Distributed driving vehicle chassis and vehicle

Abstract

The utility model provides a distributed driving vehicle chassis and a vehicle, and relates to the field of new energy automobiles. The chassis comprises a whole vehicle controller, a motor controller, a driving motor, a plurality of wheel edge motors, vertical load sensors of a plurality of wheels, a brake pedal opening degree sensor and an accelerator pedal opening degree sensor. The whole vehicle controller is connected to the brake pedal opening sensor and the accelerator pedal opening sensor to detect torque demand parameters in real time and send torque control signals to the motor controller. The motor controller is used for switching to wheel side motor driving under the condition that the driving motor does not successfully respond to the torque control signal; and the motor controller adjusts the output torque of the wheel side motors on different sides according to the vertical load value of each tire measured by the vertical load sensor. The distributed wheel-side motors are adopted as standby driving motors, normal driving can be guaranteed through a switching mechanism when a single motor breaks down, and the safety and flexibility of vehicle driving are improved.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a distributed drive vehicle chassis and a vehicle. Background Art

[0002] With the development of automobile electrification and intelligence, distributed drive of vehicles has become an increasingly hot research topic for many automobile companies. Since it eliminates the drive shaft and mechanical differential in the traditional vehicle transmission system, it has a simple structure and is easy to maintain.

[0003] As the main means of transportation in the urban public transportation system, city buses are currently mainly driven by a single motor rear-wheel drive. Under this driving mode, if the motor fails, the vehicle will not be able to drive normally.

[0004] Therefore, there is an urgent need for a distributed drive vehicle chassis that can ensure that the vehicle can still run normally when a single motor fails, thereby improving the safety and flexibility of vehicle driving. Utility Model Content

[0005] In order to solve the above problems, the present application provides a distributed drive vehicle chassis and a vehicle, which can improve the safety and flexibility of vehicle driving.

[0006] In a first aspect, the present application provides a distributed drive vehicle chassis, comprising a vehicle controller (1), a motor controller (3), a drive motor (5), a plurality of wheel-side motors (7), a plurality of vertical load sensors (9) arranged on different wheels, a brake pedal opening sensor (11), and an accelerator pedal opening sensor (13);

[0007] The brake pedal opening sensor (11) is used to measure the opening of the brake pedal, and the accelerator pedal opening sensor (13) is used to measure the opening of the accelerator pedal;

[0008] The vehicle controller (1) is connected to the brake pedal opening sensor (11) and the accelerator pedal opening sensor (13), and is suitable for detecting torque demand parameters in real time and sending a torque control signal to the motor controller (3);

[0009] The motor controller (3) is used to: switch to the wheel side motor (7) for driving when the drive motor (5) fails to respond to the torque control signal;

[0010] The vertical load sensor (9) is used to measure the vertical load value of each tire when the wheel side motor (7) is switched to drive; the motor controller (3) adjusts the output torque of the wheel side motor (7) on different sides according to the vertical load value of each tire.

[0011] In a possible implementation, the distributed drive vehicle chassis further comprises: a main reducer (4) arranged at the rear of the chassis and a wheel reducer (6) arranged at the inner side of the front wheel of the chassis;

[0012] The torque output by the driving motor (5) acts on the main reducer (4) and is then output to the transmission shaft of the rear wheels;

[0013] The torque output by the wheel-side motor (7) acts on the wheel-side reducer (6) and is then output to the transmission shaft of the front wheel.

[0014] In a possible implementation, the plurality of wheel-side motors (7) include: a left front wheel-side motor (71) arranged on the inner side of the left front wheel and a right front wheel-side motor (72) arranged on the inner side of the right front wheel;

[0015] The wheel-side reducer (6) comprises: a left front wheel-side reducer (61) arranged on the inner side of the left front wheel and a right front wheel-side reducer (62) arranged on the inner side of the right front wheel.

[0016] In a possible implementation manner, when switching to the wheel-side motor (7) drive:

[0017] The motor controller (3) controls the left front wheel motor (71) to output a first torque to the left front wheel reducer (61) according to the vertical load values ​​of each tire, and the left front wheel reducer (61) reduces the speed of the first torque and increases the torque, and then acts on the transmission shaft of the left front wheel;

[0018] The motor controller (3) controls the right front wheel motor (72) to output a first torque to the right front wheel reducer (62) according to the vertical load values ​​of each tire. The right front wheel reducer (62) reduces the speed of the first torque and increases the torque, and then acts on the transmission shaft of the right front wheel.

