Intelligent angle module integrated with six-dimensional force sensor and vehicle

Abstract

The application discloses an intelligent angle module integrated with six-dimensional force sensing and a vehicle, and can solve the problems of tire force that cannot be directly measured, low integration of sensing components, difficulty in mass production adaptation, and high load control of the whole vehicle, realizes low-delay collection and stable transmission of six-dimensional force signals, optimizes the closed-loop response efficiency of whole vehicle motion control, and improves the driving stability and chassis control precision of the vehicle under complex road conditions.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, specifically relating to an intelligent angle module integrating six-dimensional force sensing and a vehicle. Background Technology

[0002] Corner modules, by integrating drive, steering, braking, and suspension structures, enable independent wheel control and improve vehicle maneuverability. However, the highly integrated structure of corner modules makes it difficult to detect the mechanical state of the tires and the road surface. Currently, most vehicles obtain tire force data through indirect calculation, resulting in low detection accuracy and control delays. Six-dimensional force sensors can directly collect multi-dimensional force information of the wheels, but common devices are mostly external testing equipment, occupying large spaces and incurring high production costs. Their signal transmission stability is also insufficient, limiting their use to experimental scenarios and preventing mass production for vehicle applications. Conventional corner modules lack dedicated force detection structures and can only calculate based on basic motion parameters, which limits chassis control effectiveness and reduces vehicle stability on low-traction surfaces and under emergency driving conditions. Therefore, there is an urgent need for an intelligent corner module integrating six-dimensional force sensing to solve these problems. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes an intelligent angle module integrating six-dimensional force sensing, which can solve the problems of tire force not being directly measurable, low integration of sensing components, difficulty in mass production adaptation, and high overall vehicle control load.

[0004] To achieve the above objectives, a first aspect of the present invention proposes an intelligent corner module integrating six-dimensional force sensing, comprising: a load-bearing structural component integrating a force sensing region, the force sensing region being used to generate strain field distribution signals corresponding to the six-dimensional force components when the wheel is subjected to force; a signal processing module, installed on the rotating side of the wheel and coupled to the force sensing region, configured to acquire the strain field distribution signal in real time and decouple the strain field distribution signal to obtain six-dimensional force data; and a corner module, disposed on the vehicle body side, configured to receive the six-dimensional force data and control the target actuator of the corner module according to the six-dimensional force data, wherein the target actuator includes at least one of a drive actuator, a steering actuator, a braking actuator, and a suspension actuator.

[0005] In some embodiments, it further includes a power supply module for supplying power to the rotating side of the wheel.

[0006] In some embodiments, it further includes: a communication module for transmitting six-dimensional force data from the rotating side of the wheel to the corner module.

[0007] In some embodiments, the load-bearing structural member is the outer ring of the wheel hub bearing, the steering knuckle flange, or the wheel hub spoke, and the force sensing area is formed by the local geometric deformation of the load-bearing structural member.

[0008] In some embodiments, the signal processing module is further configured to perform temperature compensation and zero-point calibration on the strain field distribution signal.

[0009] In some embodiments, the corner module is also configured to calculate the adhesion margin index between the wheel and the road surface based on six-dimensional force data, and report the adhesion margin index to the vehicle controller.

[0010] In some embodiments, the corner module is further configured to receive the desired torque command output by the vehicle controller, correct the desired torque command based on the six-dimensional force data, and output the corrected desired torque command to the target actuator.

[0011] In some embodiments, the six-dimensional force data obtained by decoupling the strain field distribution signal is calculated using the following formula:

[0012] in, For six-dimensional force data, For the pre-calibrated sensitivity matrix, This is the strain vector after temperature compensation.

[0013] In some embodiments, the smart corner module has standardized mechanical and electrical interfaces, and the signal processing module stores the unique calibration parameters of the smart corner module.

[0014] An intelligent corner module integrating six-dimensional force sensing according to an embodiment of the present invention includes: a load-bearing structural component, which integrates a force sensing area for generating strain field distribution signals corresponding to the six-dimensional force components when the wheel is subjected to force; a signal processing module, installed on the rotating side of the wheel and coupled to the force sensing area, configured to acquire the strain field distribution signal in real time and decouple the strain field distribution signal to obtain six-dimensional force data; and a corner module, disposed on the vehicle body side, configured to receive the six-dimensional force data and control the target actuator of the corner module according to the six-dimensional force data, wherein the target actuator includes at least one of a drive actuator, a steering actuator, a braking actuator, and a suspension actuator. Therefore, this application can solve the problems of tire force not being directly measurable, low integration of sensing components, difficulty in mass production adaptation, and high overall vehicle control load, achieving low-latency acquisition and stable transmission of six-dimensional force signals, optimizing the closed-loop response efficiency of vehicle motion control, and improving the driving stability and chassis control accuracy of the vehicle under complex road conditions.

