Distributed reconfigurable drive-by-wire chassis and motion control system thereof

Abstract

The invention discloses a distributed reconfigurable drive-by-wire chassis and a motion control system thereof, relates to the technical field of unmanned vehicle walking control, and solves the technical problems that self-adaptive adjustment cannot be carried out in combination with actual conditions, walking deviation occurs in the walking process, and the overall control result is affected. According to the method, whether the walking deviation exists or not is judged by comparing the actual walking parameters of the unmanned vehicle with the instruction parameters input by the user, the running speed and the running direction are further analyzed for the situation that the walking deviation exists, comprehensive adjustment is carried out in combination with the situation of the walking road surface in the analysis process, and therefore the accuracy of the walking deviation is improved. On one hand, walking control can be completed under the condition that instructions are executed, on the other hand, corresponding parameter regulation and control are carried out in combination with actual requirements, the overall walking stability is improved, regulation and control of the walking speed and the walking direction are achieved, and the overall control effect is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle travel control, in particular to a distributed reconfigurable wire-controlled chassis and a motion control system thereof. Background Art

[0002] Steering and traveling are the key links in harvesting machinery. Therefore, improving the driver's operating comfort and working environment, reducing labor intensity, and ensuring reliability and safety have become the inevitable trends in the development of harvesting machinery.

[0003] According to the publication number CN111267950A, it relates to a motor vehicle and a steering motion control system thereof, the steering motion control system includes a control unit, a steering wheel, an angle sensor, a left two-way proportional valve and a right two-way proportional valve, a left travel electronically controlled pump and a right travel electronically controlled pump, a left travel motor and a right travel motor, the angle sensor is used to detect the rotation angle of the steering wheel, the control unit controls the current of the left two-way proportional valve and the right two-way proportional valve according to the rotation angle measured by the angle sensor, thereby controlling the left travel electronically controlled pump and the right travel electronically controlled pump, and then realizing the left turn or right turn of the motor vehicle through the left travel motor and the right travel motor.

[0004] When some existing unmanned vehicle motion control systems are in use, the user inputs commands to control the unmanned vehicle to perform corresponding operations. However, the operations performed by the unmanned vehicle are fixed. When facing different road environments, if they cannot be adaptively adjusted, the unmanned vehicle will have walking deviations, and further, there will be differences from the input commands, which will affect the overall walking of the unmanned vehicle. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a distributed reconfigurable wire-controlled chassis and a motion control system thereof, which solves the problem that adaptive adjustment cannot be performed according to actual conditions, walking deviations may occur during walking, and the overall control results may be affected.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a distributed reconfigurable wire-controlled chassis motion control system, including a command input module, a control analysis module and a control information output module;

[0007] The command input module is used to obtain the user input command, and identify and analyze the vehicle's walking state based on the input command, and generate state recognition results, including: normal walking results and abnormal walking results;

[0008] The control analysis module is used to analyze the abnormal driving results obtained, analyze the driving speed and driving direction corresponding to the abnormal driving results respectively, analyze the driving speed, compare the real-time speed with the command parameters, and perform comprehensive adjustment and control in combination with the corresponding road condition information, and generate speed control information, analyze the driving direction, correct the vehicle motion trajectory, and generate direction control information in combination with the road curve conditions, and then transmit the generated speed control information and direction control information to the control information output module;

[0009] The control information output module is used to display the acquired speed adjustment information, normal monitoring signals and direction adjustment information to the corresponding control personnel.

[0010] As a further solution of the present invention: the specific method of the instruction input module to generate the state recognition result is:

[0011] Obtain user input instructions, and compare the user input instructions with the vehicle walking parameters. If the vehicle walking parameters are the same as the user input instructions, it indicates that the walking state is normal, and a normal walking result is generated. If the vehicle walking parameters are different from the user input instructions, it indicates that the walking state is different, and an abnormal walking result is generated. The generated abnormal walking result is transmitted to the control analysis module, and the generated normal walking result is transmitted to the control information output module.

