Corner module architecture electric vehicle deep pit road chassis cooperative control method

Abstract

The invention discloses a cooperative control method for a deep pit road chassis of an angle module framework electric automobile, which is characterized in that the torque of each wheel is accurately and quickly adjusted through a motor driving system, the omni-directional steering capability is realized through a wheel side line control steering system, and the attitude control capability is enhanced through an active suspension system. By the adoption of the technical scheme, the problem of chassis cooperative control of the electric vehicle deep pit road for emergency rescue and disaster relief is effectively solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pure electric vehicles, and in particular relates to a method for coordinated control of a chassis of an electric vehicle with a corner module architecture on a deep pit road. Background Art

[0002] There are many narrow roads in mountainous areas. Landslides are prone to occur during flood disasters, forming deep pits on narrow roads. The length of the deep pit does not exceed the vehicle wheelbase, and the width does not exceed the vehicle track. Figure 1 As shown in the figure, the narrow road is only passable by one vehicle. After the deep pit is formed, vehicles cannot pass through the road by traditional driving methods. However, during the disaster, it is necessary to use this road to rescue the people in the disaster area. Therefore, how to use this road is related to the life safety of the people in the disaster area and is an urgent problem to be solved. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method for coordinated chassis control of electric vehicles on deep pit roads with a corner module architecture, which effectively solves the problem of coordinated chassis control of electric vehicles on deep pit roads for disaster relief operations.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A corner module architecture electric vehicle chassis coordinated control method on a deep pit road, comprising:

[0006] Step S1, detecting road conditions through a visual sensor;

[0007] Step S2: When there is a deep pothole on the road that the vehicle cannot pass through in a conventional driving manner, the control weights of the electric wheel drive system, the wheel-side wire-controlled steering system and the active suspension system are allocated, and the path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and the electric wheel drive system to work together to make the vehicle follow the ideal path, and adjusts the body posture through active suspension collaborative control so that the front and rear wheels of the vehicle are lifted up in sequence and cross the deep pothole.

[0008] Preferably, the length of the deep pit is smaller than the wheelbase, and the width of the deep pit is smaller than the track.

[0009] As a preferred embodiment, when there is a deep pit in front of the wheel 2 of the corner module architecture electric vehicle, the chassis collaborative control is as follows: the vehicle is driving normally, and the visual sensor detects that the road condition ahead is a narrow road, and there is a deep pit 2 in front of the wheel, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase, and the deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode; the control weights of the electric wheel drive system, the wheel-side wire steering system and the active suspension system are allocated, and the control weights of the electric wheel drive system, the wheel-side wire steering system and the active suspension system are set to 1; the path tracking controller controls the wheel-side wire steering system / electric wheel drive system / The wheel-side wire-controlled steering system and the electric wheel drive system work together to make the vehicle follow the ideal path; the suspension controller controls the suspension 1 to extend, the suspension 3 to contract, and the suspension 4 to extend, resulting in a decrease in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity is close to the vehicle body 3. As the vehicle body 2 rises, the load on the wheel 2 gradually decreases, and the wheel 2 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 3 is ensured to be less than the distance to the vehicle body 2, so that the vehicle is supported by wheels 1, 3 and 4 when traveling. Since wheel 2 leaves the ground, the slip rate of wheel 2 is controlled to be 0, and the process of wheel 2 leaving the ground causes wheel 3 to have a short time The vehicle is off the ground or the load is very small, so the slip rate of wheel 3 is controlled. If wheel 3 slips, the slip rate of wheel 3 is controlled to 0.2. If wheel 3 does not slip, the slip rate of wheel 3 is not controlled. After wheel 2 passes through the deep pit, the four-wheel support state of the vehicle is restored. The path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and electric wheel drive system to work together to make the vehicle follow the ideal path. The suspension controller controls the suspension 1 to contract, the suspension 2 to extend, and the suspension 3 to extend, resulting in a decrease in the roll angle of the vehicle body and an increase in the pitch angle, so that the center of gravity is close to the vehicle body 1. As the vehicle body 4 rises , thereby driving the load on wheel 4 to gradually decrease, and wheel 4 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 1 is ensured to be smaller than the distance to the vehicle body 4, ensuring that the vehicle is supported by wheels 1, 2 and 3. Since wheel 4 leaves the ground, the slip rate of wheel 4 is controlled to 0. During the process of wheel 4 leaving the ground, wheel 1 may be off the ground for a short time or the load is very small, so the slip rate of wheel 1 is controlled. If wheel 1 slips, the slip rate of wheel 1 is controlled to 0.2. If wheel 1 does not slip, the slip rate of wheel 1 is not controlled. After wheel 4 passes the deep pit, the driving state of the vehicle supported by four wheels is restored.

