Corner module architecture electric vehicle bumpy road traffic control method

Abstract

The invention discloses a corner module architecture electric vehicle bumpy road traffic control method. The method comprises the steps that S1, the road condition is detected through a visual sensor; s2, when a vehicle cannot pass through a deep pit of the road in a conventional driving mode according to the road condition, control weights of an electric wheel driving system, a wheel side line control steering system and an active suspension system are distributed, and all wheels are driven out of the pit in sequence; wherein the electric wheel driving system comprises a wheel, a hub motor and a hub motor controller, the wheel side line control steering system comprises a steering motor and a steering motor controller, and the active suspension system comprises an active suspension and an active suspension controller. By the adoption of the technical scheme, the problem that vehicles pass through a bumpy road 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 controlling the passage of electric vehicles with a corner module architecture on bumpy roads. Background Art

[0002] When driving in the wild, vehicles will inevitably encounter bumpy roads. When encountering a big pothole, Figure 1 As shown, the length and width of the pit are greater than the length and width of the vehicle, and the vehicle needs to drive in and out of the pit due to the driving path. Although the pit has a certain depth, it will not cause the vehicle to bottom out. If the vehicle drives into the pit in the traditional way, it will cause a great impact on the wheels and body, which will reduce the smoothness of the vehicle and may bring certain hidden dangers to the safety of the vehicle structure. In addition, the traditional vehicle cannot drive out of the pit. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a corner module structure electric vehicle bumpy road passage control method, which effectively solves the vehicle bumpy road passage problem.

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

[0005] A corner module architecture electric vehicle bumpy road traffic control method, 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, control weights of the electric wheel drive system, the wheel-side wire-controlled steering system and the active suspension system are allocated to make each wheel drive out of the pothole in turn; wherein the electric wheel drive system includes a wheel, a wheel hub motor, and a wheel hub motor controller, the wheel-side wire-controlled steering system includes a steering motor and a steering motor controller, and the active suspension system includes an active suspension and an active suspension controller.

[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] Preferably, the wheel angle controller controls the wheel angle through the steering motor controller to adjust the vehicle's heading angle and wheel angle; 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 / drive / 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, and the wheel hub motor controller controls the motor torque; the multi-active suspension collaborative controller generates each active Ideal suspension travel, active suspension controller controls active suspension, suspension travel sensor transmits suspension travel signal to active suspension controller to form closed-loop control, multiple active suspension collaborative controllers adjust vehicle body posture, during posture adjustment process, a wheel load is very small or no load, which will cause wheel slip, drive anti-skid controller controls the driving torque of electric wheel drive system through wheel hub motor controller to control wheel slip; make each wheel drive into the pit in turn, the wheel entering the pit leaves the ground first and then slowly contacts with the bottom of the pit, so that the vertical impact of the wheel is minimized, and then make each wheel drive out of the pit in turn, and the vehicle resumes normal driving.

[0010] When there is a deep pothole on the road that the vehicle cannot pass through in a conventional manner, the present invention distributes the control weights of the electric wheel drive system, the wheel-side wire-controlled steering system and the active suspension system so that each wheel can be driven out of the pothole in turn. The technical solution of the present invention effectively solves the problem of vehicle passage on bumpy roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] 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.

[0012] Figure 1 This is a schematic diagram of the road condition of a deep pit;

[0013] Figure 2 A schematic diagram of a vehicle supported by three wheels according to the present invention;

[0014] Figure 3 This is a flow chart of a corner module architecture electric vehicle's method for controlling the passage of bumpy roads according to the present invention;

[0015] Figure 4 This is a schematic diagram of the corner module architecture electric vehicle's control of passing through bumpy roads according to the present invention. DETAILED DESCRIPTION

[0016] 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.

[0017] 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.

[0018] Embodiment 1:

[0019] The embodiment of the present invention provides a corner module architecture electric vehicle driving control method on a bumpy road. The corner module architecture electric vehicle is composed of four corner modules, each corner module integrates an electric wheel drive system, a wheel-side wire-controlled steering system and an active suspension system. The electric wheel drive system includes a wheel, a wheel hub motor, and a wheel 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 corner module architecture electric vehicle can control the longitudinal, lateral and vertical degrees of freedom of each wheel, a total of twelve degrees of freedom, which can better realize the dynamic control of the vehicle and provide hardware conditions for the coordinated control of the chassis when the vehicle enters a pit. The present invention aims to achieve vehicle gait control when entering a pit. The wheels do not contact the ground before entering the pit, so that the vehicle is supported by three wheels. After the wheel passes the edge of the pit, the wheel slowly descends and contacts the bottom of the pit, so that the gait control of the wheel entering the pit is achieved. The other three wheels also enter the pit in sequence according to a similar control method, so that the vehicle can be guaranteed to have minimal vertical impact when entering the pit. When exiting the pit, one wheel is lifted, and the lifting height is greater than the depth of the pit. The vehicle is supported by the other three wheels to drive, so that the wheel exits the pit. The other wheels also exit the pit in this way, and finally the whole vehicle exits the pit. The principle of a vehicle 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 4The 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.