[0012] As a further solution of the present invention: the specific manner in which the control analysis module analyzes the driving speed corresponding to the abnormal walking result is:

[0013] Obtain the real-time speed of the target vehicle and the rated speed in the input command, and compare the real-time speed with the rated speed. If the real-time speed is the same as the rated speed, a result of the same speed is generated. Otherwise, if the real-time speed is different from the rated speed, a result of the different speed is generated, and the real-time speed is adjusted.

[0014] Then, the driving condition of the target vehicle is analyzed, and the road surface flatness in the driving condition is calculated. The specific calculation method is: obtain multiple measurement points on the driving road surface and record them as i, and i=1, 2, ..., j, where j represents the number of measurement points, and at the same time obtain the gap value corresponding to the measurement point i and record it as Ki. Then, substitute the obtained gap value Ki of the measurement point i into the formula: flatness=Σ(gap value of each measurement point) / number of measurement points. The flatness of the driving road surface calculated by the formula is recorded as Q, and analyzed in combination with the suspension feedback value P of the target vehicle.

[0015] As a further solution of the present invention: the specific way in which the control analysis module performs analysis in combination with the suspension feedback value P of the target vehicle is:

[0016] The suspension feedback value P corresponding to the suspension system of the target vehicle on the driving road is obtained, and then the road surface flatness Q and the suspension feedback value P are summed to obtain the road condition value W, and the corresponding driving speed is obtained according to the road condition value W and recorded as V1. Then the driving speed V1 is compared with the driving instruction. If the two are the same, it means that there is no need to adjust the input instruction, and a normal monitoring signal is generated at the same time. If the two are different, it means that the input instruction needs to be adjusted, and the input instruction is adjusted based on the driving speed V1 to generate speed control information, and then the normal monitoring signal and speed control information are transmitted to the control information output module.

[0017] As a further solution of the present invention: the specific manner in which the control analysis module analyzes the driving direction corresponding to the abnormal walking result is:

[0018] The motion trajectory of the target vehicle is obtained, and the motion trajectory within time T is predicted based on the motion trajectory to obtain a predicted trajectory. At the same time, the predicted trajectory is identified and analyzed. If the predicted trajectory does not have a curve, a straight line prediction trajectory is generated. If the predicted trajectory has a curve, a curve prediction trajectory is generated, and the straight line prediction trajectory and the curve prediction trajectory are analyzed separately.

[0019] As a further solution of the present invention: the specific method of the control analysis module to analyze the straight line prediction trajectory is:

[0020] The real-time moving direction of the target vehicle is obtained, and it is determined whether the real-time moving direction is offset. If there is an offset, the real-time moving direction is adjusted based on the input command, and direction control information is generated. If there is no offset, no processing is performed, and a normal monitoring signal is generated.

[0021] As a further solution of the present invention: the specific method of the control analysis module to analyze the predicted curve trajectory is:

[0022] The radius of curvature of the curve is calculated, and the corresponding steering angle is obtained according to the calculated radius of curvature of the curve. The specific calculation method is: determine the curve radius R, the vehicle's linear speed V and the vehicle's wheelbase L. According to the centripetal force formula of circular motion F=m*V2 / R, where F is the centripetal force and m is the vehicle mass, when the vehicle is traveling on a curve, the centripetal force is provided by the friction between the tire and the ground. The steering angle θ is approximately calculated by the following formula: θ=arctan(V2 / (g*R)), where g is the acceleration of gravity. At the same time, the target vehicle is adjusted with the calculated steering angle, and direction adjustment information is generated, which is then transmitted to the control information output module.

[0023] A distributed reconfigurable drive-by-wire chassis comprises a drive-by-wire chassis component and a combined frame, wherein the drive-by-wire chassis component comprises a supporting structure, a plurality of mounting structures are fixedly connected to the supporting structure on all four sides, a hub motor unit is arranged inside the supporting structure, a chassis hub is arranged at the bottom of the supporting structure, and the hub motor unit comprises a plurality of functional modules, specifically: a driver input module, a control module, a drive-by-wire execution module, an environmental perception module and a control information output module.

