is provided to provide good buffering between the steering rocker arm 240 and the steering base 230, and the connection angle between the steering rocker arm and the steering base is adjusted so that the steering rocker arm is always perpendicular to the ground.

[0069] In one embodiment, one end of the roll rocker arm 330 is configured to be in a downward two-step shape, including a first step and a second step, and the second step is connected to the roll rod 320 .

[0070] In this embodiment, by setting one end of the roll rocker arm 330 into a downward two-step shape, the roll rod 320 can be set longer, thereby ensuring the rotation angle of the roll swing arm 310 and avoiding the roll height of the wheel 400 being affected by the roll rod 320 being too short, which may cause the roll swing arm 310 to be unable to swing a larger angle.

[0071] Please refer to Figure 3 , where label A is the active roll steering device, please refer to Figure 4 , an unmanned three-wheeled vehicle, comprising the above-mentioned active roll steering device, and also comprising a body frame, a laser radar, a binocular camera, a roll steering motor controller, a hub motor, a hub motor controller, a gyroscope, a navigation system, a DBS hydraulic brake, a DBS controller and a power module.

[0072] The laser radar is installed on the body frame to sense the obstacle information ahead; a plurality of binocular cameras are arranged and installed around the body frame, and the binocular cameras are used to detect the image information around the body; the roll steering motor controller is arranged in the body frame, and the roll steering motor controller is used to control the active roll steering device to perform active steering and / or roll maneuvering; the hub motor is arranged in the body frame, and the hub motor is used to provide power for the tricycle; the hub motor controller is arranged in the body frame, and the hub motor controller is used to control the hub motor; the gyroscope is arranged in the body frame, and the gyroscope is used to detect the roll angle of the body; the navigation system is arranged in the body frame, and the navigation system is used to realize autonomous navigation; the DBS hydraulic brake is arranged in the body frame, and the DBS hydraulic brake is used to provide brake pressure and wire control braking; the DBS controller is arranged in the body frame, and the DBS controller is used to control the DBS hydraulic brake; the power module is installed in the middle of the bottom of the body frame to provide electrical energy;

[0073] The navigation system, the laser radar, the binocular camera, and the gyroscope are respectively connected to an industrial computer arranged in the vehicle body frame, the navigation system sends a position signal to the industrial computer through a first signal path, the laser radar sends a distance signal between the vehicle body and the road obstacle to the industrial computer through a second signal path, the binocular camera sends a vehicle body side image signal to the industrial computer through a third signal path, and the gyroscope sends a vehicle body roll angle signal to the industrial computer through a fourth signal path;

[0074] The industrial computer is connected to the VCU arranged in the vehicle body frame, and the VCU is connected to the roll steering motor controller, the wheel hub motor controller and the DBS controller. The industrial computer controls the roll steering motor controller, the wheel hub motor controller and the DBS controller through the VCU to respectively drive the active roll steering device, the wheel hub motor and the DBS hydraulic brake to work.

[0075] In this embodiment, the positional relationship between the vehicle body frame, laser radar, binocular camera, roll steering motor controller, hub motor, hub motor controller, gyroscope, navigation system, DBS hydraulic brake, DBS controller and power module is not specifically limited in this article and can be set according to actual conditions in specific production and life.

[0076] The industrial computer monitors external data information through the navigation system, lidar, binocular camera, and gyroscope, issues corresponding instructions based on information changes and preset processing strategies, and converts the instructions into corresponding specific instructions through the VCU and sends them to the corresponding roll steering motor controller, hub motor controller, and DBS controller connection. The active roll steering device, hub motor, and DBS hydraulic brake are driven respectively through the roll steering motor controller, hub motor controller, and DBS controller connection to achieve the purpose of unmanned driving.

[0077] Specifically, when controlling the active roll steering device, the main thing is to control the rotation coordination of the roll actuator and the steering actuator. The specific principle can be referred to above.

[0078] Specifically, the VCU (Vehicle control unit) vehicle controller, as the central control unit of new energy vehicles, is the core of the entire control system.