[0020] like Figure 3 As shown, an embodiment of the present invention provides a corner module architecture electric vehicle traffic control method on bumpy roads. The visual module detects the road condition and detects that there is a large pothole in front of the vehicle. The length of the pothole is greater than the length of the vehicle, the width of the pothole is greater than the width of the vehicle, and the depth of the pothole will not cause the vehicle to bottom out. Due to driving requirements, the vehicle needs to drive in and out of the pothole. Driving the vehicle directly into the pothole will cause a large vertical impact on the wheels and the body, and it is difficult to drive out of the pothole after entering the pothole. 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; the wheel angle controller controls the wheel angle through the steering motor controller to adjust the vehicle's heading angle and wheel angle; then, 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 the 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 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 obtained through double difference The GPS sensors are used for data collection; the multi-active suspension collaborative controller generates the ideal stroke of each active suspension, the active suspension controller controls the active suspension, and the suspension stroke sensor transmits the suspension stroke signal to the active suspension controller to form a closed-loop control. The multi-active suspension collaborative controller adjusts the body posture. 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; in this way, each wheel is driven into the pit in turn, and the wheel entering the pit first leaves the ground and then slowly contacts the bottom of the pit, so that the vertical impact of the wheel is minimized, and then each wheel is driven out of the pit in turn, and the vehicle resumes normal driving.

[0021] like Figure 4 As shown, the corner module architecture of the embodiment of the present invention, the uneven road passage control process of electric vehicles includes:

[0022] Step 1. The vehicle is supported by four wheels and is driving normally. The visual sensor detects that the vehicle has a large pothole. The length of the pothole is greater than the length of the vehicle, and the width of the pothole is greater than the width of the vehicle. The depth of the pothole will not cause the vehicle to bottom out. Due to driving requirements, the vehicle needs to drive into the pothole. Driving the vehicle directly into the pothole will cause a large vertical impact on the wheels and cause structural safety hazards. The vehicle also needs to get out of the pothole, and it is difficult to get out of the pothole by traditional driving methods.

[0023] Step 2: Allocate control weights for the electric wheel drive system, the wheel-side steer-by-wire system, and the active suspension system. The maximum values ​​of the control weights for the three systems are all 1, and the minimum values ​​are all 0.

[0024] Step 3: Set the control weights of the electric wheel drive system and the wheel-side wire-controlled steering system to 1, and the control weight of the active suspension system to 0. Use the wheel angle controller to control the wheel angle through the steering motor controller to adjust the vehicle's heading angle and wheel angle. Here, let wheel 2 enter the pit first, so adjust the vehicle's heading angle to 45 degrees and the four wheel angles to -45 degrees.

[0025] Step 4. In this step, the control weights of the three systems are 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. The path tracking controller generates the ideal wheel angle / drive / 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. The path information is collected through a dual differential GPS sensor. The multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the contraction of suspension 1, suspension 3, and suspension 4. Here, the length of suspension 1 and 4 is greater than the length of suspension 3. In this way, the roll angle of the vehicle body decreases, and the pitch angle decreases, which in turn causes the vehicle body 2 to rise, so that the center of gravity is close to the vehicle body 3, and the load on the wheel 2 is gradually reduced. After that, the suspension 2 is retracted so that the wheel 2 is finally no longer in contact with the ground. In this process, the distance from the center of gravity to the vehicle body 3 is ensured to be smaller than the distance to the vehicle body 2, so that the vehicle can be supported by wheels 1, 3 and 4 when traveling; because wheel 2 leaves the ground, the drive anti-skid system controls the slip rate of wheel 2 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, and if wheel 3 does not slip, the slip rate of wheel 3 is not controlled.

[0026] Step 5. When the vehicle moves forward and wheel 2 passes the edge of the pit, in order to minimize the vertical impact when wheel 2 contacts the bottom of the pit, suspension 2 and suspension 3 need to be extended to allow wheel 2 to drop and slowly contact the bottom of the pit. This can greatly reduce the vertical impact of wheel 2.

[0027] Step 6: After the wheel 2 contacts the bottom of the pit, the suspension returns to its original length, and the vehicle is supported by four wheels 313, returning to a normal driving state.