[0015] To achieve the above objectives, a second aspect of the present invention provides a vehicle including an intelligent angle module integrating six-dimensional force sensing as described above.

[0016] The vehicle according to embodiments of the present invention includes an intelligent angle module integrating six-dimensional force sensing as described above, which can solve the problems of tire force not being directly measurable, low integration of sensing components, difficulty in mass production adaptation, and high overall vehicle control load. It achieves low-latency acquisition and stable transmission of six-dimensional force signals, optimizes the closed-loop response efficiency of vehicle motion control, and improves the driving stability and chassis control accuracy of the vehicle under complex road conditions.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the system structure of an intelligent angle module integrating six-dimensional force sensing in an embodiment of this application; Figure 2 This is a wireless power supply schematic diagram of an intelligent angle module integrating six-dimensional force sensing in an embodiment of this application; Figure 3 This is a wireless communication schematic diagram of an intelligent angle module integrating six-dimensional force sensing in an embodiment of this application. Figure 4 This is a schematic diagram of the force sensing region structure of an intelligent angle module integrating six-dimensional force sensing in an embodiment of this application; Figure 5 This is a data frame structure diagram of an intelligent angle module integrating six-dimensional force sensing in an embodiment of this application.

[0019] Reference numerals: 100 bearing structure, 101 force sensing area, 102 outer ring of wheel hub bearing, 103 steering knuckle flange, 104 wheel hub spoke, 105 elastomer structure, 106 strain gauge assembly, 107 temperature sensor, 200 signal processing module, 201 signal conditioning circuit, 202 analog-to-digital converter, 203 microcontroller, 204 non-volatile memory, 205 wireless transceiver module, 300 corneal block, 301 target actuator, 302 drive actuator, 303 steering actuator, 304 brake actuator, 305 suspension actuator, 306 wireless communication interface, 307 vehicle bus interface, 400 power supply module, 500 communication module, 501 primary coil, 502 secondary coil, 503 high-frequency inverter, 504 rectifier and voltage regulator circuit, 600 tire, 601 wheel rim, 602 wheel hub. Detailed Implementation

[0020] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0021] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0022] As described in the background section, the highly integrated structure of the corner module enables independent wheel drive, independent steering, and active suspension adjustment, improving driving maneuverability. Currently, the perception of the mechanical state of the wheels on the road surface generally adopts indirect estimation by model combined with external sensing devices for auxiliary testing. However, this is easily affected by environmental conditions and model matching, resulting in data processing delays and large detection errors. Conventional vehicle control systems calculate tire contact force data based on kinematic parameters such as wheel speed, steering angle, and yaw rate, combined with a preset dynamic model. Six-dimensional force sensing devices can accurately measure these data, but they are mostly independent external testing devices, which can only be used in experimental scenarios. Moreover, the overall structure occupies a large amount of chassis space, and its slip ring transmission structure has a high risk of wear and insufficient reliability in long-term use. Traditional corner modules have a single dimension of information acquisition and cannot guarantee the stability of vehicle driving under extreme conditions such as low-adhesion roads and emergency avoidance.

[0023] To address the shortcomings of the aforementioned solutions, the intelligent angle module integrating six-dimensional force sensing of this invention can solve the problems of tire force not being directly measurable, low integration of sensing components, difficulty in mass production adaptation, and high overall vehicle control load. It achieves low-latency acquisition and stable transmission of six-dimensional force signals, optimizes the closed-loop response efficiency of vehicle motion control, and improves the driving stability and chassis control accuracy of the vehicle under complex road conditions.

[0024] The following is for reference. Figures 1-5 This application describes an intelligent angle module with integrated six-dimensional force sensing provided in an embodiment.

