Active roll vehicle for automatic driving

Abstract

The invention discloses an active side-tipping vehicle for automatic driving, belongs to the technical field of vehicle chassis, and relates to an automatic driving technology of active side-tipping vehicles, a frame is connected with a non-side-tipping vehicle body and a side-tipping moving auxiliary vehicle body, the vehicle body is provided with an environment sensing positioning sensor, and the frame is provided with a wire control accelerator, a wire control brake, a wire control steering and a wire control side-tipping. The drive-by-wire side-tipping unit controls the side-tipping movement of the auxiliary vehicle body, so that the centrifugal force and the lateral force of a curve act on the side-tipping moment balance of the vehicle, and the automatic driving of the active side-tipping vehicle is realized; based on a multi-sensor fusion technology of an automatic driving vehicle, through path planning, generation of a vehicle driving track and a motion control parameter, vehicle steering execution and auxiliary vehicle body rolling motion synchronization are controlled, and timing and accurate control of a rolling angle are realized. And a transverse stable mode in which the rollover moment is completely eliminated or an energy-saving safe mode in which the rollover moment is partially eliminated can be selected.

Description

Technical Field

[0001] The present invention relates to an active roll vehicle for automatic driving, belonging to the technical field of vehicle chassis, and in particular to the field of automatic driving technology of active roll vehicles. Background Art

[0002] Active roll vehicles improve the stability, speed and safety of the vehicle when driving on curves by controlling the degree to which the vehicle body tilts toward the inside of the curve. The vehicle's roll control system can automatically tilt the vehicle to a certain angle when turning, driving on a sloping road or encountering side winds, generating a balancing torque to resist the centrifugal force or lateral force exerted on the vehicle, thereby maintaining a stable driving posture for micro and narrow-body vehicles with a small wheelbase.

[0003] Autonomous driving, vehicle networking and AI technologies are gradually entering a new stage, providing guarantees for autonomous driving technology for passenger cars, especially unmanned delivery vehicles and autonomous driving trucks are gradually entering the large-scale mass production stage. The autonomous system architecture of autonomous driving vehicles is usually divided into perception and positioning systems, decision-making systems and control execution systems. For active roll vehicles, the perception and positioning system needs to be installed on the non-rolling body, and the auxiliary body rolls. Environmental perception is achieved through sensors, gyroscopes, image sensors, radars, RTK and V2X communication technologies to determine the vehicle's position (x, y), posture (θ, β), and driving speed v to achieve vehicle positioning; path planning is analyzed, vehicle motion control data and decision instructions are generated, and the data and decision instructions are transmitted to each functional unit of the vehicle through the CAN bus to execute wire-controlled throttle, wire-controlled braking, wire-controlled steering, and wire-controlled roll instructions; automatic driving of active roll vehicles such as driving, following, lane changing, turning, auxiliary body roll, and parking is achieved, and the rollover torque of the vehicle acting on the vehicle by centrifugal force and lateral force in the curve is automatically balanced through the roll motion control of the auxiliary body; automatic driving of active roll vehicles is achieved through path planning and generation of vehicle motion control parameters to achieve synchronization of vehicle steering and roll motion. The vehicle can choose to work in a lateral stability mode in which the rollover torque is completely eliminated or in an energy-saving and safe mode in which the rollover torque is partially eliminated. Summary of the invention

[0004] The purpose of the present invention is to provide an active rolling vehicle for automatic driving, wherein a non-rolling body and a rolling sub-body are connected to a frame, an environmental perception positioning sensor is arranged on the body, and a wire-controlled throttle, wire-controlled braking, wire-controlled steering and wire-controlled rolling are arranged on the frame. Through the rolling movement of the sub-body, the rollover moment balance of the centrifugal force and lateral force acting on the vehicle in a curve is achieved, thereby realizing automatic driving of the active rolling vehicle.