[0024] The present invention provides a distributed reconfigurable wire-controlled chassis and a motion control system thereof. Compared with the prior art, it has the following beneficial effects:

[0025] The present invention determines whether there is a walking deviation problem by comparing the actual walking parameters of the unmanned vehicle with the command parameters input by the user. Further, in the case of walking deviation, the driving speed and walking direction are analyzed separately, and comprehensive adjustments are made in combination with the walking road conditions during the analysis process. On the one hand, walking control can be completed while executing instructions, and on the other hand, corresponding parameter adjustments are made in combination with actual needs, thereby improving the overall walking stability, realizing the regulation of walking speed and walking direction, and optimizing the overall control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is the overall structural diagram of the distributed reconfigurable chassis of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the wire-controlled chassis of the present invention;

[0028] Figure 3 This is a schematic diagram of the direct assembly of the reconfigurable chassis of the present invention;

[0029] Figure 4 It is a flow chart of the present invention;

[0030] Figure 5 This is a principle block diagram of the motion control system of the present invention.

[0031] In the figure: 1. Wire-controlled chassis assembly; 101. Support structure; 102. Mounting structure; 103. Hub motor unit; 104. Chassis hub; 2. Combined structure. DETAILED DESCRIPTION

[0032] 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 only 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.

[0033] For example, see Figure 1 and Figure 2 The present application provides a distributed reconfigurable drive-by-wire chassis, including a drive-by-wire chassis component 1 and a combined architecture 2, wherein the drive-by-wire chassis component 1 is provided with four groups in total, and the drive-by-wire chassis component includes a support architecture 101, and a plurality of mounting architectures 102 are fixedly connected to the top of the support architecture 101 around the periphery, wherein mounting holes are provided through the surface of the mounting architecture 102, and the mounting holes are fixedly connected by bolts, and a wheel hub motor unit 103 is provided inside the support architecture 101, and the wheel hub motor unit 103 includes a plurality of functional modules, specifically including a driver input module, a control module, a drive-by-wire execution module, an environment perception module and a control information output module;

[0034] A single wire-controlled chassis is the smallest unit. The two units can exchange data through the CAN bus to achieve reconfiguration. The vehicle controllers (hereinafter referred to as VCU) of the two units realize the master-slave division of responsibilities through the arbitration mechanism, thus becoming a composite unit. The specific reconfiguration process is combined with the attached Figure 4 The details are as follows:

[0035] First, the VCU performs initialization judgment. If the overall initialization is not successful, it waits for initialization to succeed. If the overall initialization is successful, it waits for the reconstruction request. If there is no reconstruction request, it operates normally in single module mode and receives remote control commands at the same time. If a reconstruction request is received, it will be reconstructed after waiting for the vehicle to stop. Then the external communication IO signal is judged. If the external communication IO signal input is a high signal, the main controller takes over the request, waits for other controllers to respond, and determines whether the response has timed out. If there is no timeout, it enters the dual-mode main controller mode. If it times out, it operates normally in single module mode and receives remote control commands. When other controllers receive a takeover request sent by a controller, they send a slave module response and enter the dual-mode slave controller mode. For example, there are four single-module controllers, namely 1, 2, 3 and 4. When 1 requests to become the main controller, the other three single-module controllers will make a request judgment. If there is no timeout when receiving the request, 1 will be marked as the main controller, and the remaining 2, 3 and 4 will be slave controllers. If there is a timeout when receiving the request, and the timeout here is unstable signal reception, 1, 2, 3 and 4 will operate as four single-module controllers and receive instructions.

[0036] If the external communication IO signal input is low, it waits for another controller mode request and determines whether the waiting response times out. If not, it responds to the other controller as the main mode request and enters the dual-mode main controller mode. If it times out, it runs normally in single module mode and receives remote control commands.

[0037] The driver input module includes: remote control accelerator joystick opening, remote control brake joystick opening, remote control steering joystick opening, remote control light control switch, emergency stop switch, etc.

