Automatic driving off-road vehicle

Abstract

The utility model discloses an automatic driving off-road vehicle, which relates to the technical field of automatic driving and is characterized in that wheel speed sensors are mounted on wheels of a vehicle body, displacement sensors are arranged on a front suspension and a rear suspension, and the wheel speed sensors and the displacement sensors are electrically connected with a control module; the steering system is installed at the upper end of the front portion of the vehicle body, a steering angle sensor electrically connected with the control module is arranged on the steering system, and the control module adjusts the steering angle output by the steering system according to an angle signal of the steering angle sensor and a wheel speed signal of the wheel speed sensor; the braking system is mounted at a front wheel of the vehicle main body and is electrically connected with the control module; the driving system is electrically connected with the control module, and the control module controls the driving system to drive the wheels to rotate according to angle signals of the steering angle sensor, wheel speed signals of the wheel speed sensor and displacement signals detected by the displacement sensor. The automatic driving device can realize automatic driving and is convenient to use in a complex field environment.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic driving, in particular to an automatic driving off-road vehicle. Background Art

[0002] The automotive industry is in an era of change. The development and application of autonomous driving related technologies are in full swing. They have been diversifiedly applied in different fields such as public transportation, taxis, logistics distribution, urban infrastructure, etc. However, unmanned driving technology is less used in field environments such as military individual combat and civilian field detection, rescue, and mapping. Utility Model Content

[0003] The purpose of the utility model is to provide an automatic driving off-road vehicle to solve the problems existing in the above-mentioned prior art, realize automatic driving, and facilitate use in complex outdoor environments.

[0004] To achieve the above purpose, the utility model provides the following solutions:

[0005] The utility model provides an automatic driving off-road vehicle, comprising a suspension system, a steering system, a braking system, a driving system and a control module, wherein the suspension system comprises a vehicle body, a front suspension and a rear suspension, a wheel speed sensor is installed on the wheels of the vehicle body, a displacement sensor is provided on the front suspension and the rear suspension, the wheel speed sensor and the displacement sensor are both electrically connected to the control module, and each displacement sensor is used to detect the telescopic amount of the front suspension and the rear suspension respectively; the steering system is installed at the front upper end of the vehicle body, and a steering angle sensor electrically connected to the control module is provided on the steering system, and the steering angle sensor can be The steering angle is detected when the vehicle body is turned, and the control module adjusts the steering angle output by the steering system according to the angle signal of the steering angle sensor and the wheel speed signal of the wheel speed sensor; the braking system is installed at the front wheels of the vehicle body, and the braking system is electrically connected to the control module, and the braking system can control the braking of the two front wheels under the control of the control module; the driving system is electrically connected to the control module, and the control module controls the driving system to drive each of the wheels to rotate according to the angle signal of the steering angle sensor, the wheel speed signal of the wheel speed sensor, and the displacement signal detected by the displacement sensor.

[0006] Preferably, the suspension system includes a vehicle body, a rear axle, the front suspension and the rear suspension, the front suspension is a front double wishbone independent suspension, the front double wishbone independent suspension includes two front coil springs, the rear suspension is an integral rear suspension, the integral rear suspension includes a rear coil spring, the upper ends of the two front coil springs are rotatably connected to the two ends of the front part of the vehicle body, the lower ends of the two front coil springs are rotatably connected to the inner sides of the two front wheels respectively, the upper end of the rear coil spring is rotatably connected to the rear part of the vehicle body, the lower end of the rear coil spring is rotatably connected to the rear axle, and the rear axle is connected between the two rear wheels of the vehicle body.

[0007] Preferably, the steering system includes a steering handle, a steering column, a steering motor, a steering angle sensor, a reduction gear and two steering rods, the steering handle is installed at the upper end of the steering column, the steering motor is installed in the middle of the steering column, and the steering angle sensor and the reduction gear are integrated in the steering motor, the output shaft of the steering motor is connected to the reduction gear, and the reduction gear is coaxially connected to the steering column, one end of the two steering rods are respectively movably connected to both sides of the lower end horn of the steering column, and the other ends of the two steering rods are respectively movably connected to the inner sides of the two front wheels.

