Pit Uneven Road Passage Control Method for Electric Vehicles with Angular Module Architecture

Abstract

The present invention discloses a control method for an electric vehicle with an angular module architecture to pass through rough roads, including: Step S1, detecting road conditions through a vision sensor; Step S2, when there is a deep pit on the road that the vehicle cannot pass through in a conventional driving manner, the control weights of the electric wheel drive system, the in-wheel wire-controlled steering system, and the active suspension system are allocated so that each wheel drives out of the pit in turn; wherein, the electric wheel drive system includes wheels, hub motors, and hub motor controllers, the in-wheel wire-controlled steering system includes steering motors and steering motor controllers, and the active suspension system includes active suspensions and active suspension controllers. By adopting the technical solution of the present invention, the problem of the vehicle passing through rough roads is effectively solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pure electric vehicles, and particularly relates to a method for controlling the passage of an electric vehicle with an angular module architecture on rough roads. Background Art

[0002] When a vehicle travels in the wild, it is inevitable to encounter rough roads. When encountering a large pit, as Figure 1 shown, the length and width of the pit are both greater than the length and width of the vehicle. Due to the driving path, the vehicle needs to drive into and out of the pit. Although the pit has a certain depth, it will not cause the vehicle to scrape the bottom. Driving the vehicle into the pit in the traditional way will cause a large impact on the wheels and the body, reducing the smoothness of the vehicle. At the same time, it may pose a certain hidden danger to the safety of the vehicle structure, and the traditional driving method of the vehicle cannot get out of the pit. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method for controlling the passage of an electric vehicle with an angular module architecture on rough roads, which effectively solves the problem of vehicle passage on rough roads.

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

[0005] A method for controlling the passage of an electric vehicle with an angular module architecture on rough roads, comprising:

[0006] Step S1, detecting the road condition through a vision sensor;

[0007] Step S2, when there is a deep pit on the road condition that the vehicle cannot pass through in the conventional driving mode, allocate the control weights of the electric wheel drive system, the wheel-by-wire steering system, and the active suspension system, so that each wheel drives out of the pit in turn; wherein, the electric wheel drive system includes wheels, hub motors, and hub motor controllers, the wheel-by-wire steering system includes steering motors and steering motor controllers, and the active suspension system includes active suspensions and active suspension controllers.

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

[0009] Preferably, the wheel steering angle controller controls the wheel steering angle through the steering motor controller to adjust the vehicle's heading angle and wheel angle; the path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel steering system and electric wheel drive system to act together to make the vehicle follow the ideal path. The path tracking controller generates the ideal wheel steering angle / drive / braking torque. The steering motor controller controls the wheel steering angle. The steering angle sensor outputs the actual vehicle steering angle signal to the steering motor controller to form a closed-loop control. The hub motor controller controls the motor torque; the multi-active suspension collaborative controller generates the ideal stroke of each active suspension. The active suspension controller controls the active suspension. 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 vehicle body posture. During the posture adjustment process, the load of a certain wheel is very small or there is no load, which 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; make each wheel drive into the pit in turn. The wheel that enters the pit leaves the ground first and then slowly contacts the bottom of the pit to minimize the vertical impact of the wheel, and then make each wheel drive out of the pit in turn, and the vehicle resumes normal driving.

[0010] When there is a deep pit on the road surface that the vehicle cannot pass through in the conventional driving mode in the present invention, the control weights of the electric wheel drive system, the in-wheel steering system and the active suspension system are allocated so that each wheel drives out of the pit in turn. By adopting the technical solution of the present invention, the problem of the vehicle passing through the potholed road is effectively solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

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

[0013] Figure 2 It is a schematic diagram of the principle of three wheels supporting the vehicle in the present invention;

[0014] Figure 3 It is a flowchart of the control method for a corner module architecture electric vehicle to pass through a potholed road in the present invention;