[0010] As a preferred embodiment, when there is a deep pit in front of the wheel 1 of the corner module architecture electric vehicle, the chassis collaborative control process is as follows: the vehicle is driving normally, and the visual sensor detects that the road condition ahead is a narrow road, and there is a deep pit in front of the wheel 1, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase, and the deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode; the control weights of the electric wheel drive system, the wheel-side wire control steering system and the active suspension system are allocated, and the control weights of the electric wheel drive system, the wheel-side wire control steering system and the active suspension system are set to 1; the path tracking controller controls the wheel-side wire control steering system / electric wheel drive The active system / wheel-side wire-controlled steering system and the electric wheel drive system work together to make the vehicle follow the ideal path; the active suspension 2 is controlled to extend, the active suspension 3 is controlled to extend, and the active suspension 4 is controlled to contract, resulting in an increase in the roll angle and a decrease in the pitch angle, so that the center of gravity is close to the body 4. As the body 1 rises, the load on the wheel 1 gradually decreases, and finally the wheel 1 leaves the ground. During this process, the distance from the center of gravity to the body 4 is ensured to be less than the distance to the body 1, so that the vehicle can be supported by wheels 2, 3 and 4 when traveling; since wheel 1 leaves the ground, the slip rate of wheel 1 is controlled to be 0; the process of wheel 1 leaving the ground may cause short circuit of wheel 4 The vehicle leaves the ground at the right time or the load is very small, so the slip rate of wheel 4 is controlled. If wheel 4 slips, the slip rate of wheel 4 is controlled to be 0.2. If wheel 4 does not slip, the slip rate of wheel 4 is not controlled. After wheel 1 passes through the deep pit, the vehicle is restored to the state of four-wheel support. The path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and electric wheel drive system to work together to make the vehicle follow the ideal path, control the active suspension 1 to extend, the active suspension 2 to contract, and the active suspension 4 to extend, resulting in an increase in the roll angle and the pitch angle, so that the center of gravity is close to the vehicle body 2. As the vehicle body 3 rises, This will cause the load on wheel 3 to gradually decrease, and eventually wheel 3 will leave the ground. During this process, the distance from the center of gravity to the vehicle body 1 is ensured to be smaller than the distance to the vehicle body 3, so that the vehicle can be supported by wheels 1, 2 and 4 when traveling. Since wheel 3 leaves the ground, the slip rate of wheel 3 is controlled to be 0. The process of wheel 3 leaving the ground may cause wheel 2 to leave the ground for a short time or the load is very small, so the slip rate of wheel 2 is controlled. If wheel 2 slips, the slip rate of wheel 2 is controlled to be 0.2; if wheel 2 does not slip, the slip rate of wheel 2 is not controlled. After wheel 3 passes the deep pit, the driving state of the vehicle supported by four wheels is restored.

[0011] The present invention detects through visual sensors that the road is very narrow and has a certain curvature, which is just enough for a single vehicle to pass through. However, there is a deep pit in front of a certain wheel, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode. The control weights of the three systems of the electric wheel drive system, the wheel-side wire control steering system and the active suspension system are allocated, and the path tracking controller is used to allow the vehicle to follow the ideal path. The vehicle body posture is adjusted through active suspension control, so that the front and rear wheels of the vehicle are lifted up in turn and cross the deep pit. During the posture adjustment process, the load on a certain wheel is very small or there is no load, which will cause the wheel to slip. The drive anti-skid system controls the wheel slip by controlling the driving torque. Finally, after passing the deep pit, the vehicle resumes normal driving. The technical solution of the present invention effectively solves the problem of chassis coordination control of electric vehicles on deep pit roads for disaster relief. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0013] Figure 1 This is a schematic diagram of the road conditions of Shenkeng Road;

[0014] Figure 2 The schematic diagram of the vehicle supported by three wheels of the present invention;

[0015] Figure 3 The schematic diagram of the corner module architecture electric vehicle chassis cooperative control method of the present invention;

[0016] Figure 4 This is a flowchart of chassis coordination control of an electric vehicle with a corner module structure having a deep pit in front of the wheel 2 of the present invention;

[0017] Figure 5 This is a schematic diagram of chassis cooperative control of an electric vehicle with a corner module structure having a deep pit in front of the wheel 2 of the present invention;

[0018] Figure 6 This is a flowchart of chassis coordination control of an electric vehicle with a corner module structure having a deep pit in front of the wheel 1 of the present invention;

[0019] Figure 7 It is a schematic diagram of chassis cooperative control of an electric car with a corner module architecture and a deep pit in front of the wheel 1 of the present invention. DETAILED DESCRIPTION

[0020] 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.