[0025] like Figure 1The diagram shown is a schematic of the system structure of an intelligent corner module integrating six-dimensional force sensing in an embodiment of this application. The intelligent corner module integrating six-dimensional force sensing includes: a load-bearing structural member 100, which integrates a force sensing area 101. The force sensing area 101 is used to generate a strain field distribution signal corresponding to the six-dimensional force components when the wheel is subjected to force; a signal processing module 200, which is installed on the rotating side of the wheel and coupled to the force sensing area 101, and is configured to collect the strain field distribution signal in real time and decouple the strain field distribution signal to obtain six-dimensional force data; and a corner module 300, which is disposed on the vehicle body side and is configured to receive the six-dimensional force data and control the target actuator 301 of the corner module 300 according to the six-dimensional force data. The target actuator 301 includes at least one of a drive actuator 302, a steering actuator 303, a braking actuator 304, and a suspension actuator 305.

[0026] Specifically, when a vehicle is in motion, the wheels are subjected to road force and impact load. The load-bearing structural component 100 will undergo elastic deformation as the force is applied. The force sensing area 101 responds to the structural deformation, generating strain field distribution signals that correspond one-to-one with each component of the six-dimensional force. The signal processing module 200 collects the strain field distribution signals output by the force sensing area 101 in real time, performs decoupling calculations on the collected raw strain signals, and eliminates mutual interference between signals of different dimensions. The corner module 300 receives the six-dimensional force data transmitted by the signal processing module 200, issues control commands to the target actuator 301, and completes the work adjustment. The target actuator 301 can realize functions such as wheel drive, steering, braking, and suspension state adjustment according to the overall vehicle driving requirements.

[0027] As an optional embodiment, the power supply module 400 is used to supply power to the rotating side of the wheel.

[0028] Specifically, the power supply module 400 provides working power to various electrical components on the rotating side of the wheel and provides stable power to the related devices for sensing, acquisition and signal processing on the rotating side.

[0029] As an optional embodiment, the communication module 500 is used to send six-dimensional force data from the rotating side of the wheel to the corner module 300.

[0030] Specifically, please refer to Figure 1 The communication module 500 includes a primary coil 501, a secondary coil 502, a high-frequency inverter 503, and a rectifier and voltage regulator circuit 504. The primary coil 501 is mounted in a fixed position on the steering knuckle side and connected to the vehicle's power supply. The secondary coil 502 is mounted on the rotating side of the wheel hub 602 or bearing and connected to the signal processing module 200. Figure 2The diagram shown illustrates the wireless power supply principle of an intelligent angle module integrating six-dimensional force sensing in an embodiment of this application. The high-frequency inverter 503 converts the vehicle's 12V or 24V DC power into 100-200kHz high-frequency AC power, preferably operating in the 125kHz ISM band to avoid the frequency bands of other wireless devices such as vehicle tire pressure monitoring, Bluetooth, and cellular communication, thus reducing mutual interference. An LC filter with an inductor of 10μH and a capacitor of 0.1μF is added to the output end to suppress harmonic radiation. Both the primary coil 501 and the secondary coil 502 are surrounded by a 2mm thick Mn-Zn ferrite magnetic shield to reduce external electromagnetic radiation and prevent external magnetic field interference. The primary side circuit is well connected to the vehicle body ground, and the secondary side circuit casing is grounded to the wheel hub, forming a Faraday cage to improve anti-interference capabilities. The secondary coil 502 obtains electrical energy by inducing the alternating magnetic field generated by the primary coil 501. This energy is then converted to 3.3V or 5V DC by the rectifier and voltage regulator circuit 504 to power the signal processing module 200. The power transmission is 2-5W, which meets the power consumption requirements of the electrical components. Figure 3 The diagram shown is a wireless communication schematic of an intelligent corner module integrating six-dimensional force sensing in an embodiment of this application. After the signal processing module 200 on the wheel rotation side completes the decoupling, temperature compensation, and self-diagnosis of the six-dimensional force data, it sends out the six-dimensional force data, temperature data, diagnostic information, and other data through the wireless transceiver module 205. The communication module 500, in conjunction with the wireless transceiver module 205 of the signal processing module 200, transmits the data to the vehicle body side through the BLE 5.0 protocol (Bluetooth Low Energy). The corner module 300 receives this data through the wireless communication interface 306. The vehicle body side can also transmit configuration parameters and calibration data updates to the wheel rotation side through the communication module 500. The communication protocol features adaptive frequency hopping, forward error correction, and automatic retransmission mechanisms. The primary and secondary sides are synchronized via timestamps to ensure the reliability and timeliness of data transmission. This non-contact transmission method eliminates mechanical wear, avoiding the wear problems of traditional slip ring solutions. Its lifespan meets the durability requirements of the entire vehicle (over 15 years / 300,000 kilometers), and its transmission bandwidth meets the transmission requirements of approximately 10-20kbps for six-dimensional force data, ensuring that data is sent to the corner module 300 in real time.