[0015] Figure 4 It is a schematic diagram of the control for a corner module architecture electric vehicle to pass through a potholed road in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0017] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be 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 control method for an electric vehicle with a corner module architecture to pass through rough roads. The electric vehicle with a corner module architecture is composed of four corner modules. Each corner module integrates an in-wheel motor drive system, a by-wire steering system for the wheel edge, and an active suspension system. The in-wheel motor drive system includes a wheel, an in-wheel motor, and an in-wheel motor controller. The by-wire steering system for the wheel edge includes a steering motor and a steering motor controller. The active suspension system includes an active suspension and an active suspension controller. The electric vehicle with a corner module architecture 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 vehicle chassis when entering a pit. The present invention aims to achieve gait control for the vehicle to enter the pit. Before the wheel enters the pit, it does not contact the ground, enabling the vehicle to be supported by three wheels. After the wheel passes over the edge of the pit, the wheel slowly descends to contact the bottom of the pit, thus realizing the gait control of this wheel. The other three wheels also follow a similar control method to enter the pit in turn, ensuring the minimum vertical impact when the vehicle enters 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, realizing the exit of this wheel. The other wheels also exit the pit according to this method, ultimately realizing the exit of the entire vehicle. The principle of the vehicle being supported by three wheels is as Figure 2 shown. 1, 2, 3, and 4 represent the wheels and suspensions of the left front, right front, left rear, and right rear 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 of the vehicle body. 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 axle and the rear axle respectively, and B is the wheelbase. The pitching and roll angles of the vehicle body cause the center of mass to move. Since the suspension stroke is limited, the pitching and roll angles of the vehicle body are restricted, and thus 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 centroid can move. To lift the wheel 2 off the ground, the vehicle is supported by wheels 1, 3, and 4 and remains stable. Then, the centroid O needs to be within the trapezoid 551818. Assuming the moved centroid is O1, a1 and b1 are the distances from the centroid O1 to the front axle and the rear axle respectively, and c1 and d1 are the distances from the centroid O1 to the left wheel and the right wheel respectively.

[0020] As Figure 3 shown, an embodiment of the present invention provides a method for controlling the passage of an angular module architecture electric vehicle on a potholed road. The road condition is detected by a vision module. It is detected that there is a large pit in front of the vehicle. The length of the pit is greater than the length of the vehicle, the width of the pit is greater than the width of the vehicle, and the depth of the pit will not cause the vehicle to scrape the bottom. Due to driving requirements, the vehicle needs to drive into and out of the pit. If the vehicle directly drives into the pit, the vertical impact on the wheels and the body will be very large, and it will be very difficult to drive out of the pit after entering. The control weights of the three systems of the electric wheel drive system, the wheel-by-wire 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 heading angle and wheel angle of the vehicle; then, the path tracking controller controls the wheel-by-wire steering system / electric wheel drive system / wheel-by-wire steering system and the electric wheel drive system to act 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 hub motor controller controls the motor torque, and the path information is collected by a dual-differential GPS sensor; 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, 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 controller controls the driving torque of the electric wheel drive system through the hub motor controller to control the wheel slip; in this way, each wheel drives into the pit in turn. The wheel that enters the pit leaves the ground first and then slowly contacts the bottom of the pit to minimize the vertical impact on the wheel, and then each wheel drives out of the pit in turn, and the vehicle resumes normal driving.

[0021] As Figure 4 shown, the process of controlling the passage of an angular module architecture electric vehicle on a potholed road according to an embodiment of the present invention includes:

[0022] Step 1: The vehicle is supported by four wheels and is driving normally. Through the vision sensor, it is detected that there is a large pit in front of the vehicle. The length of the pit is greater than the length of the vehicle, and the width of the pit is greater than the width of the vehicle. The depth of the pit will not cause the vehicle to scrape the bottom. Due to driving requirements, the vehicle needs to drive into the pit. Driving directly into the pit will cause a large vertical impact on the wheels and pose a safety hazard in terms of structure. The vehicle also needs to get out of the pit, and it is very difficult to get out of this pit with traditional driving methods.

[0023] Step 2: Allocate the control weights for the three systems of the electric wheel drive system, the wheel-by-wire steering system, and the active suspension system. The maximum control weight for each of the three systems is 1, and the minimum is 0.