[0019] In a possible implementation, the distributed drive vehicle chassis further comprises: a differential (8) arranged on the rear wheel drive shaft, wherein the differential (8) is connected to the main reducer (4);

[0020] The torque output by the drive motor (5) acts on the main reducer (4) and is then transmitted to the differential (8); the differential (8) distributes the torque to the left rear wheel and the right rear wheel respectively, driving the left rear wheel and the right rear wheel to rotate independently at a preset speed difference.

[0021] In a possible implementation manner, the torque demand parameter is measured based on a ratio between an opening degree of the accelerator pedal and an opening degree of the brake pedal.

[0022] In a possible implementation, the distributed drive vehicle chassis further comprises: a front wheel angle sensor (10) for collecting a front wheel angle signal and sending it to the vehicle controller (1).

[0023] In a possible implementation manner, the distributed drive vehicle chassis further comprises: a vehicle speed sensor (12) for measuring the real-time vehicle speed and sending the speed to the vehicle controller (1).

[0024] In a possible implementation manner, the distributed drive vehicle chassis further comprises: a battery module (2) for supplying power to the distributed drive vehicle chassis.

[0025] In a second aspect, a vehicle is provided, comprising the distributed drive vehicle chassis described in any possible implementation manner of the first aspect.

[0026] The technical solution provided by this application includes at least the following technical effects:

[0027] This application uses distributed wheel-side motors as backup drive motors for distributed drives, ensuring that the vehicle can run normally when a single motor fails, thereby improving the safety and flexibility of vehicle drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 is a schematic diagram of a distributed drive vehicle chassis provided in an embodiment of the present application;

[0030] Figure 2 It is a schematic diagram of another distributed drive vehicle chassis provided in an embodiment of the present application.

[0031] The reference numerals in the figures represent respectively:

[0032] 1. Vehicle controller; 2. Battery module;

[0033] 3. Motor controller; 4. Main reducer;

[0034] 5. Drive motor;

[0035] 6. Wheel-side reducer; 61. Left front wheel-side reducer; 62. Right front wheel-side reducer;

[0036] 7. Wheel side motor; 71. Left front wheel side motor; 72. Right front wheel side motor;

[0037] 8. Differential;

[0038] 9. Vertical load sensor; 91. Left front wheel vertical load sensor; 92. Right front wheel vertical load sensor; 93. Left rear wheel vertical load sensor; 94. Right rear wheel vertical load sensor;

[0039] 10. Front wheel angle sensor; 11. Brake pedal opening sensor;

[0040] 12. Vehicle speed sensor; 13. Accelerator pedal opening sensor;

[0041] 14. Wheel steering node; 141. Left front wheel steering node; 142. Right front wheel steering node.

[0042] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0043] To further illustrate the various embodiments, the present application provides drawings. These drawings are part of the disclosure of the present application, and are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and the advantages of the present application. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0044] The present application is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0045] An embodiment of the present application provides a distributed drive vehicle chassis. Figure 1 This is a schematic diagram of a distributed drive vehicle chassis provided in an embodiment of the present application. Figure 1 The specific implementation methods of this application are introduced.

[0046] The distributed drive vehicle chassis provided in the embodiment of the present application includes a vehicle controller (VCU) 1, a motor controller (MCU) 3, a drive motor 5, multiple wheel-side motors 7, multiple vertical load sensors 9 arranged on different wheels, a brake pedal opening sensor 11, and an accelerator pedal opening sensor 13.

[0047] The wheel-side motor 7 and the drive motor 5 are used to provide driving force for the entire vehicle. In different driving modes, either of the two motors can be used.

[0048] The brake pedal opening sensor 11 is used to measure the opening of the brake pedal, and the accelerator pedal opening sensor 13 is used to measure the opening of the accelerator pedal.

[0049] Exemplarily, the opening can be expressed as an opening percentage. The vehicle controller 1 calculates the opening percentage of the accelerator pedal based on the electrical signal received from the accelerator pedal opening sensor 13. For example, when the accelerator pedal is fully released, the opening percentage is 0%; when the accelerator pedal is fully depressed, the opening percentage is 100%. The accelerator pedal opening sensor 13 is, for example, a pressure sensor or a braking force sensor for detecting the hydraulic or pneumatic pressure generated by the brake pedal driving the master brake cylinder. The ratio of the measured pressure to the theoretical maximum pressure can be used as the opening percentage of the brake pedal.