[0038] The control module is the VCU. The VCU recognizes the driver's driving intention through the input of the driver input module to control the vehicle's gear, torque, and steering angle. Its control method is to send CAN messages to communicate with the wheel hub motor, wire control brake system, and wire control steering system, and realize the control of the lights by outputting IO signals.

[0039] The wire control execution module includes: wheel hub motor, wire control brake system and wire control steering system. Each execution module receives the control command sent by VCU to execute the corresponding action and control the motor;

[0040] The environment perception module includes: an inertial accelerometer and a temperature sensor. Specifically, the inertial accelerometer is used to estimate the vehicle's posture and speed to achieve accurate target torque calculation to improve the vehicle's handling stability;

[0041] The temperature sensor is used to monitor the ambient temperature and identify abnormal temperatures to protect the entire system. In addition, the temperature feedback from the temperature sensor can be used to manage the thermal performance of the vehicle and cool or heat the battery according to the established strategy.

[0042] The control information output module is used to display the acquired control information to the corresponding command driver.

[0043] Specifically, when installing the wire-controlled chassis assembly 1, four sets of wire-controlled chassis assemblies 1 can be directly combined, as shown in the attached figure. Figure 3 The combination shown can also be used Figure 1 The combination method in the embodiment utilizes the combination structure 2 to be combined with the wire-controlled chassis component 1.

[0044] For example 2, please refer to Figure 4 and Figure 5 The present application provides a distributed reconfigurable wire-controlled chassis motion control system, including: a command input module, a control analysis module and a control information output module, and the above functional units are directly unidirectionally electrically connected.

[0045] The command input module is used to obtain the user input command, and identify and analyze the vehicle's walking state based on the input command, and generate state recognition results, including: normal walking results and abnormal walking results, and the specific method of generating the state recognition results is:

[0046] Obtain user input instructions, and the input instructions here include: driving speed and driving direction, and at the same time obtain vehicle walking parameters, and compare the user input instructions with the vehicle walking parameters. If the vehicle walking parameters are the same as the user input instructions, it means that the walking state is normal, and a normal walking result is generated. If the vehicle walking parameters are different from the user input instructions, it means that the walking state is different, and an abnormal walking result is generated. The abnormal walking result is transmitted to the control analysis module, and the normal walking result is transmitted to the control information output module.

[0047] For example, the user inputs a command of driving at a speed of 20 kilometers per hour and driving in the east direction. During operation, the system obtains the current actual walking parameters of the vehicle, which are a speed of 18 kilometers per hour and a driving direction of 10 degrees east of north. Since the actual walking parameters of the vehicle are different from the user input instructions, the vehicle's walking state is determined to be abnormal, and an abnormal walking result is generated. If the vehicle's actual walking parameters are a speed of 20 kilometers per hour and a driving direction of due east, which are the same as the user input instructions, then the vehicle's walking state is determined to be normal, and a normal walking result is generated. The target object in this application is an unmanned vehicle, and the unmanned vehicle is controlled to walk by inputting corresponding instructions.

[0048] The control analysis module is used to analyze the abnormal driving results obtained, analyze the driving speed and driving direction corresponding to the abnormal driving results respectively, analyze the driving speed, compare the real-time speed with the instruction parameters, and combine the corresponding road condition information to perform comprehensive adjustment and control, and generate speed control information, analyze the driving direction, correct the vehicle motion trajectory, and adjust and generate direction control information in combination with the road curve conditions, and then transmit the generated speed control information and direction control information to the control information output module, and the specific method of generating the speed control information and direction control information is as follows:

[0049] The specific method of analyzing the driving speed is: obtaining the real-time speed of the target vehicle, and the target vehicle here is an unmanned vehicle, and obtaining the rated speed in the input command, and comparing the real-time speed with the rated speed. If the real-time speed is the same as the rated speed, a result of the same speed is generated. Otherwise, if the real-time speed is different from the rated speed, a result of different speed is generated, and the real-time speed is adjusted;