[0024] Step 3: Set the control weights of the electric wheel drive system and the wheel-by-wire steering system to 1, and the control weight of the active suspension system to 0. The wheel angle controller controls the wheel angle through the steering motor controller to adjust the vehicle's heading angle and wheel angle. Here, to make wheel 2 drive into the pit first, the vehicle's heading angle is adjusted to 45 degrees, and the angles of the four wheels are -45 degrees.

[0025] Step 4: From this step until the end, set the control weights of the three systems to 1. The path tracking controller controls the wheel-by-wire steering system / electric wheel drive system / wheel-by-wire steering system and the electric wheel drive system to act 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 hub motor controller controls the motor torque. The path information is collected through a dual-differential GPS sensor; the multi-active suspension coordination controller generates an ideal stroke signal to the active suspension controller to control the contraction of suspension 1, suspension 3, and suspension 4. Here, the lengths of suspension 1 and 4 are greater than the length of suspension 3, so that the vehicle's roll angle and pitch angle are reduced, and then the body 2 rises, the center of gravity approaches the body 3, and the load on wheel 2 gradually decreases. After that, suspension 2 is contracted so that wheel 2 finally no longer touches the ground. During this process, ensure that the distance from the center of gravity to body 3 is less than the distance to body 2, so as to ensure that the vehicle is supported by wheels 1, 3, and 4 for driving; since wheel 2 leaves the ground, the drive anti-skid system controls the slip ratio of wheel 2 to 0; during the process of wheel 2 leaving the ground, it may cause wheel 3 to leave the ground for a short time or have a very small load, so the slip ratio of wheel 3 is controlled. If wheel 3 slips, control the slip ratio of wheel 3 to 0.2. If wheel 3 does not slip, do not control the slip ratio of wheel 3.

[0026] Step 5: As the vehicle moves forward, after wheel 2 passes over the edge of the pit, in order to minimize the vertical impact when wheel 2 contacts the bottom of the pit, it is necessary to extend suspension 2, extend suspension 3, lower wheel 2, and make wheel 2 slowly contact the bottom of the pit, which can greatly reduce the vertical impact of wheel 2.

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

[0028] Step 7: The path tracking controller controls the wheel-by-wire steering system / electric wheel drive system / wheel-by-wire steering system and electric wheel drive system to act together to make the vehicle follow the ideal path. The path tracking controller generates the ideal wheel steering angle / drive / braking torque. The steering motor controller controls the wheel steering angle, and the steering angle sensor outputs the actual vehicle steering angle signal to the steering motor controller to form a closed-loop control. The hub motor controller controls the motor torque, and the path information is collected by a dual-differential GPS sensor; it is necessary to control wheel 1 to leave the ground. The multi-active suspension cooperative controller generates an ideal stroke signal to the active suspension controller to further control suspension 2 to extend, suspension 3 to extend, suspension 4 to contract, suspension 1 to extend, and the body 1 to rise, resulting in an increase in the body roll angle and a decrease in the pitch angle. In this way, the center of gravity of the vehicle will be closer to the body 4, and then slowly contract suspension 1, so that the load of wheel 1 gradually decreases, and wheel 1 finally no longer contacts the ground. During this process, ensure that the distance from the center of gravity to the body 4 is less than the distance to the body 1, so that the vehicle can be supported by wheels 2, 3, and 4 for driving; since wheel 1 leaves the ground, the drive anti-skid system controls the slip ratio of wheel 1 to 0; during the process of wheel 1 leaving the ground, it may cause wheel 4 to leave the ground for a short time or have a very small load, so the slip ratio of wheel 4 is controlled. If wheel 4 slips, control the slip ratio of wheel 4 to 0.2. If wheel 4 does not slip, do not control the slip ratio of wheel 4.

[0029] Step 8: As the vehicle moves forward, after wheel 1 passes over the edge of the pit, in order to minimize the vertical impact when wheel 1 contacts the bottom of the pit, it is necessary to extend suspension 1, extend suspension 4, lower wheel 1, and make wheel 1 slowly contact the bottom of the pit, which 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, and the vehicle is supported by four wheels and resumes normal driving.