[0008] Preferably, the braking system includes a brake motor, a hydraulic master cylinder and a caliper, the brake motor and the hydraulic master cylinder are both installed on the front part of the vehicle body, and the gear on the rotor of the brake motor is meshed with the gear on the piston of the hydraulic master cylinder, and the hydraulic oil pipeline of the hydraulic master cylinder is connected to the slave cylinder on the caliper, and a caliper is installed on each of the two front wheels near the brake disc.

[0009] Preferably, the drive system includes a hub motor and a wheel speed sensor, wherein the hub motor, the wheel speed sensor and the wheel are integrated together, each wheel corresponds to a hub motor and is driven by the hub motor, wherein two hub motors are installed on both sides of the front of the vehicle body, and the other two hub motors are installed on the rear axle of the suspension system.

[0010] Preferably, a sensor bracket is further included, wherein the sensor bracket is installed at the front end of the vehicle body and is used to install a sensor.

[0011] Preferably, the control module is electrically connected to a host computer, and the control module includes a wheel hub motor controller, a steering controller, and a brake controller which are electrically connected and installed on the vehicle body. The wheel hub motor controller is electrically connected to the drive system and controls the drive system to perform a driving action. The steering controller is electrically connected to the steering system and controls the steering system to perform a left turn and a right turn. The brake controller is electrically connected to the brake system and controls the brake system to perform a braking action.

[0012] Compared with the prior art, the utility model has achieved the following technical effects:

[0013] The automatic driving off-road vehicle provided by the utility model is a vehicle that has its hardware structure modified on the basis of the original off-road vehicle, and cooperates with various automatic driving controllers and various sensors to realize functions such as automatic steering control, braking control, and drive control. The automatic driving off-road vehicle has the hardware foundation for automatic driving, and has the advantages of high control accuracy and fast response speed, filling the gap in the use of automatic driving technology in complex field environments. When people cannot enter the field environment or the driver is injured and cannot operate the off-road vehicle, the off-road vehicle's automatic driving mechanism can provide reliable support. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A schematic diagram of the structure of the automatic driving off-road vehicle provided by the utility model;

[0016] Figure 2 A schematic diagram of the internal structure of the automatic driving off-road vehicle provided by the utility model;

[0017] Figure 3 A schematic diagram of a portion of the structure of the automatic driving off-road vehicle provided by the utility model;

[0018] In the figure: 1-suspension system, 2-steering system, 3-brake system, 4-drive system, 5-control module, 6-sensor bracket, 7-front double wishbone independent suspension, 8-rear axle, 9-rear suspension, 10-displacement sensor, 11-body, 12-host computer, 13-wheel speed sensor, 14-steering handle, 15-steering column, 16-steering motor, 17-steering controller, 18-angle sensor, 19-reduction gear, 20-steering rod, 21-wheel, 22-brake controller, 23-brake motor, 24-hydraulic master cylinder, 25-caliper, 26-hub motor, 27-hub motor controller. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] The purpose of the utility model is to provide an automatic driving off-road vehicle to solve the problems existing in the prior art, realize automatic driving, and facilitate use in complex outdoor environments.

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

[0022] like Figure 1-Figure 3As shown, this embodiment provides an autonomous driving off-road vehicle, including a suspension system 1, a steering system 2, a braking system 3, a drive system 4 and a control module 5. The suspension system 1 includes a vehicle body 11, a front suspension and a rear suspension 9. Shock absorbers are provided on the front suspension and the rear suspension 9 to increase driving comfort. Wheel speed sensors 13 are installed on the wheels 21 of the vehicle body 11. Displacement sensors 10 are provided on the front suspension and the rear suspension 9. The wheel speed sensors 13 and the displacement sensors 10 are electrically connected to the control module 5. Each displacement sensor 10 is used to detect the expansion and contraction amount of the front suspension and the rear suspension 9, respectively, and then output the electrical signal of the expansion and contraction amount and send it to the control module 5. The control module 5 converts the electrical signal into a CAN signal output, thereby obtaining road condition information; the steering system 2 is installed at the front upper end of the vehicle body 11, and the steering system 2 is provided with a steering angle sensor 18 electrically connected to the control module 5. The steering angle sensor 18 can be The steering angle is detected when the main body 11 turns, and the control module 5 adjusts the steering angle output by the steering system 2 according to the angle signal of the steering angle sensor 18 and the wheel speed signal of the wheel speed sensor 13 to ensure that the steering angle is consistent with the current vehicle speed and avoid problems such as rollover caused by excessive steering angle; the braking system 3 is installed at the front wheel of the vehicle body 11, and the braking system 3 is electrically connected to the control module 5. The braking system 3 can control the braking of the two front wheels under the control of the control module 5, calculate the braking pressure according to the road condition information and output the braking signal to the control module 5, and the control module 5 outputs the braking control to the braking system 3, and the braking system 3 clamps the brake disc on the wheel 21 to realize the braking control of the wheel 21; the drive system 4 is electrically connected to the control module 5, and the control module 5 controls the drive system 4 to drive each wheel 21 to rotate according to the angle signal of the steering angle sensor 18, the wheel speed signal of the wheel speed sensor 13 and the displacement signal detected by the displacement sensor 10.