[0050] Then, the driving condition of the target vehicle is analyzed, and the road surface flatness in the driving condition is calculated, and the specific calculation method is: obtain multiple measurement points on the driving road surface, and record them as i, and i=1, 2, ..., j, where j represents the number of measurement points, and at the same time obtain the gap value corresponding to the measurement point i and record it as Ki, and the gap value represents the vertical distance difference between a specific measuring tool and the road surface, and the gap value can be measured by a feeler gauge, and then substitute the obtained gap value Ki of the measurement point i into the formula: flatness=Σ(gap value of each measurement point) / number of measurement points, and the flatness of the driving road surface calculated by the formula is recorded as Q;

[0051] Suppose we want to analyze the driving condition of a target vehicle and calculate the road surface flatness. First, determine the number of measurement points. Suppose we select 10 measurement points, that is, j = 10, and then start measuring the gap value of each measurement point. Use a feeler gauge to measure the vertical distance difference between the road surface and a specific measuring tool (such as a three-meter ruler). The measurement results are as follows:

[0052] The gap value K1 of measuring point 1 is 2 mm; the gap value K2 of measuring point 2 is 3 mm; the gap value K3 of measuring point 3 is 1 mm; the gap value K4 of measuring point 4 is 2.5 mm; the gap value K5 of measuring point 5 is 3.5 mm; the gap value K6 of measuring point 6 is 2.2 mm; the gap value K7 of measuring point 7 is 1.8 mm; the gap value K8 of measuring point 8 is 2.8 mm; the gap value K9 of measuring point 9 is 3.2 mm; the gap value K10 of measuring point 10 is 2.6 mm.

[0053] Next, calculate the flatness Q according to the formula: Flatness = Σ(gap value of each measuring point) / number of measuring points = (K1+K2+K3+K4+K5+K6+K7+K8+K9+K10) / 10 = (2+3+1+2.5+3.5+2.2+1.8+2.8+3.2+2.6) / 10 = 24.6 / 10 = 2.46 mm, and further obtain the road surface flatness Q = 2.46.

[0054] At the same time, the suspension feedback value P corresponding to the suspension system of the target vehicle on the driving road is obtained, and the suspension feedback value is specifically represented by the change frequency of the shock absorber. For example, when the target vehicle passes on the driving road within time t, the shock absorber changes 10 times, and the change frequency is further calculated as 10 / t, and the change frequency is recorded as the suspension feedback value. Then, the road surface flatness Q and the suspension feedback value P are summed to obtain the road condition value W, and the corresponding driving speed is obtained according to the road condition value W and recorded as V1. The driving speed here is obtained through a large amount of data simulation analysis. The specific analysis method is to first set the corresponding flatness , then change different driving speeds to measure the corresponding suspension feedback values, and obtain multiple sets of relationships between driving speeds and suspension feedbacks, and conduct different experiments in this way, and finally obtain the optimal driving speed, then compare the driving speed V1 with the entry instruction, and the comparison here is the rated speed in the input instruction. If the two are the same, it means that there is no need to adjust the input instruction, and a normal monitoring signal is generated at the same time. If the two are different, it means that the input instruction needs to be adjusted, and the input instruction is adjusted based on the driving speed V1 to generate speed control information, and then the normal monitoring signal and speed control information are transmitted to the control information output module.

[0055] The specific method of analyzing the driving direction is: obtaining the motion trajectory of the target vehicle, and predicting the motion trajectory within time T based on the motion trajectory to obtain a predicted trajectory, and the predicted trajectory here is obtained by combining the motion parameters of the current target vehicle with the prediction model, and at the same time, the predicted trajectory is identified and analyzed. If the predicted trajectory does not have a curve, a straight line prediction trajectory is generated. If the predicted trajectory has a curve, a curve prediction trajectory is generated, and the straight line prediction trajectory and the curve prediction trajectory are analyzed respectively;

[0056] The specific method of analyzing the straight line prediction trajectory is: obtaining the real-time walking direction of the target vehicle and judging whether the real-time walking direction is offset, and the specific judgment method here is to identify and judge according to the input command. If there is an offset, the real-time walking direction is adjusted based on the input command, and the direction control information is generated at the same time. If there is no offset, no processing is performed, and a normal monitoring signal is generated at the same time.