[0005] The technical solutions adopted to achieve the purpose of the present invention include: An active roll vehicle for automatic driving comprises: a body (11) fixedly mounted on a frame (13); an environment perception positioning module (21) is arranged on the body (11); a wire-controlled roll unit (22), a wire-controlled throttle (23), a wire-controlled steering unit (24), and a wire-controlled brake unit (25) are independently mounted on the frame (13); a sub-body (12) is rotationally connected to the frame (13) and has a rotation axis L; the axis L is located in the middle vertical plane of the frame and in the middle vertical plane of the sub-body; the sub-body (12) rolls relative to the frame (13) and has a roll angle β; the middle vertical plane of the sub-body coincides with the middle vertical plane of the frame β=0; and the frame (13) is connected to four wheels (13) through four sets of suspensions (14) according to a given wheelbase and track width. 5), the four wheels (15) are arranged symmetrically about the mid-vertical plane of the frame, all the wheels (15) use common passenger car tires, the wire-controlled brake unit (25) brakes the four wheels (15), the wire-controlled steering unit (24) controls the steering of the two wheels at one end of the same wheelbase, the wire-controlled throttle (23) controls the rotation of the two wheels at the other end of the same wheelbase to drive the vehicle, and the wire-controlled roll unit (22) controls the roll movement of the auxiliary body (12) relative to the frame (13), thereby forming a dual-wheel steering automatic driving active roll vehicle; the automatic driving vehicle can work as an automatic driving active roll vehicle with dual front wheel steering and dual rear wheel drive, or work as an automatic driving active roll vehicle with dual rear wheel steering and dual front wheel drive, so as to adapt to different application scenarios.

[0006] Wherein: given the auxiliary body mass m, gravity acceleration g, and the distance r from the auxiliary body mass center C to the axis L, the environment perception and positioning module is set on the non-rolling body. The environment perception and positioning module uses sensors, gyroscopes, image sensors, radars, RTK and V2X communication technologies to realize environmental perception, determine the vehicle position, posture, and driving speed, and realize vehicle positioning; through path planning, generate vehicle motion control data and decision instructions, the data and instructions are transmitted to each functional unit of the vehicle by bus communication, control the execution of the auxiliary body roll movement, and generate a roll balance torque N=mg×r×sinβ, which is used to balance the rollover torque of the vehicle caused by the centrifugal force and lateral force of the curve; by executing the wire throttle, wire brake, wire steering, and wire roll instructions, the automatic driving of the active roll vehicle is realized.

[0007] In the above-mentioned active roll vehicle for automatic driving: the wire control braking unit (25) brakes the four wheels (15), the wire control steering unit (24) controls the steering of the four wheels (15), the wire control throttle (23) controls the rotation of the four wheels or the rotation of the two wheels at one end of the same wheelbase to drive the vehicle to travel, and the wire control roll unit (22) controls the roll movement of the auxiliary body (12) relative to the frame (13), forming a four-wheel steering automatic driving active roll vehicle; the wire control throttle (23) controls the rotation of the two wheels at one end of the same wheelbase to drive the vehicle to travel, forming a four-wheel steering, two-wheel drive automatic driving active roll vehicle, which has the characteristics of a small turning radius and maneuverability; the wire control throttle (23) controls the rotation of the four wheels to drive the vehicle to travel, forming a four-wheel steering, four-wheel drive automatic driving active roll vehicle, which has the characteristics of high load-bearing capacity and good maneuverability.

[0008] In the above-mentioned active roll vehicle for automatic driving: the frame (13) is connected to two wheels (15) respectively according to a given wheelbase through two sets of suspensions (14), the two wheels (15) are symmetrical about the frame mid-vertical plane, the frame (13) is connected to one wheel (15) according to a given wheelbase through one set of suspensions (14), the wheel is located in the frame mid-vertical plane, the three wheels (15) are distributed in an isosceles triangle, the three wheels all use universal passenger car tires, the apex of the isosceles triangle is located in the frame mid-vertical plane, and the base is perpendicular to the frame mid-vertical plane; the wire control brake unit (25) controls the three wheels The wheel (15) is braked, the wire-controlled steering unit (24) controls the steering of a single wheel located at the vertex of the isosceles triangle, the wire-controlled throttle (23) controls the rotation of the two wheels on the bottom side to drive the vehicle, and the wire-controlled roll unit (22) controls the roll movement of the auxiliary body (12) relative to the frame (13), thereby forming a single-wheel steering automatic driving active roll vehicle; for the automatic driving vehicle, an automatic driving active roll vehicle operating in a single front wheel steering and dual rear wheel drive mode, or an automatic driving active roll vehicle operating in a single rear wheel steering and dual front wheel drive mode, is selected to adapt to different application scenarios.