[0031] Step 10: The path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel 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, and the steering angle sensor outputs the actual vehicle angle signal to the steering motor controller to form a closed-loop control. The hub motor controller controls the motor torque. The path information is collected by a dual-differential GPS sensor. It is necessary to control the wheel 4 to leave the ground. The multi-active suspension cooperative controller generates the ideal stroke signal to the active suspension controller to further control the suspension 2 to extend, the suspension 3 to extend, the suspension 1 to contract, and the body 4 to rise, resulting in a decrease in the body roll angle and an increase in the pitch angle. In this way, the center of gravity of the vehicle will be closer to the body 1. Then, slowly contract the suspension 4, so that the load of the wheel 4 gradually decreases, and the wheel 4 finally no longer contacts the ground. During this process, ensure that the distance from the center of gravity to the body 1 is less than the distance to the body 4, so as to ensure that the vehicle is supported by the wheels 1, 2, and 3 for driving. Since the wheel 4 leaves the ground, the drive slip control system controls the slip ratio of the wheel 4 to 0. During the process of the wheel 4 leaving the ground, it may cause the wheel 1 to leave the ground or have a very small load for a short time. Therefore, the slip ratio of the wheel 1 is controlled. If the wheel 1 slips, control the slip ratio of the wheel 1 to 0.2. If the wheel 1 does not slip, do not control the slip ratio of the wheel 1.

[0032] Step 11: When the vehicle moves forward and the wheel 4 passes over the edge of the pit, in order to minimize the vertical impact when the wheel 4 contacts the bottom of the pit, it is necessary to extend the suspension 1 and the suspension 4, lower the wheel 4, and make the wheel 4 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, and the vehicle is supported by four wheels and returns to the normal driving state.

[0034] Step 13: The path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel steering system and electric wheel drive system to act 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 hub motor controller controls the motor torque, and the path information is collected by a dual-differential GPS sensor; it is necessary to control wheel 3 to leave the ground. The multi-active suspension cooperative controller generates an ideal stroke signal to the active suspension controller to further control suspension 1 to extend, suspension 4 to extend, suspension 2 to contract, and the body 3 to rise, resulting in an increase in the body roll angle and pitch angle. In this way, the center of gravity of the vehicle will be closer to the body 2. Then, slowly contract suspension 3, so that the load on wheel 3 gradually decreases, and wheel 3 finally no longer contacts the ground. During this process, ensure that the distance from the center of gravity to the body 2 is less than the distance to the body 3, so as to ensure that the vehicle is supported by wheels 1, 2, and 4 for driving; since wheel 3 leaves the ground, the drive anti-skid system controls the slip ratio of wheel 3 to 0; during the process of wheel 3 leaving the ground, it may cause wheel 2 to leave the ground for a short time or have a very small load, so the slip ratio of wheel 2 is controlled. If wheel 2 slips, control the slip ratio of wheel 2 to 0.2. If wheel 2 does not slip, do not control the slip ratio of wheel 2.

[0035] Step 14: The vehicle moves forward. After wheel 3 passes over the edge of the pit, the whole vehicle drives into the pit. In order to minimize the vertical impact when wheel 3 contacts the bottom of the pit, slowly reduce the active force of all suspensions to 0 and restore the vehicle to be supported by four wheels.