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Embodiment 1:

[0023] An embodiment of the present invention provides a method for coordinated control of the chassis of an electric vehicle with a corner module architecture on a deep pit road. The electric vehicle with a corner module architecture integrates an electric wheel drive system, a wheel-side wire-controlled steering system and an active suspension system in each corner module. The electric wheel drive system includes a wheel, a hub motor and a hub motor controller. The wheel-side wire-controlled steering system includes a steering motor and a steering motor controller. The active suspension system includes an active suspension and an active suspension controller. The motor drive system can achieve accurate and rapid adjustment of the torque of each wheel, the wheel-side wire-controlled steering system achieves all-round steering capability, and the active suspension system enhances posture control capability. Therefore, electric vehicles with a corner module architecture have unmatched dynamic advantages over traditional vehicles and can better achieve coordinated control of the chassis on deep pit roads. The present invention can enable the vehicle to follow an ideal path, enable the wheels to cross deep pits, and enable the vehicle to pass this road smoothly. When the wheels cross the pits, the slip rate of the wheels can be controlled to ensure the stability of the vehicle. The present invention enables the wheels to cross the pit by leaving the ground, and the remaining three wheels support the vehicle to travel. The principle of the vehicle being supported by three wheels is as follows: Figure 2 As shown, 1, 2, 3 and 4 represent the left front, right front, left rear and right rear wheels and suspensions of the vehicle. For the convenience of subsequent description, the vehicle body is divided into four parts, 1, 2, 3 and 4 also represent the left front, right front, left rear and right rear body of the vehicle. When the vehicle is supported by four wheels, the center of mass O of the vehicle body is at the geometric center of the vehicle, a and b are the distances from the center of mass to the front and rear axles respectively, and B is the wheelbase. The pitch and roll angles of the vehicle body cause the center of mass to move. Since the suspension travel is limited, the pitch and roll angles of the vehicle body are limited, so the range of movement of the center of mass is also limited. Figure 4 The parallelogram 5678 in the middle represents the range within which the center of mass can move. To make wheel 2 leave the ground, the vehicle is supported by wheels 1, 3 and 4 and remains stable, so the center of mass O needs to be in trapezoid 551818. Assuming that the center of mass after the move is O1, a1 and b1 are the distances between the center of mass O1 and the front and rear axles, respectively, and c1 and d1 are the distances between the center of mass O1 and the left and right wheels, respectively.

[0024] like Figure 3As shown, an embodiment of the present invention provides a method for cooperatively controlling the chassis of an electric vehicle on a deep pit road with an angle module architecture, wherein the visual module detects the road condition, detects that the road condition ahead is a narrow road, just enough for a single vehicle to pass through, and there is a deep pit in front of a wheel, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase, and the deep pit makes it impossible for the vehicle to pass through the road in a conventional driving manner, and allocates control weights of the three systems of the electric wheel drive system, the wheel-side wire-controlled steering system, and the active suspension system, wherein the control weights of the three systems are all set to 1, the path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and the electric wheel drive system to work together to make the vehicle follow the ideal path, the path tracking controller generates an ideal wheel angle / drive / braking torque, and the steering motor controller controls the wheel angle. The steering angle sensor outputs the actual vehicle angle signal to the steering motor controller to form a closed-loop control. The wheel hub motor controller controls the motor torque, and the path information is collected through a dual differential GPS sensor. The multi-active suspension collaborative controller generates an ideal stroke for each active suspension. The active suspension controller controls the active suspension. The suspension travel sensor transmits the suspension travel signal to the active suspension controller to form a closed-loop control. The multi-active suspension collaborative controller adjusts the vehicle body posture so that the front and rear wheels of the vehicle are lifted up in turn and cross the deep pit. The vehicle body motion posture sensor collects the vehicle body posture information. During the posture adjustment process, if the load on a certain wheel is very small or there is no load, it will cause the wheel to slip. The drive anti-skid controller controls the driving torque of the electric wheel drive system through the wheel hub motor controller to control the wheel slip. After the vehicle passes the deep pit, the vehicle resumes normal driving.