[0079] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An active roll steering device, characterized in that: include: The mounting frame (100) is a bilaterally symmetrical frame; Wheels (400), two wheels are provided; An active steering mechanism, disposed on the mounting frame (100) and used to drive the wheel (400) to rotate; An active roll mechanism, arranged on the mounting frame (100), used to drive the active steering mechanism to roll, thereby driving one of the wheels (400) to roll; The active steering mechanism comprises: A steering actuator is arranged in a vertical plane of the left-right symmetry axis on the mounting frame (100); A steering base (230), wherein one end of the top of the steering base (230) is horizontally rotatable and connected to the active roll mechanism; A steering rocker arm (240), wherein the bottom side of the steering rocker arm (240) is rotatably connected to the wheel (400), and the top of the steering rocker arm (240) is vertically rotatably connected to the bottom of the steering base (230); A steering rod (220), one end of which is rotatably connected to the other end of the top of the steering base (230) via a first rotating member; A steering arm (210), the other end of the steering tie rod (220) is rotatably connected to one end of the steering arm (210) via a second rotating member, and the other end of the steering arm (210) is fixed to a flange of the steering actuator; Wherein, the steering base (230), the steering rocker arm (240), the steering tie rod (220) and the steering arm (210) are respectively provided with two, and are symmetrically arranged on the left and right sides of the steering actuator; The active roll mechanism comprises: A roll actuator is arranged in a vertical plane of the left-right symmetry axis on the mounting frame (100); A roll swing arm (310), one end of the roll swing arm (310) being connected to the roll actuator; A roll rocker arm (330), one end of which is vertically rotatably connected to the mounting frame (100), and the bottom of which is connected to the active steering mechanism; A roll rod (320), one end of the roll rod (320) being rotatably connected to the other end of the roll swing arm (310) via a third rotating member, and the other end of the roll rod (320) being rotatably connected to the other end of the roll rocker arm (330) via a fourth rotating member; Wherein, the roll swing arm (310), the roll rocker arm (330) and the roll pull rod (320) are respectively provided with two, and are symmetrically arranged on the left and right sides of the roll actuator; A shock absorber is arranged between the steering rocker arm (240) and the steering base (230).

2. The active roll steering device according to claim 1, characterized in that: The first rotating member comprises a first ball stud rod end joint bearing and a first ball head which are rotatably connected, the first ball head being vertically arranged on the top of the steering base (230), and the first ball stud rod end joint bearing being arranged at one end of the steering tie rod (220).

3. The active roll steering device according to claim 1, characterized in that: The second rotating member comprises a second ball stud rod end joint bearing and a second ball head which are rotatably connected, the second ball stud rod end joint bearing being arranged at the other end of the steering tie rod (220), and the second ball head being vertically arranged at one end of the steering arm (210).

4. The active roll steering device according to claim 1, characterized in that: The third rotating member is a first ball hinge.

5. The active roll steering device according to claim 1, characterized in that: The fourth rotating member is a second ball hinge.

6. The active roll steering device according to claim 1, characterized in that: One end of the roll rocker arm (330) is arranged in a downward two-step shape, including a first step and a second step, and the second step is connected to the roll pull rod (320).

7. An unmanned tricycle, characterized in that: The active roll steering device according to any one of claims 1 to 6 further comprises: Body frame; A laser radar installed on the vehicle body frame to sense information about obstacles ahead; A plurality of binocular cameras are provided and installed around the vehicle body frame, and the binocular cameras are used to detect image information around the vehicle body; A roll steering motor controller is disposed in the vehicle body frame, and the roll steering motor controller is used to control the active roll steering device to perform active steering and / or roll maneuvers; A wheel hub motor is arranged in the vehicle body frame, and the wheel hub motor is used to provide power for the tricycle; A wheel hub motor controller is arranged in the vehicle body frame, and the wheel hub motor controller is used to control the wheel hub motor; A gyroscope is arranged in the vehicle body frame, and the gyroscope is used to detect the roll angle of the vehicle body; A navigation system, arranged in the vehicle body frame, the navigation system being used to realize autonomous navigation; A DBS hydraulic brake, disposed in the vehicle body frame, the DBS hydraulic brake is used to provide brake pressure and brake-by-wire control; A DBS controller, disposed in the vehicle body frame, the DBS controller being used to control the DBS hydraulic brake; A power module, installed in the middle of the bottom of the vehicle body frame, for providing electrical energy; The navigation system, the laser radar, the binocular camera, and the gyroscope are respectively connected to an industrial computer arranged in the vehicle body frame, the navigation system sends a position signal to the industrial computer through a first signal path, the laser radar sends a distance signal between the vehicle body and the road obstacle to the industrial computer through a second signal path, the binocular camera sends a vehicle body side image signal to the industrial computer through a third signal path, and the gyroscope sends a vehicle body roll angle signal to the industrial computer through a fourth signal path; The industrial computer is connected to the VCU arranged in the vehicle body frame, and the VCU is connected to the roll steering motor controller, the wheel hub motor controller and the DBS controller. The industrial computer controls the roll steering motor controller, the wheel hub motor controller and the DBS controller through the VCU to respectively drive the active roll steering device, the wheel hub motor and the DBS hydraulic brake to work.

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