Expandable-by-wire all-terrain off-road four-wheel electric scooter

Abstract

An expandable-by-wire all-terrain off-road four-wheel electric scooter, comprising a vehicle body assembly, a front suspension assembly, a rear suspension assembly, a front steering assembly (4), a rear steering assembly, and a wheel rim assembly, the wheel rim assembly comprising front wheels (61) and rear wheels (62). A whole-vehicle control system comprises a whole-vehicle controller, a plurality of sensors, four driving control units, and a control-by-wire system, wherein the control-by-wire system comprises a front steering driving system and a rear steering driving system, and the sensors are used for collecting vehicle driving information. On the basis of the vehicle driving information, the whole-vehicle controller sends steering control instructions to the front steering driving system and the rear steering driving system, respectively. On the basis of the respective steering control instruction, the front steering driving system drives the front steering assembly (4) to accomplish steering of the front wheels (61).

Description

An all-terrain four-wheel electric off-road scooter with wire-controlled expansion Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an all-terrain four-wheel electric off-road scooter that can be expanded by wire control. Background Art

[0002] An electric skateboard is a vehicle based on a traditional human-powered skateboard, enhanced with an electric powertrain. Electric skateboards are generally available in two-wheel or single-wheel drive configurations, with the most common drivetrain methods being hub motors and belt drives. Their primary power source is a lithium battery pack. In recent years, this more portable, short-distance transportation option has become increasingly popular. Electric off-road scooters typically consist of a deck (a support platform for the human body), a frame, suspension, steering, wheels, and a drive assembly. Electric off-road scooters utilize axial steering via a PU (polyurethane) suspension on the deck. This limited their maneuverability and maneuverability, making them incapable of handling harsh terrain. Their use cases are limited, and they don't consider issues like steer-by-wire and drive-by-wire for autonomous driving. Summary of the Invention

[0003] In view of this, the embodiments of this specification provide an all-terrain four-wheel electric off-road scooter that can be expanded by wire control, and develop an all-terrain electric off-road scooter that can be portable and transported and has strong road passing ability, thereby achieving more effective driving control and improving the autonomy, flexibility and stability of vehicle driving.

[0004] The embodiments of this specification provide the following technical solutions:

[0005] Provided is an all-terrain four-wheel electric off-road scooter with wire-control expandability, comprising a body assembly, a front suspension assembly, a rear suspension assembly, a front steering assembly, a rear steering assembly and a wheel assembly, wherein the wheel assembly comprises front wheels and rear wheels, and the vehicle control system comprises a vehicle controller, multiple sensors, four drive control units and a wire-control system, wherein the wire-control system comprises a front steering drive system and a rear steering drive system, wherein the multiple sensors are used to collect vehicle driving information, and the vehicle controller sends steering control instructions to the front steering drive system and the rear steering drive system respectively according to the vehicle driving information, and based on the respective steering control instructions, the front steering drive system drives the front steering assembly to complete the steering of the front wheels, and the rear steering drive system drives the rear steering assembly to complete the steering of the rear wheels; each drive control unit comprises a wheel hub motor and a motor controller, and each drive control unit receives corresponding wheel control instructions from the vehicle controller respectively, so that each drive control unit independently drives each of the front wheels and the rear wheels.

[0006] In some embodiments, the body assembly includes a frame and a driver standing platform, the frame has several sections that serve as a connection, the front suspension assembly includes a front swing arm, a front shock absorber, a front suspension assembly, a small connecting rod, and a triangular arm, the front swing arm is hinged to the front suspension assembly and the small connecting rod respectively, the triangular position of the triangular arm is connected to the small connecting rod, the frame and the front shock absorber respectively, the upper end of the front suspension assembly is fixedly connected to the frame, and the front suspension assembly is provided with an elastic element, so that when the front wheel is subjected to force, the force can be transmitted to the front shock absorber and the frame through the front swing arm, the small connecting rod and the triangular arm.

[0007] In some embodiments, the rear suspension assembly includes a rear swing arm, a rear shock absorber and a rear suspension assembly, the front portion of the rear swing arm is hinged to the lower end of the rear suspension assembly, one end of the rear shock absorber is directly connected to the rear swing arm and the other end is connected to the frame, the upper end of the rear suspension assembly is fixedly connected to the frame, and an elastic element is provided in the rear suspension assembly, so that when the rear wheel is subjected to force, the force is transmitted to the rear shock absorber and the frame via the rear swing arm.

[0008] In some embodiments, when the vehicle body is subjected to the force exerted by the driver's left and right center of gravity adjustment, the elastic elements of the front suspension assembly and the elastic elements in the rear suspension assembly are compressed to cause the vehicle body to rotate around the longitudinal center axis of the vehicle body. At the same time, the elastic force of the elastic elements can cause the longitudinal offset of the vehicle body and the lateral offset of the wheels to return to normal.