[0036] Step 15: Perform vehicle uphill control. The path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel steering system and electric wheel drive system to act together to make the vehicle follow the ideal path. The path tracking controller generates the ideal wheel steering angle / drive / braking torque. The steering motor controller controls the wheel steering angle. The steering angle sensor outputs the actual vehicle steering angle signal to the steering motor controller to form a closed-loop control. The hub motor controller controls the motor torque. The path information is collected by a dual-differential GPS sensor. It is necessary to control wheel 2 to leave the ground. The multi-active suspension cooperative controller generates an ideal stroke signal to the active suspension controller to further control suspension 1 to extend, suspension 4 to extend, suspension 3 to contract, and the body 2 to rise, resulting in a decrease in the body roll angle and pitch angle. In this way, the center of gravity of the vehicle will be closer to the body 3. Then, slowly contract suspension 2, so that the load on wheel 2 gradually decreases, and wheel 2 finally no longer contacts the ground. During this process, ensure that the distance from the center of gravity to body 3 is less than the distance to body 2, so as to ensure that the vehicle is supported by wheels 1, 3, and 4 for driving. Since wheel 2 leaves the ground, the drive anti-skid system controls the slip ratio of wheel 2 to 0. During the process of wheel 2 leaving the ground, it may cause wheel 3 to leave the ground for a short time or have a very small load. Therefore, control the slip ratio of wheel 3. If wheel 3 slips, control the slip ratio of wheel 3 to 0.2. If wheel 3 does not slip, do not control the slip ratio of wheel 3.

[0037] Step 16: The vehicle moves forward. After wheel 2 goes uphill, the active forces of all suspensions slowly drop to 0, and the vehicle resumes four-wheel support.

[0038] Step 17: The path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel 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 steering angle / driving / braking torque. The steering motor controller controls the wheel steering angle. The steering angle sensor outputs the actual vehicle steering angle signal to the steering motor controller to form a closed-loop control. The hub motor controller controls the motor torque. The path information is collected by a dual-differential GPS sensor. It is necessary to control wheel 1 to leave the ground. The multi-active suspension cooperative controller generates the ideal stroke signal to the active suspension controller to further control suspension 2 to extend, suspension 3 to extend, suspension 4 to contract, suspension 1 to extend, and the body 1 to rise, resulting in an increase in the body roll angle and a decrease in the pitch angle. In this way, the center of gravity of the vehicle will be closer to body 4. Then, slowly contract suspension 1, so that the load of wheel 1 gradually decreases, and wheel 1 finally no longer contacts the ground. During this process, ensure that the distance from the center of gravity to body 4 is less than the distance to body 1, so as to ensure that the vehicle is supported by wheels 2, 3, and 4 for driving. Since wheel 1 leaves the ground, the drive anti-skid system controls the slip ratio of wheel 1 to 0. During the process of wheel 1 leaving the ground, it may cause wheel 4 to leave the ground for a short time or have a very small load. Therefore, the slip ratio of wheel 4 is controlled. If wheel 4 slips, control the slip ratio of wheel 4 to 0.2. If wheel 4 does not slip, do not control the slip ratio of wheel 4.

[0039] Step 18: The vehicle moves forward. After wheel 1 hits a pothole, the active forces of all suspensions slowly drop to 0, and the vehicle resumes four-wheel support.

[0040] Step 19: The path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel steering system and electric wheel drive system to act together to make the vehicle follow the ideal path. The path tracking controller generates the ideal wheel steering angle / driving / braking torque. The steering motor controller controls the wheel steering angle. The steering angle sensor outputs the actual vehicle steering angle signal to the steering motor controller to form a closed-loop control. The in-wheel motor controller controls the motor torque. The path information is collected by a dual differential GPS sensor. It is necessary to control the wheel 4 to leave the ground. The multi-active suspension cooperative controller generates the ideal stroke signal to the active suspension controller to control the suspension 2 to extend, the suspension 3 to extend, the suspension 1 to contract, and the vehicle body 4 to rise, resulting in a decrease in the vehicle body roll angle and an increase in the pitch angle. In this way, the center of gravity of the vehicle will be closer to the vehicle body 1, and then slowly contract the suspension 4, so that the load of the wheel 4 gradually decreases, and the wheel 4 finally no longer contacts the ground. During this process, it is ensured that the distance from the center of gravity to the vehicle body 1 is less than the distance to the vehicle body 4, so that the vehicle can be supported by the wheels 1, 2, and 3 for driving. Since the wheel 4 leaves the ground, the traction control system controls the slip ratio of the wheel 4 to be 0. During the process of the wheel 4 leaving the ground, it may cause the wheel 1 to leave the ground or have a very small load for a short time. Therefore, the slip ratio of the wheel 1 is controlled. If the wheel 1 slips, the slip ratio of the wheel 1 is controlled to be 0.2. If the wheel 1 does not slip, the slip ratio of the wheel 1 is not controlled.