[0031] As an optional embodiment, the load-bearing structure 100 is a wheel hub bearing outer ring 102, a steering knuckle flange 103, or a wheel hub spoke 104, and the force sensing area 101 is formed by the local geometric deformation of the load-bearing structure 100.

[0032] Specifically, such as Figure 4The diagram shows a schematic of the force sensing region structure of an intelligent corner module integrating six-dimensional force sensing in an embodiment of this application. If the outer ring 102 of the wheel hub bearing is selected as the load-bearing structural component 100, a locally thinned area is machined at the circumferential position of the contact surface between the outer ring and the steering knuckle flange 103 to form a force sensing region 101. The thinning amount is controlled according to 30%-50% of the original wall thickness of the outer ring, forming a strain concentration area, amplifying the deformation signal generated by the structural stress. By optimizing the width, depth and transition fillet of the thinned area, under the rated load ( Under these conditions, the maximum equivalent stress does not exceed the safe range of the material's yield strength (GCr15 yield strength ≥ 500 MPa), ensuring the linearity of the strain signal and the decoupling effect between the stress in each dimension. Multiple sets of strain gauges (106 in total) are evenly distributed circumferentially on the outer ring. Each set has a sensitive grid in a different direction to measure radial, circumferential, and shear strains, corresponding to the stress signals in each dimension. The specific arrangement of the strain gauges is determined through finite element analysis, selecting the areas with the highest sensitivity to each component of the strain concentration region, for example: Sensitive areas: radial strain gauges at 0° and 180° circumferential positions; Sensitive areas: shear strain gates at 90° and 270° circumferential positions; Sensitive areas: circumferential strain gauges at 45°, 135°, 225°, and 315° circumferential positions; Sensitive areas: shear strain gauges at circumferential positions of 0°, 90°, 180°, and 270°.

[0033] If the steering knuckle flange 103 is selected as the load-bearing structural component 100, a groove structure can be machined on the back of the contact surface between the steering knuckle flange 103 and the outer ring 102 of the wheel hub bearing to form a force-sensing area 101. The kingpin bearing on the steering knuckle flange 103 is connected to the suspension kingpin through the kingpin bearing, and the suspension connection point is connected to the suspension components to transmit steering and vertical loads during vehicle operation. The groove depth is 20%-40% of the flange thickness, and the width is determined according to the flange size. The groove edge is rounded to avoid stress concentration. When the flange is under stress, the deformation of the groove area can reflect the load transmitted by the tire. The overall structural strength meets the durability requirements of long-term vehicle operation. For highly integrated hub motor corner modules, the hub spokes 104 can serve as a load-bearing structural component 100. A strain-sensitive structure is processed at the connection between the hub spokes 104 and the rim 601 to form a force sensing area 101. When the wheel is loaded, the spokes undergo bending deformation. By measuring this deformation, the stress on the tire can be inferred. A shielding layer is added to the strain gauge group 106, and differential signal transmission is adopted to reduce the interference of the hub motor electromagnetic field on the strain signal and ensure the stability of the acquired signal.

[0034] As an optional embodiment, the signal processing module 200 is also configured to perform temperature compensation and zero-point calibration on the strain field distribution signal.

[0035] Specifically, please refer to Figure 1 The signal conditioning circuit 201 processes the input strain gauge signal, performs differential amplification through an instrumentation amplifier (the gain is set between 100 and 1000 times according to the strain gauge sensitivity and expected strain range), filters out noise in the signal, and then the analog-to-digital converter 202 acquires all strain gauge channel and temperature sensor signals at a sampling rate of 1kHz. 24-bit high-precision sampling is used, with a signal-to-noise ratio better than 100dB to ensure the accuracy of the original signal acquisition. The acquired signal enters the microcontroller 203, which reads the real-time temperature data from the temperature sensor 107 and calls the pre-stored temperature compensation coefficients in the non-volatile memory 204, as shown below:

[0036] in, For the first Original strain value of the channel The temperature difference relative to the calibration temperature. , This is the temperature compensation coefficient. It corrects for strain gauge zero-point drift and sensitivity errors caused by temperature changes according to a preset formula, eliminating the influence of ambient temperature. When the vehicle is powered on and the wheels are not rotating, multiple sets of strain signals are collected, and the average value is stored as the current zero-point offset value. When an unloaded state is detected, a zero-point update is automatically triggered to correct signal drift caused by long-term use, ensuring that the measurement results remain stable.