[0028] Step 7, 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 / drive / 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; it is necessary to control wheel 1 to leave the ground, the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 2, the extension of suspension 3, the contraction of suspension 4, the extension of suspension 1, and the body 1 is raised, resulting in an increase in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity of the vehicle will be closer to the vehicle body 4, and then the suspension 1 is slowly retracted, so that the load on wheel 1 is gradually reduced, and wheel 1 finally no longer contacts the ground. In this process, it is ensured that the distance from the center of gravity to the vehicle body 4 is smaller than the distance to the vehicle body 1, so that the vehicle can be supported by wheels 2, 3 and 4 when traveling; since wheel 1 leaves the ground, the drive anti-skid system controls the slip rate of wheel 1 to 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 0.2, and if wheel 4 does not slip, the slip rate of wheel 4 is not controlled.

[0029] Step 8. When the vehicle moves forward and wheel 1 passes the edge of the pit, in order to minimize the vertical impact when wheel 1 contacts the bottom of the pit, suspension 1 and suspension 4 need to be extended to allow wheel 1 to drop and slowly contact the bottom of the pit. This can greatly reduce the vertical impact of wheel 1.

[0030] Step 9: After wheel 1 contacts the bottom of the pit, the suspension returns to its original length, the vehicle is supported by four wheels, and returns to normal driving state.

[0031] Step 10, 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 / drive / 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;; It is necessary to control the wheel 4 to leave the ground, the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 2, the extension of suspension 3, the contraction of suspension 1, and the lifting of body 4 The height of the suspension 4 is high, 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 of the vehicle will be closer to the vehicle body 1, and then the suspension 4 is slowly retracted, so that the load on the wheel 4 is gradually reduced, and the wheel 4 is finally 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 can be supported by wheels 1, 2 and 3 when traveling; since wheel 4 leaves the ground, the drive anti-skid system controls the slip rate of wheel 4 to 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 0.2, and if wheel 1 does not slip, the slip rate of wheel 1 is not controlled.

[0032] Step 11, the vehicle moves forward, and after the wheel 4 passes the edge of the pit, in order to minimize the vertical impact when the wheel 4 contacts the bottom of the pit, the suspension 1 needs to be extended, and the suspension 4 needs to be extended to allow the wheel 4 to drop and slowly contact the bottom of the pit, which can greatly reduce the vertical impact of the wheel 4.

[0033] Step 12: After the wheel 4 contacts the bottom of the pit, the suspension returns to its original length, the vehicle is supported by the four wheels, and returns to a normal driving state.

[0034] Step 13, 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 / drive / 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; it is necessary to control the wheel 3 to leave the ground, the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 1, the extension of suspension 4, the contraction of suspension 2, and the rise of vehicle body 3 , resulting in an increase in the roll angle and pitch angle of the vehicle body, so that the center of gravity of the vehicle will be closer to the vehicle body 2, and then the suspension 3 will be slowly retracted, so that the load on the wheel 3 will gradually decrease, and the wheel 3 will eventually no longer contact the ground. In this process, the distance from the center of gravity to the vehicle body 2 is ensured to be less than the distance to the vehicle body 3, so that the vehicle can be supported by wheels 1, 2 and 4 when traveling; because wheel 3 leaves the ground, the drive anti-skid system controls the slip rate of wheel 3 to 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 0.2, and if wheel 2 does not slip, the slip rate of wheel 2 is not controlled.

[0035] Step 14: The vehicle moves forward. After wheel 3 passes the edge of the pit, the entire vehicle enters the pit. In order to minimize the vertical impact when wheel 3 contacts the bottom of the pit, the main power of all suspensions is slowly reduced to 0 to restore the four-wheel support of the vehicle.

[0036] Step 15, control the vehicle to go up the pit, 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; it is necessary to control wheel 2 to leave the ground, the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 1, the extension of suspension 4, and the contraction of suspension 3, The vehicle body 2 is raised, resulting in a decrease in the roll angle and pitch angle of the vehicle body, so that the center of gravity of the vehicle will be closer to the vehicle body 3, and then the suspension 2 is slowly retracted, so that the load on the wheel 2 is gradually reduced, and the wheel 2 is finally no longer in contact with 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 can be supported by wheels 1, 3 and 4 when traveling; since wheel 2 leaves the ground, the drive anti-skid system controls the slip rate of wheel 2 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, and if wheel 3 does not slip, the slip rate of wheel 3 is not controlled.

[0037] Step 16: The vehicle moves forward. After wheel 2 hits the pit, the main forces of all suspensions slowly drop to 0, and the four-wheel support of the vehicle is restored.