[0023] Specifically, the suspension system 1 includes a vehicle body 11, a rear axle 8, a front suspension and a rear suspension 9. The front suspension is a front double wishbone independent suspension 7, which includes two front coil springs. The design of the front double wishbone independent suspension 7 can provide excellent operability, can effectively control pitch and roll, and is easy to maintain. The rear suspension 9 is an integral rear suspension 9, which includes a rear coil spring, which replaces the original rear axle 8 of the off-road vehicle including a driving gear and a brake gear, and can provide a longer suspension stroke to ensure sufficient passability. At the same time, it is light in weight, simple in structure and easy to maintain, and is very suitable for field conditions. The upper ends of the two front coil springs are rotatably connected to the front of the vehicle body 11. At both ends, the lower ends of the two front coil springs are respectively connected to the inner sides of the two front wheels, the upper end of the rear coil spring is connected to the rear of the vehicle body 11, and the lower end of the rear coil spring is connected to the rear axle 8. The rear coil spring and each front coil spring are equipped with a displacement sensor 10. The displacement sensor 10 can detect the stretching / compression length of the rear coil spring and each front coil spring in real time, and output an electrical signal to the wheel hub motor controller 27 of the control module 5. The wheel hub motor controller 27 converts the electrical signal into a CAN signal and uploads it to the host computer 12. It can record the degree of bumpy road conditions of the vehicle, and draw a high-precision map with the later data. The rear axle 8 is connected between the two rear wheels of the vehicle body 11. The vehicle body 11 is welded with steel and plays a supporting role as a whole.

[0024] The steering system 2 includes a steering handle 14, a steering column 15, a steering motor 16, a steering angle sensor 18, a reduction gear 19 and two steering tie rods 20. The steering handle 14 is installed at the upper end of the steering column 15, the steering motor 16 is installed in the middle of the steering column 15, and the steering angle sensor 18 and the reduction gear 19 are integrated in the steering motor 16. The output shaft of the steering motor 16 is connected to the reduction gear 19, and the reduction gear 19 is coaxially connected to the steering column 15. When the autonomous off-road vehicle turns, the steering angle sensor 18 sends an electrical signal to the steering controller 17 of the control module 5, and the steering controller 17 converts the signal into a CAN signal and uploads it to the host computer 12. The host computer According to the signal, the steering angle output by the steering motor 16 is adjusted in real time in cooperation with the wheel speed sensor 13 to ensure that the steering angle is consistent with the current vehicle speed and to avoid problems such as rollover caused by excessive steering angle. One end of the two steering rods 20 are respectively movably connected to the two sides of the lower horn of the steering column 15, and the other ends of the two steering rods 20 are respectively movably connected to the inner sides of the two front wheels. The steering controller 17 outputs a motor steering signal to the steering motor 16. The steering angle output by the steering motor 16 is transmitted to the steering column 15 through the reduction gear 19. The rotation of the steering column 15 drives the steering rod 20 to move, and the steering rod 20 drives the front wheels to steer, so that the overall steering control is realized, and finally the steering in the automatic driving is realized.