[0009] In some embodiments, when the vehicle body is subjected to a horizontal force caused by the driver's center of gravity shift, the interaction force between the front wheels, the rear wheels and the ground and the rotational torque formed by the horizontal force cause the vehicle to steer the front and rear axles.

[0010] In some embodiments, the front steering assembly includes a steering bearing seat, a steering rocker arm, front left and right steering knuckle arms, front left and right steering tie rods and a steering column. The steering bearing seat is fixedly connected to the vehicle frame, the steering rocker arm is fixedly connected to the steering column, one end of the front left and right steering tie rods is hinged to the steering rocker arm, and the other end is hinged to the front left and right steering knuckle arms. The front left and right steering knuckle arms are mounted on the kingpin shafts of the front wheels, so that when the steering column rotates, it can drive the steering rocker arm, the front left and right steering tie rods and the front left and right steering knuckle arms to achieve steering of the front wheels.

[0011] In some embodiments, the front steering drive system includes a steering gear set, a front drive motor and a front motor bracket. The front drive motor is fixedly connected to the vehicle frame through the front motor bracket. The motor output end of the front drive motor is connected to the steering column through the steering gear set, so that the steering column can be driven to rotate, and the front wheels are driven to rotate through the steering rocker arm, the front left and right steering rods and the front left and right steering knuckle arms.

[0012] In some embodiments, the rear steering assembly includes rear left and right steering knuckle arms, rear left and right steering rods, and rear frame steering rods. The rear left and right steering knuckle arms are mounted on the kingpin shafts of the rear wheels, and both ends of the rear left and right steering rods are respectively ball-hinged on the rear left and right steering knuckle arms; one end of the rear frame steering rod is hinged to one side of the rear left and right steering knuckle arms, and the other end is hinged to the frame. When the vehicle body rotates around the longitudinal center axis of the vehicle body, the rear frame steering rod connected to the frame works together with the rear left and right steering rods to achieve steering of the rear wheels.

[0013] In some embodiments, the rear steering drive system includes a rear drive motor, a crank slider mechanism, a slider, a slider guide, and a rear motor bracket. The rear drive motor is fixedly connected to the frame through the rear motor bracket. The rear drive motor drives the rear frame steering rod and the rear left and right steering rods through the slider, the slider guide and the crank slider mechanism to achieve steering of the rear wheels.

[0014] In some embodiments, the vehicle controller processes vehicle driving information including at least vehicle speed information, tire pressure information, handlebar torque information, and body roll torque information to obtain driver steering intention information, and sends the wheel control instruction or the steering control instruction to the drive control unit or the wire control system based on the driver steering intention information to achieve respective wheel drive control of the wheel side assembly or respective steering control of the front steering assembly and the rear steering assembly.

[0015] In some embodiments, the vehicle controller feeds back a corresponding measurement signal based on the handlebar torque information and the body roll torque information, converts the measurement signal into a torque command or a speed command, and sends it to the wire control system to perform wire control steering action alone or in combination with mechanical steering; alternatively, the vehicle controller also adjusts the torque command in real time based on the vehicle speed information and the tire pressure information and sends it to the motor controller to adjust the driving force of the corresponding wheel of the wheel rim assembly.

[0016] In some embodiments, the distance information of the target from the vehicle is collected by a radar sensor or a UWB sensor, the wheel speed information of each wheel is collected in real time by a wheel speed sensor, and the handlebar angle information is collected by a steering angle sensor. The distance information, the wheel speed information and the handlebar angle information are used as constraints to establish a target cost function, and the target torque signal is obtained by solving the target cost function. The vehicle controller performs drive control, steering control and braking control based on the target torque signal to achieve target tracking or target avoidance.

[0017] Compared with the prior art, the above technical solutions adopted in the embodiments of this specification can achieve at least the following beneficial effects:

[0018] 1. By combining steer-by-wire technology with corresponding mechanical control, both front and rear steering motors are equipped to provide power steering in manned mode. The system senses the driver's steering intention through handlebar angle or torque, as well as body roll caused by the driver's center of gravity shift. In unmanned mode, the steer-by-wire system enables autonomous steering, resulting in more effective driving control and enhanced vehicle autonomy, flexibility, and stability.

[0019] 2. Drive-by-wire technology can sense the vehicle's ground contact when driving on rough roads by collecting information such as tire pressure, and adjust the driving force of each wheel in real time to ensure that the wheel speed does not deviate too much, which could cause stalling and loss of control. This greatly enhances vehicle stability and maximizes the vehicle's driving force, thereby improving vehicle driving efficiency.