[0009] In the above-mentioned active roll vehicle for automatic driving: the frame (13) is connected to two wheels (15) respectively according to a given wheelbase through two sets of suspensions (14), the two wheels (15) are symmetrical about the mid-vertical plane of the frame, and both wheels use universal passenger car tires; the auxiliary body (12) is connected to a wheel (15) according to a given wheelbase through a set of suspensions (14), the wheel is located in the mid-vertical plane of the auxiliary body, and the wheel uses a tire with an arc curve cross section. When the roll angle β=0, the three wheels (15) are distributed in an isosceles triangle, the apex of the isosceles triangle is located in the mid-vertical plane of the frame, and the base is perpendicular to the mid-vertical plane of the frame; the wire control brake unit (25) controls the three wheels (15) The wheel (15) is braked, the wire-controlled steering unit (24) is installed on the auxiliary body (12) to control the steering of a single wheel connected to the auxiliary body, the wire-controlled throttle (23) controls the rotation of two wheels on the bottom side to drive the vehicle, and the wire-controlled roll unit (22) controls the auxiliary body (12) and the single steering wheel to roll relative to the frame (13), thereby forming a single-wheel steering automatic driving active roll tricycle; for the automatic driving vehicle, an automatic driving active roll positive tricycle with single front wheel steering and dual rear wheel drive, or an automatic driving active roll reverse tricycle with single rear wheel steering and dual front wheel drive is selected to adapt to different application scenarios.

[0010] In the above-mentioned active roll vehicle for autonomous driving: for light and micro narrow-body vehicles with a small wheelbase, a load-bearing body is introduced to replace the body (11), and the frame (13) is omitted, and the load-bearing body replaces the "body (11) fixedly installed on the frame (13)", and the load-bearing body assumes all the functions of the body (11) and the frame (13), forming an active roll vehicle for autonomous driving; by executing the wire throttle, wire brake, wire steering, and wire roll commands, the autonomous driving of the active roll vehicle is realized.

[0011] Based on the multi-sensor fusion technology of autonomous vehicles, through path planning, generation of vehicle driving trajectory and motion control parameters, the control executes vehicle steering and auxiliary body roll motion synchronously, realizes timely and precise control of the roll angle β, and can choose to work in the lateral stability mode with complete elimination of the rollover moment or the energy-saving safety mode with partial elimination of the rollover moment.

[0012] The roll control method of an autonomous driving vehicle comprises: In the above-mentioned active roll vehicle for autonomous driving, the wire-controlled roll unit controls the roll motion of the auxiliary body relative to the frame and the roll angle β to generate a roll balance moment N=mg×r×sinβ, which is used to balance the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force of the curve, and maintain the lateral stability of the autonomous driving vehicle. The steps are as follows: ⑴. The environmental perception and positioning module determines the vehicle's position, posture, and driving speed to achieve vehicle positioning; ⑵. Calculate the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force on the curve by generating the vehicle's driving trajectory and motion control parameters through path planning; ⑶、The roll balance moment N completely eliminates the rollover moment Nt. Condition: N=Nt. By sinβ=Nt / (mg×r), solve for the roll angle β. (4) Control the acceleration and deceleration of the vehicle, and at the same time control the steering and the roll movement of the auxiliary body to achieve the roll angle β. Then the vehicle works in a lateral stability mode in which the rollover moment is completely eliminated.

[0013] The above-mentioned roll control method for an autonomous driving vehicle completely eliminates the lateral force applied to the vehicle during driving, and the vehicle has good lateral stability, which is suitable for autonomous driving passenger vehicles.

[0014] Since the vehicle itself has a certain ability to resist the centrifugal force and lateral force of curves without rolling over, freight vehicles can operate under certain centrifugal and lateral force conditions without rolling over. Given the maximum non-rollover moment Ns of the vehicle, take N=Nt-Ns>0, then the vehicle operates in an energy-saving and safe mode in which the rollover moment is partially eliminated.

[0015] A roll control method for an autonomous driving vehicle, comprising: In the above-mentioned active roll vehicle for autonomous driving, given the maximum non-rollover moment Ns of the vehicle, the wire-controlled roll unit controls the roll motion of the auxiliary body relative to the frame and the roll angle β to generate a roll balance moment N=mg×r×sinβ, which is used to balance the part of the rollover moment Nt of the vehicle acting on the vehicle by the centrifugal force and lateral force of the curve that exceeds the maximum non-rollover moment Ns of the vehicle, and maintain the lateral safety of the autonomous driving vehicle. The steps are as follows: ⑴. The environmental perception and positioning module determines the vehicle's position, posture, and driving speed to achieve vehicle positioning; ⑵. Calculate the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force on the curve by generating the vehicle's driving trajectory and motion control parameters through path planning; ⑶、The roll balance moment N partially eliminates the rollover moment Nt. Condition: N=Nt-Ns>0. By sinβ=(Nt-Ns) / (mg×r), solve the roll angle β. (4) Control the acceleration and deceleration of the vehicle, and at the same time control the steering and the roll movement of the auxiliary body to achieve the roll angle β. The vehicle then works in a lateral safety mode in which the rollover moment is partially eliminated.