[0057] The specific method of analyzing the predicted curve trajectory is: calculating the curvature radius of the curve, and the curvature radius of the curve refers to the radius of a circle perpendicular to the tangent line at a certain point on the curve. The specific calculation formula is calculated by a mathematical formula. For example, for a curve y=f(x) on a plane, the curvature radius R at a certain point (x0, y0) can be calculated by the following formula:

[0058]

[0059] Where y′ and y″ are the first-order derivative and second-order derivative of the function f(x) at x0, respectively, and the corresponding steering angle is obtained according to the calculated radius of curvature of the curve, and the specific calculation method is: first, it is necessary to determine the radius R of the curve, obtain the linear speed V of the vehicle, and determine the wheelbase L of the vehicle, that is, the distance between the front and rear axles, which is usually a fixed parameter of the vehicle. According to the centripetal force formula of circular motion F=m*V2 / R, where F is the centripetal force and m is the mass of the vehicle, when the vehicle is traveling on a curve, the centripetal force is provided by the friction between the tire and the ground. Considering that the steering angle of the vehicle is related to the centripetal force and the vehicle structure, the steering angle θ can be approximately calculated by the following formula: θ=arctan(V2 / (g*R)), where g is the acceleration of gravity, about 9.8m / s 2 At the same time, the target vehicle is adjusted with the calculated steering angle, and direction adjustment information is generated, and then the generated direction adjustment information is transmitted to the control information output module.

[0060] For example, assuming the curve radius is 50 meters, the vehicle speed is 30 km / h (about 8.33 m / s), and the vehicle wheelbase is 2.5 meters. First, convert the speed unit to meters per second, and then substitute it into the formula: θ = arctan (8.33 2 / (9.8*50))≈7.7°.

[0061] A control information output module is used to display the acquired speed adjustment information, normal monitoring signals and direction adjustment information to the corresponding control personnel.

[0062] Some of the data in the above formulas are numerically calculated by removing their dimensions. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0063] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. Distributed reconfigurable wire-controlled chassis motion control system, characterized in that: It includes a command input module, a control analysis module and a control information output module; The command input module is used to obtain the user input command, and identify and analyze the vehicle's walking state based on the input command, and generate state recognition results, including: normal walking results and abnormal walking results; The control analysis module is used to analyze the abnormal driving results obtained, analyze the driving speed and driving direction corresponding to the abnormal driving results respectively, analyze the driving speed, compare the real-time speed with the command parameters, and perform comprehensive adjustment and control in combination with the corresponding road condition information, and generate speed control information, analyze the driving direction, correct the vehicle motion trajectory, and generate direction control information in combination with the road curve conditions, and then transmit the generated speed control information and direction control information to the control information output module; The control information output module is used to display the acquired speed adjustment information, normal monitoring signals and direction adjustment information to the corresponding control personnel.

2. The distributed reconfigurable drive-by-wire chassis motion control system according to claim 1, characterized in that: The specific method for the instruction input module to generate the state recognition result is: Obtain user input instructions, and compare the user input instructions with the vehicle walking parameters. If the vehicle walking parameters are the same as the user input instructions, it indicates that the walking state is normal, and a normal walking result is generated. If the vehicle walking parameters are different from the user input instructions, it indicates that the walking state is different, and an abnormal walking result is generated. The generated abnormal walking result is transmitted to the control analysis module, and the generated normal walking result is transmitted to the control information output module.