[0041] Step 20: The vehicle moves forward. After the wheel 4 gets on a pit, the active forces of all suspensions slowly drop to 0, and the vehicle resumes four-wheel support.

[0042] Step 21: The path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel 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 steering angle / driving / braking torque. The steering motor controller controls the wheel steering angle. The steering angle sensor outputs the actual vehicle steering angle signal to the steering motor controller to form a closed-loop control. The hub motor controller controls the motor torque. The path information is collected by a dual-differential GPS sensor; it is necessary to control wheel 3 to leave the ground. The multi-active suspension cooperative controller generates an ideal stroke signal to the active suspension controller to further control suspension 1 to extend, suspension 4 to extend, suspension 2 to contract, and the body 3 to rise, resulting in an increase in the body roll angle and pitch angle. In this way, the center of gravity of the vehicle will be closer to body 2. Then, slowly contract suspension 3, so that the load on wheel 3 gradually decreases, and wheel 3 finally no longer contacts the ground. During this process, ensure that the distance from the center of gravity to body 2 is less than the distance to body 3, so as to ensure that the vehicle is supported by wheels 1, 2, and 4 for driving; since wheel 3 leaves the ground, the drive anti-skid system controls the slip ratio of wheel 3 to 0; during the process of wheel 3 leaving the ground, it may cause wheel 2 to leave the ground or have a very small load for a short time. Therefore, control the slip ratio of wheel 2. If wheel 2 slips, control the slip ratio of wheel 2 to 0.2. If wheel 2 does not slip, do not control the slip ratio of wheel 2.

[0043] Step 22: The vehicle moves forward. After wheel 3 gets into a pit and the whole vehicle drives out of the pit, the multi-active suspension cooperative controller generates an ideal stroke signal to the active suspension controller to further control the active force of the suspension to slowly drop to 0, restoring four-wheel support for the vehicle. The path tracking controller controls the in-wheel steering system / electric wheel drive system / in-wheel steering system and electric wheel drive system to work together to make the vehicle follow the ideal path. In this way, when the vehicle drives into the pit, the vertical impact can be very small, ensuring the structural safety of the vehicle, and the vehicle can drive out of the pit smoothly, and control the wheel slip and 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 do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A control method for an electric vehicle with an angular module architecture to pass through rough roads, characterized in that Including: Step S1: Detect the road condition through a vision sensor; Step S2: When there is a deep pit on the road condition that a vehicle cannot pass through in a conventional driving manner, allocate the control weights of the electric wheel drive system, the wheel-by-wire steering system, and the active suspension system so that each wheel drives out of the pit in turn; wherein, the electric wheel drive system includes wheels, hub motors, and hub motor controllers, the wheel-by-wire steering system includes steering motors and steering motor controllers, and the active suspension system includes active suspensions and active suspension controllers; The length of the deep pit is less than the wheelbase, and the width of the deep pit is less than the track width; The wheel angle controller controls the wheel angle through the steering motor controller to adjust the heading angle and wheel angle of the vehicle; the path tracking controller controls the wheel-by-wire steering system / electric wheel drive system / wheel-by-wire 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. The steering angle sensor outputs the actual vehicle angle signal to the steering motor controller to form a closed-loop control. The hub motor controller controls the motor torque; the multi-active suspension cooperative controller generates the ideal stroke of each active suspension. The active suspension controller controls the active suspension. The suspension stroke sensor transmits the suspension stroke signal to the active suspension controller to form a closed-loop control. The multi-active suspension cooperative controller adjusts the body posture. During the posture adjustment process, the load of a certain wheel is very small or there is no load, which 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; make each wheel drive into the pit in turn. The wheel that enters the pit leaves the ground first and then slowly contacts the bottom of the pit to minimize the vertical impact of the wheel, and then make each wheel drive out of the pit in turn, and the vehicle resumes normal driving.

Images