[0016] The above-mentioned roll control method for an autonomous driving vehicle achieves partial elimination of the lateral force applied to the vehicle during driving, saves the power consumption of the wire-controlled roll unit while ensuring the lateral safety of the vehicle, and is suitable for autonomous driving freight vehicles.

[0017] The beneficial effects of the present invention lie in that an active rolling vehicle for automatic driving is proposed, in which a non-rolling body and a rolling auxiliary body are connected to a frame, and a wire-controlled rolling unit controls the rolling movement of the auxiliary body, thereby achieving a balance in the rollover moment of the vehicle caused by centrifugal force and lateral force in a curve, thereby achieving automatic driving of the active rolling vehicle, and the vehicle can choose to operate in a lateral stability mode in which the rollover moment is completely eliminated or in an energy-saving safety mode in which the rollover moment is partially eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A simplified diagram of an active roll vehicle configuration for autonomous driving; Figure 2 A schematic diagram of the rolling motion of an active rolling vehicle for autonomous driving; Figure 3 A simplified diagram of a two-wheel steering autonomous driving active roll vehicle; Figure 4 A simplified diagram of a four-wheel steering autonomous driving active roll vehicle; Figure 5 A simplified diagram of a single-wheel steering autonomous driving active roll vehicle; Figure 6 A simplified diagram of a single-wheel steering autonomous driving active roll tricycle; In the figure: 11--body, 12--subbody, 13--frame, 14--suspension, 15--wheel, 21--environmental perception and positioning module, 22--wire-controlled roll unit, 23--wire-controlled throttle, 24--wire-controlled steering unit, 25--wire-controlled brake unit. Implementation

[0019] The embodiments of the present invention are described below according to the accompanying drawings: Figure 1The active roll vehicle for autonomous driving is shown in a simplified configuration diagram. The active roll vehicle for autonomous driving comprises: a body (11) fixedly mounted on a frame (13); an environment sensing and positioning module (21) is arranged on the body (11); a wire-controlled roll unit (22), a wire-controlled throttle (23), a wire-controlled steering unit (24), and a wire-controlled brake unit (25) are independently mounted on the frame (13); an auxiliary body (12) is rotationally connected to the frame (13) and has a rotation axis L; the axis L is located in the middle vertical plane of the frame and in the middle vertical plane of the auxiliary body; the auxiliary body (12) rolls relative to the frame (13) and has a roll angle β; the middle vertical plane of the auxiliary body coincides with the middle vertical plane of the frame, β=0; the frame (13) is connected to four wheels (15) respectively according to a given wheelbase and track through four sets of suspensions (14); the four wheels (15) are arranged symmetrically with respect to the middle vertical plane of the frame; all wheels (15) use universal passenger car tires GB 9743-2007, the wire control brake unit (25) brakes the four wheels (15), the wire control steering unit (24) controls the steering of the two wheels at one end of the same wheelbase, the outer wheel deflection angle θe and the inner wheel deflection angle θi satisfy the Ackerman steering condition, the vehicle steers and drives, the vehicle steering angle θ, the wire control throttle (23) controls the rotation of the two wheels at the other end of the same wheelbase and drives the vehicle to drive, the vehicle driving speed v, the wire control roll unit (22) controls the roll movement of the auxiliary body (12) relative to the frame (13), forming a dual-wheel steering automatic driving active roll vehicle, such as Figure 3 As shown; for the autonomous driving vehicle, it can work as an autonomous driving active roll vehicle with dual front wheel steering and dual rear wheel drive, or it can work as an autonomous driving active roll vehicle with dual rear wheel steering and dual front wheel drive to adapt to different application scenarios.