[0037] As an optional embodiment, the corner module 300 is also configured to calculate the adhesion margin index between the wheel and the road surface based on six-dimensional force data and report the adhesion margin index to the vehicle controller.

[0038] Specifically, the strain signal after calibration is transmitted to the corner module 300 through the six-dimensional force data obtained by decoupling calculation. The corner module 300 analyzes the correspondence between the longitudinal and lateral forces and the vertical load of the tire, determines the current tire grip margin and driving condition risk, calculates the adhesion margin index between the wheel and the road surface, and then reports the adhesion margin index and the corresponding operating condition information to the vehicle controller through the vehicle bus interface 307 to help the vehicle intervene in advance and avoid the risk of tire slippage or loss of control.

[0039] As an optional embodiment, the corner module 300 is also configured to receive the desired torque command output by the vehicle controller, correct the desired torque command based on the six-dimensional force data, and output the corrected desired torque command to the target actuator 301.

[0040] Specifically, the target actuator 301 outputs drive signals to the drive actuator 302, steering actuator 303, brake actuator 304, and suspension actuator 305 respectively based on control commands and six-dimensional force feedback. It adjusts the output torque of the brake actuator 304 based on the deviation between the measured braking force and the desired braking force; it compensates for backlash and friction in the desired torque of the steering actuator 303 based on the feedback of the lateral force of the tires during steering; and it corrects the desired torque of the drive actuator 302 based on the feedback of the actual longitudinal force of the drive wheels, reducing the impact of load fluctuations or road surface disturbances.

[0041] As an optional embodiment, the six-dimensional force data obtained by decoupling the strain field distribution signal is calculated using the following formula:

[0042] in, For six-dimensional force data, For the pre-calibrated sensitivity matrix, This is the strain vector after temperature compensation.

[0043] Specifically, the formula can be expressed as follows:

[0044] in, As a six-dimensional force data vector, unit force and torque are applied to the finite element model of the elastic body through finite element pre-analysis. , , , , , The strain response at each strain gauge location is extracted, and the initial sensitivity matrix is ​​calculated. Loading tests were conducted on the actual sensor on a six-dimensional force calibration platform. The loading points covered the full range of each force and torque component. A total of 50 loading points were designed, and each point contained a combination of multiple components. The strain output of each channel was collected to form a calibration dataset. Due to the number of strain gauge channels The overdetermined system of equations is solved using the least squares method, with the objective function being:

[0045] By solving the normal equation (in , The optimal solution was obtained. The decoupling error was verified at 15 non-calibrated loading points. If the crosstalk error... or nonlinear error The final sensitivity matrix is ​​obtained by using the weighted least squares method or by introducing a quadratic term correction model. The data is written to non-volatile memory, and each corner module is independently calibrated to eliminate the influence of manufacturing tolerances. After completing the decoupling calculation to obtain the six-dimensional force data, the signal processing module 200 checks whether the output of each strain gauge channel is within a preset reasonable range to determine the health status of the strain gauges. It also monitors whether the power supply voltage is within the 3.0V-3.6V range; a voltage below 2.8V indicates an undervoltage fault. The module monitors the communication link status by sending heartbeat packets every second; five consecutive no-response packets indicate a communication fault. When a fault occurs, a standard diagnostic fault code (DTC) is generated for easy reading by the vehicle diagnostic system.

[0046] like Figure 5 The diagram shown illustrates the data frame structure of an intelligent corner module integrating six-dimensional force sensing in an embodiment of this application. The processed six-dimensional force data, temperature data, diagnostic code, and timestamp are encapsulated according to a preset frame format. The data frame includes a frame header (2 bytes), six-dimensional force data (6×4 bytes), temperature (2 bytes), diagnostic code (2 bytes), timestamp (4 bytes), and CRC checksum (2 bytes), totaling 34 bytes. The CRC checksum uses the CRC-16-CCITT algorithm (polynomial). initial value The data transmission frequency is synchronized with the sampling frequency (1kHz), and the BLE 6.0 protocol is used for transmission. It has forward error correction and automatic retransmission mechanisms to ensure the reliability of data transmission.