[0025] The brake system 3 includes a brake motor 23, a hydraulic master cylinder 24 and a caliper 25. The brake motor 23 and the hydraulic master cylinder 24 are both installed at the front of the vehicle body 11, and the gear on the rotor of the brake motor 23 is meshed with the gear on the piston of the hydraulic master cylinder 24, and the hydraulic oil pipeline of the hydraulic master cylinder 24 is connected to the slave pump on the caliper 25. A caliper 25 is installed at each position near the brake disc on the two front wheels. In actual application, the host computer 12 calculates the brake pressure in combination with the road condition information and outputs a brake signal to the brake controller 22 of the control module 5. After receiving the brake signal, the brake controller 22 outputs the brake control to the brake motor 23. The brake motor 23 outputs the brake stroke to the piston of the hydraulic master cylinder 24. The piston of the hydraulic master cylinder 24 squeezes the hydraulic oil in the cylinder to the slave pump on the caliper 25, so that the piston on the caliper 25 clamps the brake disc on the wheel 21, thereby realizing the brake control of the wheel 21. Compared with the traditional off-road vehicle which uses manual control of the brakes to push the brake caliper 25 for braking, this embodiment outputs the braking stroke through the brake motor 23, converts it into hydraulic pressure through the hydraulic master cylinder 24, and pushes the brake caliper 25 to achieve the braking effect.

[0026] The drive system 4 includes a hub motor 26 and a wheel speed sensor 13. The hub motor 26, the wheel speed sensor 13 and the wheel 21 are integrated together. The function of the wheel speed sensor 13 is that when the four wheel speed sensors 13 detect different speeds, the upper computer 12 will determine that the wheels 21 with different wheel speeds are in a slipping state and reduce the output power of the corresponding hub motor 26. On the other hand, when performing emergency steering, large-scale steering, U-turns on extremely narrow roads and other operations, the four wheels 21 use independent hub motors 26 to output different torque-assisted steering; each wheel 21 corresponds to a hub motor 26 and is driven by the hub motor 26, two of which are installed on both sides of the front of the vehicle body 11, and the other two hub motors 26 are installed on the rear axle 8 of the suspension system 1. This embodiment adopts four-wheel drive to replace the rear-wheel drive mode of traditional off-road vehicles. The upper computer 12 combines the displacement sensor 10, the steering angle sensor 18 and the wheel speed sensor 13 to calculate the current vehicle body stability state, and sends a drive signal to the hub motor controller 27 in real time in combination with the driving road conditions. The hub motor controller 27 outputs a drive control signal to the hub motor 26 in real time, drives the four hub motors 26 to rotate and drive the wheels 21 forward, and ensures that the vehicle stability is maintained.

[0027] The present embodiment further includes a sensor bracket 6, which is mounted at the front end of the vehicle body 11 and is used to install sensors. The condition for realizing automatic driving is that the vehicle can sense the road condition. By setting up the sensor bracket 6, it is convenient for customers to install various sensors. The sensor bracket 6 is fixed in front of the front of the vehicle through a connector to facilitate the acquisition of road information.

[0028] The control module 5 is electrically connected to the host computer 12. The control module 5 includes a wheel hub motor controller 27, a steering controller 17, and a brake controller 22, which are electrically connected and all installed on the vehicle body 11. The wheel hub motor controller 27 is electrically connected to the drive system 4 and controls the drive system 4 to perform a driving action. The steering controller 17 is electrically connected to the steering system 2 and controls the steering system 2 to perform a left turn or a right turn. The brake controller 22 is electrically connected to the brake system 3 and controls the brake system 3 to perform a braking action. During automatic driving, the host computer 12 collects various sensor signals, and in combination with the driving road conditions, issues steering, braking, and driving commands to the steering controller 17, the brake controller 22, and the wheel hub motor controller 27; the steering controller 17 receives and analyzes the steering signal output by the host computer 12, and controls the steering motor 16 to perform a left turn or a right turn; the brake controller 22 receives and analyzes the brake signal output by the host computer 12, and controls the brake motor 23 to perform a braking action; the wheel hub motor controller 27 receives and analyzes the drive signal issued by the host computer 12, and controls the wheel hub motor 26 to perform a driving action.

[0029] This embodiment has the following advantages:

[0030] () The autonomous off-road vehicle in this embodiment can distinguish obstacles in any terrain and environment (whether it is rocks, wood, uneven slopes, or puddles of unknown depth) through sensors such as cameras and radars.

[0031] (2) In this embodiment, in an off-road environment, the controller faces environmental complexity and uncertainty. When planning a path, it is necessary to consider factors such as the time and distance of the path, and also the smoothness of the path.

[0032] (3) This embodiment directly controls the vehicle's suspension, steering, braking and driving through the automatic driving modification, so that the off-road vehicle has the hardware foundation for automatic driving and has the advantages of high control accuracy and fast response speed.