[0050] The vehicle controller 1 is connected to the brake pedal opening sensor 11 and the accelerator pedal opening sensor 13, and is suitable for detecting torque demand parameters in real time and sending torque control signals to the motor controller 3. The vehicle controller 1 is responsible for the function and signal scheduling between various modules of the chassis.

[0051] The motor controller 3 is used to switch to the wheel motor 7 drive when the drive motor 5 fails to respond to the torque control signal. The motor controller 3 is used to send the torque signal sent by the vehicle controller 1 to the drive motor 5 or the wheel motor 7. Exemplarily, a successful response means that a response message is fed back to the motor controller 3 within a preset response time, or the output torque changes as expected within the preset response time.

[0052] The vertical load sensor 9 is used to measure the vertical load value of each tire when the wheel-side motor 7 is switched to drive; the motor controller 3 adjusts the output torque of the wheel-side motor 7 on different sides according to the vertical load value of each tire.

[0053] Figure 2 This is a schematic diagram of another distributed drive vehicle chassis provided in an embodiment of the present application. Figure 2 Various optional implementations of the distributed drive vehicle chassis provided in the embodiments of the present application are further introduced.

[0054] For example, a vertical load sensor is provided at the center of the wheel hub of each tire, such as Figure 2 As shown, the vertical load sensor 9 includes: a left front wheel vertical load sensor 91, a right front wheel vertical load sensor 92, a left rear wheel vertical load sensor 93 and a right rear wheel vertical load sensor 94.

[0055] In a possible implementation, the distributed drive vehicle chassis further includes: a main reducer 4 arranged at the rear of the chassis and a wheel reducer 6 arranged at the inner side of the front wheel of the chassis. These reducers are used to reduce speed and increase torque.

[0056] Specifically, the main reducer 4 is used to reduce the speed and increase the torque of the driving motor 5 as the main drive. After the torque output by the driving motor 5 acts on the main reducer 4, it is output to the transmission shaft of the rear wheels.

[0057] Specifically, the wheel-side reducer 6 is used to reduce speed and increase torque of the wheel-side motor 7. After the torque output by the wheel-side motor 7 acts on the wheel-side reducer 6, it is output to the transmission shaft of the front wheel.

[0058] In one possible implementation, the plurality of wheel-side motors 7 include: a left front wheel-side motor 71 disposed on the inner side of the left front wheel and a right front wheel-side motor 72 disposed on the inner side of the right front wheel. Correspondingly, the wheel-side reducer 6 includes: a left front wheel-side reducer 61 disposed on the inner side of the left front wheel and a right front wheel-side reducer 62 disposed on the inner side of the right front wheel.

[0059] In this example, when switching to the wheel-side motor 7 drive, the driving process of the chassis is switched from the drive motor 5 controlling the rear wheels to the wheel-side motor 7 controlling the front wheels.

[0060] For the left front wheel: the motor controller 3 controls the left front wheel motor 71 to output the first torque to the left front wheel reducer 61 according to the vertical load value of each tire. The left front wheel reducer 61 reduces the speed and increases the torque of the first torque, and then acts on the transmission shaft of the left front wheel.

[0061] For the right front wheel: the motor controller 3 controls the right front wheel motor 72 to output the first torque to the right front wheel reducer 62 according to the vertical load value of each tire. The right front wheel reducer 62 reduces the speed and increases the torque of the first torque, and then acts on the drive shaft of the right front wheel.

[0062] In one possible implementation, the distributed drive vehicle chassis further includes: a differential 8 disposed on the rear wheel drive shaft, the differential 8 being connected to the main reducer 4; the torque output by the drive motor 5 acts on the main reducer 4 and is then transmitted to the differential 8; the differential 8 distributes the torque to the left rear wheel and the right rear wheel, respectively, driving the left rear wheel and the right rear wheel to rotate independently at a preset speed difference.

[0063] The present application adopts electronic differential steering to realize wheel-side drive electric vehicles. The rotation speed of different wheels is controlled by the differential to realize steering. Specifically, the vehicle controller 1 can measure vehicle state information (such as vertical load value, vehicle speed, front wheel angle, etc.) according to various sensors, calculate the torque difference that needs to be applied to different wheels, thereby controlling the rotation speed difference of the wheels to realize vehicle steering.