[0047] As an optional embodiment, the smart corner module has standardized mechanical and electrical interfaces, and the signal processing module 200 stores the unique calibration parameters of the smart corner module.

[0048] Specifically, the mechanical and electrical interfaces of the intelligent corner module can be directly adapted to the steering knuckle and wheel hub mounting structures of different vehicle models, enabling rapid assembly and replacement and reducing the development cost of adapting to different vehicle models.

[0049] In summary, the intelligent corner module integrating six-dimensional force sensing provided in this application includes: a load-bearing structural component, which integrates a force sensing area to generate strain field distribution signals corresponding to the six-dimensional force components when the wheel is subjected to force; a signal processing module, installed on the rotating side of the wheel and coupled to the force sensing area, configured to acquire the strain field distribution signal in real time and decouple the strain field distribution signal to obtain six-dimensional force data; and a corner module, located on the vehicle body side, configured to receive the six-dimensional force data and control the target actuator of the corner module based on the six-dimensional force data, wherein the target actuator includes at least one of a drive actuator, a steering actuator, a braking actuator, and a suspension actuator. Therefore, this application can solve the problems of tire force not being directly measurable, low integration of sensing components, difficulty in mass production adaptation, and high overall vehicle control load, achieving low-latency acquisition and stable transmission of six-dimensional force signals, optimizing the closed-loop response efficiency of vehicle motion control, and improving the driving stability and chassis control accuracy of the vehicle under complex road conditions.

[0050] The vehicle described above is used to implement the corresponding intelligent angle module with integrated six-dimensional force sensing in any of the foregoing embodiments, and has the beneficial effects of the corresponding intelligent angle module with integrated six-dimensional force sensing, which will not be repeated here.

[0051] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0052] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A smart angle module integrating six-dimensional force sensing, characterized in that, include: A load-bearing structural component (100) integrates a force sensing area (101), which is used to generate a strain field distribution signal corresponding to the six-dimensional force components when the wheel is subjected to force. The signal processing module (200), installed on the rotating side of the wheel and coupled to the force sensing area (101), is configured to acquire the strain field distribution signal in real time and decouple the strain field distribution signal to obtain six-dimensional force data; An angle module (300), disposed on the side of the vehicle body, is configured to receive the six-dimensional force data and control the target actuator (301) of the angle module (300) according to the six-dimensional force data, wherein the target actuator (301) includes at least one of a drive actuator (302), a steering actuator (303), a braking actuator (304), and a suspension actuator (305).

2. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, Also includes: A power supply module (400) is used to supply power to the rotating side of the wheel.

3. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, Also includes: A communication module (500) is used to send the six-dimensional force data from the rotating side of the wheel to the angle module (300).

4. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, The load-bearing structural component (100) is a wheel hub bearing outer ring (102), a steering knuckle flange (103), or a wheel hub spoke (104), and the force sensing area (101) is formed by the local geometric deformation of the load-bearing structural component (100).

5. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, The signal processing module (200) is also configured to perform temperature compensation and zero-point calibration on the strain field distribution signal.

6. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, The corner module (300) is also configured to calculate the adhesion margin index between the wheel and the road surface based on the six-dimensional force data, and report the adhesion margin index to the vehicle controller.

7. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, The corner module (300) is also configured to receive the desired torque command output by the vehicle controller, and correct the desired torque command based on the six-dimensional force data, and output the corrected desired torque command to the target actuator (301).

8. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, The six-dimensional force data obtained by decoupling the strain field distribution signal is calculated using the following formula: in, For six-dimensional force data, For the pre-calibrated sensitivity matrix, This is the strain vector after temperature compensation.

9. The intelligent angle module integrating six-dimensional force sensing according to claim 1, characterized in that, The intelligent corner module has standardized mechanical and electrical interfaces, and the signal processing module (200) stores the unique calibration parameters of the intelligent corner module.

10. A vehicle, characterized in that, Including the intelligent angle module with integrated six-dimensional force sensing as described in any one of claims 1 to 9.

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