[0020] Wherein: given the auxiliary vehicle body mass m, gravitational acceleration g, and the distance OC=r from the auxiliary vehicle body mass center C to the axis L, the environment perception and positioning module is set on the non-rolling vehicle body. The environment perception and positioning module is realized by sensors, gyroscopes, image sensors, radars, RTK and V2X communication technologies to realize environment perception, determine the vehicle position, posture, and driving speed, and realize vehicle positioning; through path planning, generate vehicle motion control data and decision instructions, the data and instructions are transmitted to each functional unit of the vehicle by bus communication, control the execution of the auxiliary vehicle body roll motion M, and generate the roll balance torque N=mg×r×sinβ, which is used to balance the rollover torque of the vehicle acting on the centrifugal force and lateral force of the curve, such as Figure 2 As shown; by executing the wire-controlled throttle, wire-controlled braking, wire-controlled steering, and wire-controlled roll commands, the vehicle driving, following, lane changing, turning, auxiliary body roll, parking, roll lock, etc. are completed, thereby realizing automatic driving of active roll vehicles.

[0021] Figure 4 The schematic diagram of the four-wheel steering automatic driving active roll vehicle shown in Figure 3In the dual-wheel steering automatic driving active roll vehicle shown in the figure: the wire control braking unit (25) brakes the four wheels (15), the wire control steering unit (24) controls the steering of the four wheels (15), the wire control throttle (23) controls the rotation of the four wheels or the rotation of the two wheels at one end of the same wheelbase to drive the vehicle to travel, and the wire control roll unit (22) controls the roll movement of the auxiliary body (12) relative to the frame (13), forming a four-wheel steering automatic driving active roll vehicle; for the wire control throttle (23) controls the rotation of the two wheels at one end of the same wheelbase to drive the vehicle to travel, forming a four-wheel steering, dual-wheel drive automatic driving active roll vehicle, which has the characteristics of a small turning radius and maneuverability; for the wire control throttle (23) controls the rotation of the four wheels to drive the vehicle to travel, forming a four-wheel steering, four-wheel drive automatic driving active roll vehicle, which has the characteristics of high load-bearing capacity and good maneuverability.

[0022] Figure 5 The schematic diagram of the single-wheel steering autonomous driving active roll vehicle shown in Figure 1 In the active roll vehicle for automatic driving shown in the figure: the frame (13) is connected to two wheels (15) respectively according to a given wheelbase through two sets of suspensions (14), the two wheels (15) are symmetrical about the middle vertical plane of the frame, the frame (13) is connected to a wheel (15) according to a given wheelbase through a set of suspensions (14), the wheel is located in the middle vertical plane of the frame, the three wheels (15) are distributed in an isosceles triangle, and the three wheels all use universal passenger car tires GB 9743-2007, the vertex of the isosceles triangle is located in the mid-vertical plane of the frame, and the base is perpendicular to the mid-vertical plane of the frame. The length of the base of the isosceles triangle is the wheelbase, and the height on the base is the wheelbase; the wire-controlled brake unit (25) brakes the three wheels (15), the wire-controlled steering unit (24) controls the steering of a single wheel located at the vertex of the isosceles triangle, the wire-controlled throttle (23) controls the rotation of the two wheels on the base to drive the vehicle, and the wire-controlled roll unit (22) controls the roll movement of the auxiliary body (12) relative to the frame (13), thereby forming a single-wheel steering automatic driving active roll vehicle; for the automatic driving vehicle, an automatic driving active roll vehicle operating in single front wheel steering and dual rear wheel drive, or an automatic driving active roll vehicle operating in single rear wheel steering and dual front wheel drive is selected to adapt to different application scenarios.

[0023] Figure 6 The schematic diagram of the single-wheel steering self-driving active roll tricycle shown in the figure is for Figure 1In the active roll vehicle for automatic driving shown in the figure: the frame (13) is connected to two wheels (15) respectively according to a given wheelbase through two sets of suspensions (14), the two wheels (15) are symmetrical about the middle vertical plane of the frame, and both wheels use universal passenger car tires GB 9743-2007; the auxiliary body (12) is connected to a wheel (15) according to a given wheelbase through a set of suspensions (14), the wheel is located in the middle vertical plane of the auxiliary body, and the wheel uses motorcycle tires GB with a circular arc cross section 518-2007, when the roll angle β=0, the three wheels (15) are distributed in an isosceles triangle, the apex of the isosceles triangle is located in the mid-vertical plane of the frame, the base is perpendicular to the mid-vertical plane of the frame, the length of the base of the isosceles triangle is the wheelbase, and the height on the base is the wheelbase; the wire-controlled brake unit (25) brakes the three wheels (15), the wire-controlled steering unit (24) is installed on the auxiliary body (12) and controls the steering of a single wheel connected to the auxiliary body, the wire-controlled throttle (23) controls the rotation of the two wheels on the base to drive the vehicle, and the wire-controlled roll unit (22) controls the auxiliary body (12) and the single steering wheel to roll relative to the frame (13), forming a single-wheel steering automatic driving active roll tricycle; for the automatic driving vehicle, an automatic driving active roll positive tricycle working in a single front wheel steering and dual rear wheel drive, or an automatic driving active roll reverse tricycle working in a single rear wheel steering and dual front wheel drive is selected to adapt to different application scenarios.