[0025] like Figure 4 , 5As shown, the chassis collaborative control of the electric vehicle with a deep pit in front of the wheel 2 of the corner module architecture of the present invention is as follows: the vehicle is driving normally, and the visual sensor detects that the road condition ahead is a narrow road, which is just enough for a single vehicle to pass through. There is a deep pit 2 in front of the wheel, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode; the control weights of the three systems of the electric wheel drive system, the wheel-side wire-controlled steering system and the active suspension system are allocated, and the maximum value of the control weights of the three systems is 1, and the minimum value is 0. Here, the control weights of the three systems are all set to 1; the path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and the electric wheel drive system to work together to make the vehicle follow the ideal path, the path tracking controller generates an ideal wheel angle / drive / braking torque, the steering motor controller controls the wheel angle, and the steering angle sensor outputs The actual vehicle angle signal is sent to the steering motor controller to form a closed-loop control. The wheel hub motor controller controls the motor torque. The path information is collected through the dual differential GPS sensor. The multi-active suspension cooperative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 1, the contraction of suspension 3, and the extension of suspension 4, resulting in a decrease in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity is close to the vehicle body 3. As the vehicle body 2 rises, the load on wheel 2 gradually decreases, and wheel 2 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 3 is ensured to be less than the distance to the vehicle body 2. In this way, the vehicle can be supported by wheels 1, 3, and 4. Since wheel 2 leaves the ground, the slip rate of wheel 2 is controlled to 0. The process of wheel 2 leaving the ground may cause wheel 3 to leave the ground for a short time or the load is very small, so the slip rate of wheel 3 is controlled. If wheel 3 slips, the slip rate of wheel 3 is controlled to 0.2. If wheel 3 does not slip, the slip rate of wheel 3 is not controlled; after wheel 2 passes the deep pit, the state of the vehicle supporting four wheels is restored; the path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and electric wheel drive system to work together to make the vehicle follow the ideal path, the path tracking controller generates the ideal wheel angle / driving / braking torque, the steering motor controller controls the wheel angle, the steering angle sensor outputs the actual vehicle angle signal to the steering motor controller to form a closed-loop control, the wheel hub motor controller controls the motor torque, and the path information is collected through the dual differential GPS sensor; the multi-active suspension collaborative controller generates the ideal travel signal to the active suspension controller to control the contraction of suspension 1 and the extension of suspension 2 As the suspension 3 is extended, the roll angle of the vehicle body decreases and the pitch angle increases, which makes the center of gravity approach the vehicle body 1. As the vehicle body 4 rises, the load on the wheel 4 gradually decreases, and the wheel 4 eventually stops contacting the ground. In this process, the distance from the center of gravity to the vehicle body 1 is ensured to be less than the distance to the vehicle body 4, so that the vehicle can be supported by wheels 1, 2 and 3. As the wheel 4 leaves the ground, the slip rate of the wheel 4 is controlled to be 0. During the process of wheel 4 leaving the ground, the wheel 1 may leave the ground for a short time or the load is very small, so the slip rate of wheel 1 is controlled. If wheel 1 slips, the slip rate of wheel 1 is controlled to be 0.2. If wheel 1 does not slip, the slip rate of wheel 1 is not controlled. After wheel 4 passes the deep pit, the vehicle is restored to the driving state of four-wheel support.