[0038] Step 17, 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 / drive / 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; it is necessary to control wheel 1 to leave the ground, the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 2, the extension of suspension 3, the contraction of suspension 4, the extension of suspension 1, and the body 1 is raised, resulting in an increase in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity of the vehicle will be closer to the vehicle body 4, and then the suspension 1 is slowly retracted, so that the load on wheel 1 is gradually reduced, and wheel 1 finally no longer contacts the ground. In this process, it is ensured that the distance from the center of gravity to the vehicle body 4 is smaller than the distance to the vehicle body 1, so that the vehicle can be supported by wheels 2, 3 and 4 when traveling; since wheel 1 leaves the ground, the drive anti-skid system controls the slip rate of wheel 1 to 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 0.2, and if wheel 4 does not slip, the slip rate of wheel 4 is not controlled.

[0039] Step 18: The vehicle moves forward. After wheel 1 hits the pit, the main forces of all suspensions slowly drop to 0, and the four-wheel support of the vehicle is restored.

[0040] Step 19, 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 / drive / 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; it is necessary to control the wheel 4 to leave the ground, the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 2, the extension of suspension 3, the contraction of suspension 1, and the rise of vehicle body 4 , 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 of the vehicle will be closer to the vehicle body 1, and then the suspension 4 will be slowly retracted, so that the load on the wheel 4 will gradually decrease, and the wheel 4 will eventually no longer be in contact with 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 when traveling; since wheel 4 leaves the ground, the drive anti-skid system controls the slip rate of wheel 4 to 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 0.2, and if wheel 1 does not slip, the slip rate of wheel 1 is not controlled.

[0041] Step 20: The vehicle moves forward. After wheel 4 hits the pit, the main forces of all suspensions slowly drop to 0, and the vehicle is restored to four-wheel support.

[0042] Step 21, 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 / drive / 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; it is necessary to control the wheel 3 to leave the ground, the multi-active suspension collaborative controller generates an ideal travel signal to the active suspension controller to control the extension of suspension 1, the extension of suspension 4, the contraction of suspension 2, and the rise of vehicle body 3 , resulting in an increase in the roll angle and pitch angle of the vehicle body, so that the center of gravity of the vehicle will be closer to the vehicle body 2, and then the suspension 3 will be slowly retracted, so that the load on the wheel 3 will gradually decrease, and the wheel 3 will eventually no longer contact the ground. In this process, the distance from the center of gravity to the vehicle body 2 is ensured to be less than the distance to the vehicle body 3, so that the vehicle can be supported by wheels 1, 2 and 4 when traveling; because wheel 3 leaves the ground, the drive anti-skid system controls the slip rate of wheel 3 to 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 0.2, and if wheel 2 does not slip, the slip rate of wheel 2 is not controlled.

[0043] Step 22, the vehicle moves forward, and after wheel 3 hits the pit, the whole vehicle drives out of the pit, and the multi-active suspension cooperative controller generates an ideal travel signal to the active suspension controller, which then controls the main power of the suspension to slowly drop to 0, and restores the four-wheel support of the vehicle. 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, so that the vertical impact of the vehicle can be very small when entering the pit, ensuring the structural safety of the vehicle, and also allowing the vehicle to smoothly exit the pit, and controlling wheel slippage to ensure that the vehicle follows the ideal path.

[0044] 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 corner module structure electric vehicle bumpy road traffic control method, 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, control weights of the electric wheel drive system, the wheel-side wire-controlled steering system and the active suspension system are allocated to make each wheel drive out of the pothole in turn; wherein the electric wheel drive system includes a wheel, a wheel hub motor, and a wheel hub motor controller, the wheel-side wire-controlled steering system includes a steering motor and a steering motor controller, and the active suspension system includes an active suspension and an active suspension controller.

2. The corner module structure electric vehicle bumpy road traffic control method 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 structure electric vehicle bumpy road traffic control method as claimed in claim 2, characterized in that: The wheel angle controller controls the wheel angle through the steering motor controller to adjust the vehicle's heading angle and wheel angle; the path tracking controller controls the wheel-side steer-by-wire system / electric wheel drive system / wheel-side steer-by-wire 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 / drive / braking torque, the steering motor controller controls the wheel angle, and 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; The multi-active suspension collaborative controller generates the ideal stroke for each active suspension, the active suspension controller controls the active suspension, and the suspension stroke sensor transmits the suspension stroke signal to the active suspension controller to form a closed-loop control. The multi-active suspension collaborative controller adjusts the body posture. 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 hub motor controller to control the wheel slip; each wheel is driven into the pit in turn, and the wheel entering the pit first leaves the ground and then slowly contacts the bottom of the pit, so that the vertical impact of the wheel is minimized, and then each wheel is driven out of the pit in turn, and the vehicle resumes normal driving.

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