[0024] In the above-mentioned active roll vehicle for autonomous driving: for light and micro narrow-body vehicles with a small wheelbase, a load-bearing body is introduced to replace the body (11), and the frame (13) is omitted, and the load-bearing body replaces the "body (11) fixedly installed on the frame (13)", and the load-bearing body assumes all the functions of the body (11) and the frame (13), forming an active roll vehicle for autonomous driving; by executing the wire throttle, wire brake, wire steering, and wire roll commands, the autonomous driving of the active roll vehicle is realized.

[0025] Based on the multi-sensor fusion technology of autonomous vehicles, through path planning, generation of vehicle driving trajectory and motion control parameters, the control executes vehicle steering and auxiliary body roll motion synchronously, realizes timely and precise control of the roll angle β, and can choose to work in the lateral stability mode with complete elimination of the rollover moment or the energy-saving safety mode with partial elimination of the rollover moment.

[0026] The calculation method of the rollover moment Nt caused by the centrifugal force and lateral force acting on the vehicle is as follows: the turning radius R of the vehicle is obtained from the steering angle θ of the vehicle, and the centrifugal force F1=m0×v is obtained by combining the vehicle speed v. 2 / R; the ground lateral slope angle q is obtained by the vehicle-mounted gyroscope, and the lateral force F2=m0×g×sinq caused by the lateral slope; the lateral wind speed u and wind pressure p=u of the vehicle are detected by the anemometer 2 / 1600, calculate the lateral force F3=pQ caused by the side wind, the rollover moment Nt=(F1+F2)×r0+F3×r3 acting on the vehicle by the centrifugal force and lateral force of the curve, among which: the total mass of the vehicle m0, the height of the vehicle's center of mass r0, the projection area of ​​the vehicle on the vertical plane of the frame Q, and the height of the geometric center of the vehicle's projection on the vertical plane of the frame r3.

[0027] The roll control method of an autonomous driving vehicle comprises: In the above-mentioned active roll vehicle for autonomous driving, given the auxiliary body mass m, gravity acceleration g, and distance r from the auxiliary body mass center C to the axis L, the wire-controlled roll unit controls the roll motion of the auxiliary body relative to the frame and the roll angle β to generate a roll balance moment N=mg×r×sinβ, which is used to balance the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force of the curve, and maintain the lateral stability of the autonomous driving vehicle. The steps are as follows: ⑴. The environmental perception and positioning module determines the vehicle's position, posture, and driving speed to achieve vehicle positioning; ⑵. Calculate the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force on the curve by generating the vehicle's driving trajectory and motion control parameters through path planning; ⑶、The roll balance moment N completely eliminates the rollover moment Nt. Condition: N=Nt. By sinβ=Nt / (mg×r), solve for the roll angle β. (4) Control the acceleration and deceleration of the vehicle, and at the same time control the steering and the roll movement of the auxiliary body to achieve the roll angle β. Then the vehicle works in a lateral stability mode in which the rollover moment is completely eliminated.

[0028] The above-mentioned roll control method for an autonomous driving vehicle completely eliminates the lateral force applied to the vehicle during driving, and the vehicle has good lateral stability, which is suitable for autonomous driving passenger vehicles.

[0029] Since the vehicle itself has a certain ability to resist the centrifugal force and lateral force of curves without rolling over, freight vehicles can operate under certain centrifugal and lateral force conditions without rolling over. Given the maximum non-rollover moment Ns of the vehicle, take N=Nt-Ns>0, then the vehicle operates in an energy-saving and safe mode in which the rollover moment is partially eliminated.