[0026] like Figure 6 , 7As shown, the chassis collaborative control process of the electric vehicle with a deep pit in front of the wheel 1 of the corner module architecture of the present invention is as follows: the vehicle is driving normally, and the visual sensor detects that the road condition ahead is a narrow road, which is just enough for a single vehicle to pass through. There is a deep pit in front of the wheel 1, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode; the control weights of the three systems of the electric wheel drive system, the wheel-side wire-controlled steering system and the active suspension system are allocated, and the maximum value of the control weights of the three systems is 1, and the minimum value is 0. Here, the control weights of the three systems are all set to 1; the path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and the electric wheel drive system to work together to make the vehicle follow the ideal path, the path tracking controller generates an ideal wheel angle / drive / braking torque, the steering motor controller controls the wheel angle, and the steering angle sensor outputs The actual vehicle angle signal is sent to the steering motor controller to form a closed-loop control. The wheel hub motor controller controls the motor torque. The path information is collected through the dual differential GPS sensor. The multi-active suspension cooperative controller generates an ideal travel signal to the active suspension controller to control the extension of active suspension 2, active suspension 3, and active suspension 4. The extension increases the roll angle and decreases the pitch angle, making the center of gravity close to the body 4. As the body 1 rises, the load of wheel 1 gradually decreases, and finally wheel 1 leaves the ground. In this process, the distance from the center of gravity to the body 4 is ensured to be less than the distance to the body 1, so that the vehicle can be supported by wheels 2, 3 and 4. Since wheel 1 leaves the ground, the slip rate of wheel 1 is controlled to be 0. The process of wheel 1 leaving the ground may cause wheel 4 to leave the ground for a short time or the load is very small, so the slip rate of wheel 4 is controlled. If wheel 4 slips, the slip rate of wheel 4 is controlled to be 0.2. If wheel 4 does not slip, the slip rate of wheel 4 is not controlled; after wheel 1 passes the deep pit, the state of four-wheel support of the vehicle is restored; the path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and electric wheel drive system to work together to make the vehicle follow the ideal path, the path tracking controller generates the ideal wheel angle / driving / braking torque, the steering motor controller controls the wheel angle, the steering angle sensor outputs the actual vehicle angle signal to the steering motor controller to form a closed-loop control, the wheel hub motor controller controls the motor torque, and the path information is collected through the dual differential GPS sensor; the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of the active suspension 1, and the active suspension 2 contracts, and active suspension 4 extends, resulting in an increase in roll angle and pitch angle, which makes the center of gravity close to body 2. As body 3 rises, the load on wheel 3 gradually decreases, and finally wheel 3 leaves the ground. In this process, the distance from the center of gravity to body 1 is ensured to be less than the distance to body 3, so that the vehicle can be supported by wheels 1, 2 and 4. Since wheel 3 leaves the ground, the slip rate of wheel 3 is controlled to 0. During the process of wheel 3 leaving the ground, wheel 2 may leave the ground for a short time or the load is very small, so the slip rate of wheel 2 is controlled. If wheel 2 slips, the slip rate of wheel 2 is controlled to 0.2. If wheel 2 does not slip, the slip rate of wheel 2 is not controlled to 416. After wheel 3 passes the deep pit, the driving state of the vehicle supported by four wheels is restored. .

[0027] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A method for cooperative control of chassis of an electric vehicle with corner module architecture on a deep pit road, characterized in that: include: Step S1, detecting road conditions through a visual sensor; Step S2: When there is a deep pothole on the road that the vehicle cannot pass through in a conventional driving manner, the control weights of the electric wheel drive system, the wheel-side wire-controlled steering system and the active suspension system are allocated, and the path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and the electric wheel drive system to work together to make the vehicle follow the ideal path, and adjusts the body posture through active suspension collaborative control so that the front and rear wheels of the vehicle are lifted up in sequence and cross the deep pothole.

2. The corner module architecture electric vehicle chassis coordinated control method for deep pit road as claimed in claim 1, characterized in that: The length of the pit is smaller than the wheelbase, and the width of the pit is smaller than the track.

3. The corner module architecture electric vehicle chassis coordinated control method for deep pit road as claimed in claim 2, characterized in that: When there is a deep pit in front of wheel 2 of the corner module architecture electric vehicle, the chassis collaborative control is as follows: the vehicle is driving normally, and the visual sensor detects that the road condition ahead is a narrow road, and there is a deep pit 2 in front of the wheel, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving manner; the control weights of the electric wheel drive system, the wheel-side wire steering system and the active suspension system are allocated, and the control weights of the electric wheel drive system, the wheel-side wire steering system and the active suspension system are set to 1; the path tracking controller controls the wheel-side wire steering system / electric wheel drive system / wheel-side wire steering system The control steering system and the electric wheel drive system work together to make the vehicle follow the ideal path; the suspension controller controls the suspension 1 to extend, the suspension 3 to contract, and the suspension 4 to extend, resulting in a decrease in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity is close to the vehicle body 3. As the vehicle body 2 rises, the load on the wheel 2 gradually decreases, and the wheel 2 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 3 is ensured to be less than the distance to the vehicle body 2, so that the vehicle is supported by wheels 1, 3 and 4 when traveling. Since wheel 2 leaves the ground, the slip rate of wheel 2 is controlled to be 0, and the process of wheel 2 leaving the ground causes wheel 3 to leave the ground for a short time or The load is very small, so the slip rate of wheel 3 is controlled. If wheel 3 slips, the slip rate of wheel 3 is controlled to 0.