[0064] In one possible implementation, the torque demand parameter is measured based on the ratio between the opening of the accelerator pedal and the opening of the brake pedal. Optionally, the calculation process of the torque demand parameter can be expressed as: vehicle demand torque = motor peak torque * accelerator pedal opening percentage - motor peak torque * brake pedal opening percentage.

[0065] In a possible implementation, the distributed drive vehicle chassis further includes: a front wheel angle sensor 10. The front wheel angle sensor is used to collect the front wheel angle signal and send it to the vehicle controller 1. The front wheel angle sensor is used to quickly sense the steering angle of the front wheel, so that the vehicle controller 1 can quickly adjust the output torque of each tire to ensure the driving stability of the vehicle.

[0066] In one possible implementation, the distributed drive vehicle chassis further includes: a vehicle speed sensor 12, which is used to measure the real-time vehicle speed and send it to the vehicle controller 1. Specifically, the vehicle speed sensor 12 is used to obtain the longitudinal speed and lateral speed of the vehicle in the driving direction, and the lateral speed can be used to determine the lateral acceleration. Optionally, after switching to the wheel-side motor drive mode, the vehicle controller (VCU) 1 monitors the vehicle speed collected in real time by the vehicle speed sensor 12 according to the preset maximum vehicle speed (for example, 69km / h). When the vehicle speed is greater than the maximum vehicle speed, the VCU will limit the motor torque to avoid exceeding the maximum vehicle speed and ensure the safety of the front-wheel drive.

[0067] In one possible implementation, the distributed drive vehicle chassis further includes: a battery module 2, which is used to supply power to the distributed drive vehicle chassis to ensure that each module can operate normally. Of course, the distributed drive vehicle chassis can theoretically use other energy supply modules to directly or indirectly provide energy, such as oil cylinders, hydrogen tanks, etc., but is not limited to this.

[0068] Optionally, the vehicle controller 1, the brake pedal opening sensor 11, the accelerator pedal opening sensor 13, the front wheel angle sensor 10, and the vehicle speed sensor 12 are all placed in the front half of the chassis. The battery module 2 is placed in the middle of the chassis. The motor controller 3, the drive motor 5, and the main reducer 4 are arranged in the rear half of the chassis. The differential 8 is installed on the rear wheel drive shaft.

[0069] In the embodiment of the present application, after the vehicle is started, sensors such as the brake pedal opening sensor 11, the accelerator pedal opening sensor 13, the front wheel angle sensor 10, and the vehicle speed sensor 12 begin to collect driving data, and then send the driving data to the vehicle controller 1. The vehicle controller 1 determines the torque size sent to the motor controller 3 according to the opening of the brake pedal and the accelerator pedal, and the motor controller 3 sends the torque control signal to the drive motor 5 to drive the vehicle. If the drive motor 5 does not respond to the torque control signal sent by the motor controller 3, it is considered that the drive motor 5 is faulty, and at this time, the wheel side motor (7) is switched as the drive motor of the vehicle.

[0070] For vehicles whose main driving mode is single-motor rear-wheel drive, the chassis provided in the embodiment of the present application can respond quickly when a single motor fails, switch to wheel-side drive, and ensure the normal driving of the vehicle. Distributed wheel-side motors are used as backup drive motors for distributed drive to ensure that the vehicle can run normally when a single motor fails, thereby improving the safety and flexibility of vehicle drive. Speed ​​limit control for front-wheel drive is further provided to improve vehicle safety.

[0071] The present application also provides a vehicle that uses the distributed drive vehicle chassis provided by any of the above possible implementations. In one possible manner, the wheel steering node 14 on the front wheel axle of the vehicle is responsible for connecting the drive motor and the wheel to ensure that the angle of the wheel can be smoothly adjusted when the vehicle turns. Optionally, the motor output shaft is directly connected to the steering node, or indirectly connected through a transmission device (such as a reducer). Figure 2 As shown, the left front wheel steering node 141 is responsible for the steering transmission of the left front wheel, and the right front wheel steering node 142 is responsible for the steering transmission of the right front wheel.

[0072] Vehicles using the above chassis can respond quickly when a single motor fails and switch to wheel-side drive to ensure normal driving of the vehicle, significantly improving the safety and flexibility of vehicle driving.