[0030] A roll control method for an autonomous driving vehicle, comprising: In the above-mentioned active roll vehicle for autonomous driving, given the auxiliary body mass m, gravity acceleration g, distance r from the auxiliary body mass center C to the axis L, and the maximum non-rollover moment Ns of the vehicle, the wire-controlled roll unit controls the roll motion of the auxiliary body relative to the frame and the roll angle β to generate a roll balance moment N=mg×r×sinβ, which is used to balance the part of the rollover moment Nt of the vehicle acting on the vehicle by the centrifugal force and lateral force of the curve that exceeds the maximum non-rollover moment Ns of the vehicle, and maintain the lateral safety of the autonomous driving vehicle. The steps are as follows: ⑴. The environmental perception and positioning module determines the vehicle's position, posture, and driving speed to achieve vehicle positioning; ⑵. Calculate the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force on the curve by generating the vehicle's driving trajectory and motion control parameters through path planning; ⑶、The roll balance moment N partially eliminates the rollover moment Nt. Condition: N=Nt-Ns>0. By sinβ=(Nt-Ns) / (mg×r), solve the roll angle β. (4) Control the acceleration and deceleration of the vehicle, and at the same time control the steering and the roll movement of the auxiliary body to achieve the roll angle β. The vehicle then works in a lateral safety mode in which the rollover moment is partially eliminated.

[0031] The above-mentioned roll control method for an autonomous driving vehicle achieves partial elimination of the lateral force applied to the vehicle during driving, saves the power consumption of the wire-controlled roll unit while ensuring the lateral safety of the vehicle, and is suitable for autonomous driving freight vehicles.

Claims

1. An active roll vehicle for autonomous driving, characterized in that: include: The vehicle body is fixedly mounted on the vehicle frame, and an environment sensing and positioning module is arranged on the vehicle body. A wire-controlled roll unit, a wire-controlled throttle, a wire-controlled steering unit, and a wire-controlled brake unit are independently mounted on the vehicle frame. The auxiliary vehicle body is rotationally connected to the vehicle frame, and the rotation axis L is located in the middle vertical plane of the vehicle frame and in the middle vertical plane of the auxiliary vehicle body. The auxiliary vehicle body rolls relative to the frame, and the roll angle β is coincident with the middle vertical plane of the frame β=0. The vehicle frame is connected to four wheels through four sets of suspensions according to a given wheelbase and track. The four wheels are arranged symmetrically with respect to the middle vertical plane of the frame, and all wheels use universal passenger car tires. The wire-controlled brake unit brakes the four wheels, the wire-controlled steering unit controls the steering of the two wheels at one end of the same wheelbase, the wire-controlled throttle controls the rotation of the two wheels at the other end of the same wheelbase and drives the vehicle to travel, and the wire-controlled roll unit controls the roll movement of the auxiliary vehicle body relative to the frame, forming a dual-wheel steering automatic driving active roll vehicle; Among them: given the auxiliary body mass m, gravity acceleration g, and the distance r from the auxiliary body center of mass to the axis L, the environment perception and positioning module uses gyroscopes, image sensors, radars, RTK and V2X communication technologies to realize environment perception, determine the vehicle position, posture, and driving speed, and realize vehicle positioning; through path planning, generate vehicle motion control data and decision instructions, and transmit the data and instructions to each functional unit of the vehicle through bus communication, control the execution of the auxiliary body roll movement, and generate the roll balance torque N=mg×r×sinβ, which is used to balance the rollover torque of the vehicle caused by the centrifugal force and lateral force of the curve; by executing the wire throttle, wire brake, wire steering, and wire roll instructions, the automatic driving of the active roll vehicle is realized.

2. The active rolling vehicle for automatic driving according to claim 1, characterized in that: The wire-controlled brake unit brakes the four wheels, the wire-controlled steering unit controls the steering of the four wheels, the wire-controlled throttle controls the rotation of the four wheels or the rotation of the two wheels at one end of the same wheelbase to drive the vehicle, and the wire-controlled roll unit controls the roll movement of the sub-body relative to the frame, forming a four-wheel steering automatic driving active roll vehicle.

3. The active rolling vehicle for automatic driving according to claim 1, characterized in that: The frame is connected to two wheels through two sets of suspensions according to a given wheelbase, and the two wheels are symmetrical about the frame's median vertical plane. The frame is connected to one wheel through a set of suspensions according to a given wheelbase, and the wheel is located in the frame's median vertical plane. The three wheels are distributed in an isosceles triangle, and all three wheels use common passenger car tires. The apex of the isosceles triangle is located in the frame's median vertical plane, and the base is perpendicular to the frame's median vertical plane. The wire-controlled brake unit brakes the three wheels, the wire-controlled steering unit controls the steering of a single wheel located at the apex of the isosceles triangle, the wire-controlled throttle controls the rotation of the two wheels on the base to drive the vehicle, and the wire-controlled roll unit controls the roll movement of the auxiliary body relative to the frame, forming a single-wheel steering automatic driving active roll vehicle.