[0020] 3. In addition, when the driver's center of gravity shifts, the vehicle body rolls, which is transmitted to the rear wheels through the rear frame steering rod and the left and right rear steering rods connected to the frame, causing the rear wheels to steer. This structural design enables the rear wheels to steer along with the front wheels, thereby reducing the turning radius and improving the vehicle's ability to navigate roads with large curvatures. In addition, the integration of multiple steering methods, including handlebar steering, scooter axle steering, and steer-by-wire, and the use of a symmetrical figure-8 connecting rod in the front steering link effectively prevent the vehicle from swerving to one side, especially when driving on undulating or rugged roads, thereby improving vehicle driving stability.

[0021] 4. By collecting the distance information between the target and the vehicle and the real-time vehicle driving information, and performing calculations to obtain the corresponding driving control signal, the vehicle controller VCU then performs drive control, steering control, and braking control based on the control signal to achieve target tracking or target avoidance, and achieve real-time target following or avoidance, thereby improving driving safety.

[0022] In summary, the wire-controlled expandable all-terrain four-wheel electric off-road scooter provided in the embodiment of the present application integrates the strong off-road performance of ATV with the advantages of being compact and convenient as an electric scooter to develop an all-terrain electric off-road scooter that can be transported and has strong road passing ability. The vehicle has functions such as tail swinging, serpentine, drifting, large-angle climbing, and climbing stairs, and is widely used in scenarios such as tourism, patrolling, farm inspections, and off-road driving experiences. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0024] FIG1 is a schematic diagram of a control system for an all-terrain four-wheel electric off-road scooter with expandable wire control provided in an embodiment of the present application;

[0025] FIG2 is a side view of an all-terrain four-wheel electric off-road scooter with wire-controlled expandability provided in an embodiment of the present application;

[0026] FIG3 is a schematic diagram of the structure of an elastic element of a front suspension assembly of an all-terrain four-wheel electric off-road scooter with expandable wire-controllable structure provided by an embodiment of the present application;

[0027] FIG4 is a top view of the elastic element structure of the front suspension assembly of the wire-controlled expandable all-terrain four-wheel electric off-road scooter provided in an embodiment of the present application;

[0028] FIG5 is a schematic diagram of the structure of an elastic element of a rear suspension assembly of an all-terrain four-wheel electric off-road scooter with expandable wire-controllable structure provided by an embodiment of the present application;

[0029] FIG6 is a top view of the elastic element structure of the rear suspension assembly of the wire-controlled expandable all-terrain four-wheel electric off-road scooter provided in an embodiment of the present application;

[0030] FIG7 is a front view of an all-terrain four-wheel electric off-road scooter with wire-controlled expandability provided in an embodiment of the present application;

[0031] FIG8 is a top view of the wire-controlled expandable all-terrain four-wheel electric off-road scooter provided in an embodiment of the present application;

[0032] FIG9 is a schematic diagram of a partial structure of a front steering assembly of an all-terrain four-wheel electric off-road scooter with expandable wire-controllable technology provided in an embodiment of the present application;

[0033] FIG10 is a schematic diagram of a partial structure of a rear steering assembly of an all-terrain four-wheel electric off-road scooter with expandable wire-controllable technology provided in an embodiment of the present application;

[0034] FIG11 is a top view of the rear steering assembly of the wire-controlled expandable all-terrain four-wheel electric off-road scooter provided in an embodiment of the present application. Implementation Method

[0035] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0036] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0037] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0038] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0039] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples, however, one skilled in the art will appreciate that the examples can be practiced without these specific details.

[0040] The all-terrain four-wheel electric off-road scooter with wire-controlled expansion provided in an embodiment of the present application includes a body assembly, a front suspension assembly, a rear suspension assembly, a front steering assembly, a rear steering assembly and a wheel rim assembly (including each wheel, specifically the front wheel 61 and the rear wheel 62 as shown in Figure 2), and realizes the driving, steering and braking functions of the whole vehicle through the whole vehicle control system.

[0041] Specifically, as shown in Figure 1, the vehicle control system includes a vehicle controller (VCU), multiple sensors, four drive control units, and a wire control system. The wire control system further includes a front steering drive system and a rear steering drive system, which are used to realize the steering drive control of the front steering assembly and the rear steering assembly respectively. In addition, the VCU is provided with a power battery capable of DC-DC conversion for power supply so as to realize electric control when needed. Multiple sensors are used to collect vehicle driving information and can be arranged at multiple required positions on the vehicle, such as wheel speed sensors and tire pressure sensors provided on each wheel, and angle sensors provided on the front steering assembly. Among them, the vehicle driving information may include vehicle speed information, tire pressure information, handlebar torque information, body roll torque information, road condition information, etc. The vehicle speed information may include the wheel speed information of each wheel, and the handlebar torque information may include handlebar angle information, etc.