3. The distributed reconfigurable drive-by-wire chassis motion control system according to claim 1, characterized in that: The specific method in which the control analysis module analyzes the driving speed corresponding to the abnormal driving result is: Obtain the real-time speed of the target vehicle and the rated speed in the input command, and compare the real-time speed with the rated speed. If the real-time speed is the same as the rated speed, a result of the same speed is generated. Otherwise, if the real-time speed is different from the rated speed, a result of the different speed is generated, and the real-time speed is adjusted. Then, the driving condition of the target vehicle is analyzed, and the road surface flatness in the driving condition is calculated. The specific calculation method is: obtain multiple measurement points on the driving road surface and record them as i, and i=1, 2, ..., j, where j represents the number of measurement points, and at the same time obtain the gap value corresponding to the measurement point i and record it as Ki. Then, substitute the obtained gap value Ki of the measurement point i into the formula: flatness=Σ(gap value of each measurement point) / number of measurement points. The flatness of the driving road surface calculated by the formula is recorded as Q, and analyzed in combination with the suspension feedback value P of the target vehicle.

4. The distributed reconfigurable drive-by-wire chassis motion control system according to claim 3, characterized in that: The specific method in which the control analysis module analyzes the suspension feedback value P of the target vehicle is as follows: The suspension feedback value P corresponding to the suspension system of the target vehicle on the driving road is obtained, and then the road surface flatness Q and the suspension feedback value P are summed to obtain the road condition value W, and the corresponding driving speed is obtained according to the road condition value W and recorded as V1. Then the driving speed V1 is compared with the driving instruction. If the two are the same, it means that there is no need to adjust the input instruction, and a normal monitoring signal is generated at the same time. If the two are different, it means that the input instruction needs to be adjusted, and the input instruction is adjusted based on the driving speed V1 to generate speed control information, and then the normal monitoring signal and speed control information are transmitted to the control information output module.

5. The distributed reconfigurable drive-by-wire chassis motion control system according to claim 1, characterized in that: The specific method in which the control analysis module analyzes the driving direction corresponding to the abnormal walking result is: The motion trajectory of the target vehicle is obtained, and the motion trajectory within time T is predicted based on the motion trajectory to obtain a predicted trajectory. At the same time, the predicted trajectory is identified and analyzed. If the predicted trajectory does not have a curve, a straight line prediction trajectory is generated. If the predicted trajectory has a curve, a curve prediction trajectory is generated, and the straight line prediction trajectory and the curve prediction trajectory are analyzed separately.

6. The distributed reconfigurable drive-by-wire chassis motion control system according to claim 5, characterized in that: The specific way in which the control analysis module analyzes the straight line prediction trajectory is as follows: The real-time moving direction of the target vehicle is obtained, and it is determined whether the real-time moving direction is offset. If there is an offset, the real-time moving direction is adjusted based on the input command, and direction control information is generated. If there is no offset, no processing is performed, and a normal monitoring signal is generated.

7. The distributed reconfigurable drive-by-wire chassis motion control system according to claim 5, characterized in that: The specific way in which the control analysis module analyzes the predicted curve trajectory is as follows: The radius of curvature of the curve is calculated, and the corresponding steering angle is obtained according to the calculated radius of curvature of the curve. The specific calculation method is: determine the curve radius R, the vehicle's linear speed V and the vehicle's wheelbase L. According to the centripetal force formula of circular motion F=m*V2 / R, where F is the centripetal force and m is the vehicle mass, when the vehicle is traveling on a curve, the centripetal force is provided by the friction between the tire and the ground. The steering angle θ is approximately calculated by the following formula: θ=arctan(V2 / (g*R)), where g is the acceleration of gravity. At the same time, the target vehicle is adjusted with the calculated steering angle, and direction adjustment information is generated, which is then transmitted to the control information output module.

8. A distributed reconfigurable wire-controlled chassis, used to implement the distributed reconfigurable wire-controlled chassis motion control system according to any one of claims 1 to 7, characterized in that: The invention comprises a control-by-wire chassis assembly (1) and a combined frame (2), wherein the control-by-wire chassis assembly (1) comprises a support structure (101), a plurality of mounting structures (102) are fixedly connected around the support structure (101), a wheel hub motor unit (103) is arranged inside the support structure (101), a chassis wheel hub (104) is arranged at the bottom of the support structure (101), and the wheel hub motor unit (103) comprises a plurality of functional modules, specifically: a driver input module, a control module, a control-by-wire execution module, an environment perception module and a control information output module.

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