4. The active rolling vehicle for automatic driving according to claim 1, characterized in that: The frame is connected to two wheels through two sets of suspensions according to a given wheelbase, and the two wheels are symmetrical about the median vertical plane of the frame. Both wheels use general passenger car tires. The auxiliary body is connected to one wheel through a set of suspensions according to a given wheelbase, and the wheel is located in the median vertical plane of the auxiliary body. The wheel uses a tire with an arc curve cross section. When the roll angle β=0, the three wheels are distributed in an isosceles triangle, the vertices of the isosceles triangle are located in the median vertical plane of the frame, and the bottom edge is perpendicular to the median vertical plane of the frame; the wire-controlled brake unit brakes the three wheels, the wire-controlled steering unit is installed on the auxiliary body and controls the steering of a single wheel connected to the auxiliary body, the wire-controlled throttle controls the rotation of the two wheels on the bottom edge and drives the vehicle to travel, and the wire-controlled roll unit controls the auxiliary body and the single steering wheel to roll relative to the frame to form a single-wheel steering automatic driving active roll tricycle.

5. An active roll vehicle for autonomous driving, characterized in that: According to claims 1, 2, 3 and 4, in the active roll vehicle for automatic driving, a load-bearing body is introduced to replace the body and the frame is omitted, and the "body fixedly mounted on the frame" is replaced by the load-bearing body, and the load-bearing body assumes all the functions of the body and the frame; automatic driving of the active roll vehicle is achieved by executing wire-controlled throttle, wire-controlled braking, wire-controlled steering and wire-controlled roll commands.

6. A method for controlling rollover of an autonomous driving vehicle, characterized in that: include: According to the active roll vehicle for autonomous driving according to claim 1, 2, 3, 4 or 5, the roll motion of the auxiliary body relative to the frame and the roll angle β are controlled by the wire-controlled roll unit to generate a roll balance moment N=mg×r×sinβ, which is used to balance the rollover moment Nt of the vehicle acting on the centrifugal force and lateral force of the curve, and maintain the lateral stability of the autonomous driving vehicle, and the steps are as follows: ⑴. The environmental perception and positioning module determines the vehicle's position, posture, and driving speed to achieve vehicle positioning; ⑵. Calculate the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force on the curve by generating vehicle driving trajectory and motion control parameters through path planning; ⑶、The roll balance moment N completely eliminates the rollover moment Nt. Condition: N=Nt. By sinβ=Nt / (mg×r), solve for the roll angle β. (4) Control the acceleration and deceleration of the vehicle, and at the same time control the steering of the vehicle and the roll movement of the auxiliary body to achieve the roll angle β. Then the vehicle works in a lateral stability mode in which the rollover moment is completely eliminated.

7. A roll control method for an autonomous driving vehicle, characterized in that: include: According to the active roll vehicle for automatic driving according to claim 1, 2, 3, 4 or 5, given the maximum non-rollover moment Ns of the vehicle, the wire-controlled roll unit controls the roll motion of the auxiliary body relative to the frame and the roll angle β to generate a roll balance moment N=mg×r×sinβ, which is used to balance the part of the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force of the curve that exceeds the maximum non-rollover moment Ns of the vehicle, and maintain the lateral safety of the automatic driving vehicle, the steps are as follows: ⑴. The environmental perception and positioning module determines the vehicle's position, posture, and driving speed to achieve vehicle positioning; ⑵. Calculate the rollover moment Nt of the vehicle caused by the centrifugal force and lateral force on the curve by generating vehicle driving trajectory and motion control parameters through path planning; ⑶、The roll balance moment N partially eliminates the rollover moment Nt. Condition: N=Nt-Ns>0. By sinβ=(Nt-Ns) / (mg×r), solve the roll angle β. (4) Control the acceleration and deceleration of the vehicle, and at the same time control the steering and the roll movement of the auxiliary body to achieve the roll angle β. The vehicle then works in a lateral safety mode in which the rollover moment is partially eliminated.

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