[0073] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar words used in the patent application specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0074] Within the principle, any modification, equivalent replacement, improvement, etc. made shall be included in the protection scope of this application. Although the present application is specifically shown and described in conjunction with the preferred embodiment, it should be understood by those skilled in the art that various changes can be made to the present application in form and detail without departing from the spirit and scope of the present application defined by the attached claims, and all of them are within the protection scope of this application.

Claims

1. A distributed drive vehicle chassis, comprising a vehicle controller (1), a motor controller (3), and a drive motor (5), characterized in that: include: A plurality of wheel-side motors (7), a plurality of vertical load sensors (9) arranged on different wheels, a brake pedal opening sensor (11), and an accelerator pedal opening sensor (13); The brake pedal opening sensor (11) is used to measure the opening of the brake pedal, and the accelerator pedal opening sensor (13) is used to measure the opening of the accelerator pedal; The vehicle controller (1) is connected to the brake pedal opening sensor (11) and the accelerator pedal opening sensor (13), and is suitable for detecting torque demand parameters in real time and sending a torque control signal to the motor controller (3); The motor controller (3) is used to: switch to the wheel side motor (7) for driving when the drive motor (5) fails to respond to the torque control signal; The vertical load sensor (9) is used to measure the vertical load value of each tire when the wheel side motor (7) is switched to drive; the motor controller (3) adjusts the output torque of the wheel side motor (7) on different sides according to the vertical load value of each tire.

2. The distributed drive vehicle chassis according to claim 1, characterized in that: The distributed drive vehicle chassis further comprises: a main reducer (4) arranged at the rear of the chassis and a wheel-side reducer (6) arranged at the inner side of the front wheel of the chassis; The torque output by the driving motor (5) acts on the main reducer (4) and is then output to the transmission shaft of the rear wheels; The torque output by the wheel-side motor (7) acts on the wheel-side reducer (6) and is then output to the transmission shaft of the front wheel.

3. The distributed drive vehicle chassis according to claim 2, characterized in that: The plurality of wheel side motors (7) include: a left front wheel side motor (71) arranged on the inner side of the left front wheel and a right front wheel side motor (72) arranged on the inner side of the right front wheel; The wheel-side reducer (6) comprises: a left front wheel-side reducer (61) arranged on the inner side of the left front wheel and a right front wheel-side reducer (62) arranged on the inner side of the right front wheel.

4. The distributed drive vehicle chassis according to claim 3, characterized in that: When switching to the wheel motor (7) drive: The motor controller (3) controls the left front wheel motor (71) to output a first torque to the left front wheel reducer (61) according to the vertical load values ​​of each tire, and the left front wheel reducer (61) reduces the speed of the first torque and increases the torque, and then acts on the transmission shaft of the left front wheel; The motor controller (3) controls the right front wheel motor (72) to output a first torque to the right front wheel reducer (62) according to the vertical load values ​​of each tire. The right front wheel reducer (62) reduces the speed of the first torque and increases the torque, and then acts on the transmission shaft of the right front wheel.

5. The distributed drive vehicle chassis according to claim 2, characterized in that: The distributed drive vehicle chassis further comprises: a differential (8) arranged on the rear wheel drive shaft, wherein the differential (8) is connected to the main reducer (4); The torque output by the drive motor (5) acts on the main reducer (4) and is then transmitted to the differential (8); the differential (8) distributes the torque to the left rear wheel and the right rear wheel respectively, driving the left rear wheel and the right rear wheel to rotate independently at a preset speed difference.

6. The distributed drive vehicle chassis according to claim 1, characterized in that: The torque demand parameter is measured according to the ratio between the opening of the accelerator pedal and the opening of the brake pedal.

7. The distributed drive vehicle chassis according to claim 1, characterized in that: The distributed drive vehicle chassis further comprises: a front wheel angle sensor (10) for collecting a front wheel angle signal and sending the signal to the vehicle controller (1).

8. The distributed drive vehicle chassis according to claim 2, characterized in that: The distributed drive vehicle chassis further comprises: a vehicle speed sensor (12) for measuring the real-time vehicle speed and sending the speed to the vehicle controller (1).

9. The distributed drive vehicle chassis according to claim 1, characterized in that: The distributed drive vehicle chassis further comprises: a battery module (2) for supplying power to the distributed drive vehicle chassis.

10. A vehicle, characterized in that: Comprising the distributed drive vehicle chassis as described in any one of claims 1-9.

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