[0033] (4) The technology of the autonomous driving off-road vehicle in this embodiment plays an important role in the development of military intelligence and improving agricultural production efficiency.

[0034] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An autonomous driving off-road vehicle, characterized in that: The invention comprises a suspension system, a steering system, a braking system, a driving system and a control module. The suspension system comprises a vehicle body, a front suspension and a rear suspension. Wheel speed sensors are installed on the wheels of the vehicle body. The front suspension and the rear suspension are both provided with displacement sensors. The wheel speed sensors and the displacement sensors are both electrically connected to the control module. Each displacement sensor is used to detect the expansion and contraction amount of the front suspension and the rear suspension respectively. The steering system is installed at the front upper end of the vehicle body. The steering system is provided with a steering angle sensor electrically connected to the control module. The steering angle sensor can detect the expansion and contraction amount of the front suspension and the rear suspension when the vehicle body is turned. The steering angle is detected, and the control module adjusts the steering angle output by the steering system according to the angle signal of the steering angle sensor and the wheel speed signal of the wheel speed sensor; the braking system is installed at the front wheels of the vehicle body, and the braking system is electrically connected to the control module, and the braking system can control the braking of the two front wheels under the control of the control module; the driving system is electrically connected to the control module, and the control module controls the driving system to drive each of the wheels to rotate according to the angle signal of the steering angle sensor, the wheel speed signal of the wheel speed sensor, and the displacement signal detected by the displacement sensor.

2. The automatic driving off-road vehicle according to claim 1, characterized in that: The suspension system includes a vehicle body, a rear axle, the front suspension and the rear suspension, the front suspension is a front double wishbone independent suspension, the front double wishbone independent suspension includes two front coil springs, the rear suspension is an integral rear suspension, the integral rear suspension includes a rear coil spring, the upper ends of the two front coil springs are rotatably connected to the two ends of the front part of the vehicle body, the lower ends of the two front coil springs are rotatably connected to the inner sides of the two front wheels respectively, the upper end of the rear coil spring is rotatably connected to the rear part of the vehicle body, the lower end of the rear coil spring is rotatably connected to the rear axle, and the rear axle is connected between the two rear wheels of the vehicle body.

3. The automatic driving off-road vehicle according to claim 1, characterized in that: The steering system includes a steering handle, a steering column, a steering motor, a steering angle sensor, a reduction gear and two steering rods. The steering handle is installed at the upper end of the steering column, the steering motor is installed in the middle of the steering column, and the steering angle sensor and the reduction gear are integrated in the steering motor. The output shaft of the steering motor is connected to the reduction gear, and the reduction gear is coaxially connected to the steering column. One ends of the two steering rods are respectively movably connected to the two sides of the lower end horn of the steering column, and the other ends of the two steering rods are respectively movably connected to the inner sides of the two front wheels.

4. The autonomous driving off-road vehicle according to claim 1, characterized in that: The braking system includes a brake motor, a hydraulic master cylinder and a caliper. The brake motor and the hydraulic master cylinder are both installed on the front part of the vehicle body, and the gear on the rotor of the brake motor is meshed with the gear on the piston of the hydraulic master cylinder. The hydraulic oil pipeline of the hydraulic master cylinder is connected to the slave cylinder on the caliper, and a caliper is installed on each of the two front wheels near the brake disc.

5. The autonomous driving off-road vehicle according to claim 1, characterized in that: The drive system includes a wheel hub motor and a wheel speed sensor, wherein the wheel hub motor, the wheel speed sensor and the wheel are integrated together, each wheel corresponds to a wheel hub motor and is driven by the wheel hub motor, wherein two of the wheel hub motors are installed on both sides of the front of the vehicle body, and the other two of the wheel hub motors are installed on the rear axle of the suspension system.

6. The autonomous driving off-road vehicle according to claim 1, characterized in that: A sensor bracket is also included. The sensor bracket is installed at the front end of the vehicle body and is used to install a sensor.

7. The autonomous driving off-road vehicle according to claim 1, characterized in that: The control module is electrically connected to the host computer, and includes a wheel hub motor controller, a steering controller, and a brake controller which are electrically connected and installed on the vehicle body. The wheel hub motor controller is electrically connected to the drive system and controls the drive system to perform driving actions. The steering controller is electrically connected to the steering system and controls the steering system to perform left and right turns. The brake controller is electrically connected to the brake system and controls the brake system to perform braking actions.

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