2. If wheel 3 does not slip, the slip rate of wheel 3 is not controlled. After wheel 2 passes the deep pit, the four-wheel support state of the vehicle is restored. The path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and electric wheel drive system to work together to make the vehicle follow the ideal path. The suspension controller controls the suspension 1 to contract, the suspension 2 to extend, and the suspension 3 to extend, resulting in a decrease in the roll angle of the vehicle body and an increase in the pitch angle, so that the center of gravity is close to the vehicle body 1. As the vehicle body 4 rises, The load on wheel 4 is gradually reduced, and wheel 4 is no longer in contact with the ground. In this process, the distance from the center of gravity to the vehicle body 1 is ensured to be smaller than the distance to the vehicle body 4, so that the vehicle is supported by wheels 1, 2 and 3. Since wheel 4 leaves the ground, the slip rate of wheel 4 is controlled to be 0. The process of wheel 4 leaving the ground may cause wheel 1 to leave the ground for a short time or the load is very small, so the slip rate of wheel 1 is controlled. If wheel 1 slips, the slip rate of wheel 1 is controlled to be 0.

2. If wheel 1 does not slip, the slip rate of wheel 1 is not controlled. After wheel 4 passes the deep pit, the driving state of the vehicle supported by four wheels is restored.

4. The corner module architecture electric vehicle chassis coordinated control method for deep pit road as claimed in claim 2, characterized in that: When there is a deep pit in front of wheel 1 of the corner module architecture electric vehicle, the chassis collaborative control process is as follows: the vehicle is driving normally, and the visual sensor detects that the road ahead is a narrow road, and there is a deep pit in front of wheel 1, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode; the control weights of the electric wheel drive system, the wheel-side wire control steering system and the active suspension system are allocated, and the control weights of the electric wheel drive system, the wheel-side wire control steering system and the active suspension system are all set to 1; The path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and electric wheel drive system to work together to make the vehicle follow the ideal path; controls the active suspension 2 to extend, the active suspension 3 to extend, and the active suspension 4 to contract, resulting in an increase in the roll angle and a decrease in the pitch angle, so that the center of gravity is close to the body 4. As the body 1 rises, the load of the wheel 1 gradually decreases, and finally the wheel 1 leaves the ground. In this process, the distance from the center of gravity to the body 4 is ensured to be less than the distance to the body 1, so that the vehicle can be supported by wheels 2, 3 and 4 to travel; since wheel 1 leaves the ground, the slip rate of wheel 1 is controlled to be 0; the process of wheel 1 leaving the ground may cause wheel 4 to leave the ground for a short time or the load is very small, so the slip rate of wheel 4 is controlled. If wheel 4 slips, the slip rate of wheel 4 is controlled to be 0.2, and if wheel 4 does not slip, the slip rate of wheel 4 is not controlled; after wheel 1 passes through the deep pit, the state of the vehicle supported by four wheels is restored; The path tracking controller controls the wheel-side wire-controlled steering system / electric wheel drive system / wheel-side wire-controlled steering system and electric wheel drive system to work together to make the vehicle follow the ideal path, control the active suspension 1 to extend, the active suspension 2 to contract, and the active suspension 4 to extend, resulting in an increase in the roll angle and the pitch angle, so that the center of gravity is close to the body 2. As the body 3 rises, the load of the wheel 3 gradually decreases, and finally the wheel 3 leaves the ground. In this process, it is ensured that the distance from the center of gravity to the body 1 is less than the distance to the body 3, so that the vehicle can be supported by wheels 1, 2 and 4 for driving; since wheel 3 leaves the ground, the slip rate of wheel 3 is controlled to be 0; during the process of wheel 3 leaving the ground, wheel 2 may be lifted off the ground for a short time or the load is very small, so the slip rate of wheel 2 is controlled. If wheel 2 slips, the slip rate of wheel 2 is controlled to be 0.2, and if wheel 2 does not slip, the slip rate of wheel 2 is not controlled to be 416; after wheel 3 passes through the deep pit, the driving state of the vehicle supported by four wheels is restored.

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