[0042] The vehicle controller receives real-time vehicle driving information collected by sensors, processes this information, generates corresponding control commands, and sends them to the front and rear steering drive systems. Based on the respective steering control commands, the front steering drive system drives the front steering assembly to steer the front wheels, and the rear steering drive system drives the rear steering assembly to steer the rear wheels. In addition, each drive control unit includes an in-wheel motor and a motor controller. The vehicle controller also generates wheel control commands based on the real-time vehicle driving information collected by sensors. Each drive control unit then receives the corresponding wheel control commands from the vehicle controller, allowing each drive control unit to independently drive each of the front and rear wheels. This means that the vehicle utilizes a distributed drive solution, allowing all four wheels to be driven independently. The motor controllers control wheel torque and speed to drive the wheels. The distributed drive system achieves refined tire adhesion distribution by individually adjusting the magnitude and direction of the drive torque through the motors, improving vehicle handling and driving stability. Furthermore, the distributed drive system can match the motor's optimal efficiency range to the vehicle's operating conditions, significantly improving vehicle driving efficiency and energy efficiency.

[0043] Furthermore, as shown in Figures 2 to 7 and Figures 9 to 11, in some embodiments, in the all-terrain four-wheel electric off-road scooter structure provided in the embodiments of the present application, the body assembly includes a frame 11 and a driver standing platform 12, and the frame 11 has several sections for convenient connection. Among them, the front suspension assembly includes a front swing arm 21, a front shock absorber 22, a front suspension assembly 23, a small connecting rod 24 and a triangular arm 25. The front swing arm 21 is hinged to the lower end of the front suspension assembly 23 and the small connecting rod 24 respectively. The triangular positions of the triangular arm 25 are hinged to the small connecting rod 24 and the frame 11 respectively (relative rotation can be generated) and connected to the front shock absorber 22. Preferably, an acute angle position and an obtuse angle position of the triangular arm 25 are hinged to the frame 11, and the other acute angle position of the triangular arm 25 is connected to the front shock absorber 22. The upper end of the front suspension assembly 23 is fixedly connected to the frame, and the front suspension assembly 23 is provided with an elastic element, so that when the front wheel is subjected to force, the force can be transmitted to the front shock absorber 22 and the frame 11 through the front swing arm 21, the small connecting rod 24 and the triangular arm 25.

[0044] In some embodiments, the elastic element of the front suspension assembly 23 can be implemented as a front suspension splint 231 and a front suspension fixing plate 232 as shown in Figures 3 and 4. The front suspension splint 231 is arranged in the front suspension assembly 23. A through hole with a rubber bushing is provided in the front suspension splint 231, and the front suspension fixing plate 232 is connected to the front suspension fixing plate 232 by bolts, so that the front suspension fixing plate 232 and the front suspension splint 231 can rotate relative to each other around the C axis, and then the vehicle body and the front swing arm 21 can rotate relative to each other, resulting in the effect of the entire vehicle rotating around the longitudinal axis B of the travel of the front suspension assembly 23.

[0045] In some embodiments, the rear suspension assembly includes a rear swing arm 31, a rear shock absorber 32 and a rear suspension assembly 33. The front portion of the rear swing arm 31 is hinged to the lower end of the rear suspension assembly 33, and the two can generate relative rotation; one end of the rear shock absorber 32 is directly connected to the rear swing arm 31 and the other end is connected to the frame 11. The upper end of the rear suspension assembly 33 is fixedly connected to the frame 11, and an elastic element (not shown in the figure) is provided in the rear suspension assembly 33, so that when the rear wheel is subjected to force, the force is transmitted to the rear shock absorber 32 and the frame 11 via the rear swing arm 31.

[0046] In addition, in some embodiments, the elastic element of the rear suspension assembly 33 can be realized as a rear suspension splint 331 and a rear suspension fixing plate 332 as shown in Figures 5 and 6. The rear suspension splint 331 is arranged in the rear suspension assembly 33. A through hole with a rubber bushing is provided in the rear suspension splint 331, and the rear suspension fixing plate 332 is connected to the rear suspension fixing plate 332 by bolts, so that the rear suspension fixing plate 332 and the rear suspension splint 331 can rotate relative to each other around the C axis, and then the vehicle body and the rear swing arm 31 can rotate relative to each other, resulting in the effect of the entire vehicle rotating around the longitudinal axis B of the travel of the front suspension assembly 33. When the elastic elements of the front suspension assembly 23 and the rear suspension assembly 33 work together, the effect of the entire vehicle rotating around the longitudinal axis B of the travel of the front suspension assembly 23 and the rear suspension assembly 33 will be achieved.

[0047] In some embodiments, when the driver applies force to the vehicle body by adjusting their left and right center of gravity on the driver's standing platform 12, the unbalanced vertical force on both sides of the vehicle is applied to the front and rear suspension assemblies 23 and 33. This causes the elastic elements of the front and rear suspension assemblies 23 and 33 to undergo unilateral compression, causing the vehicle body to rotate about the longitudinal center axis of the vehicle body (as indicated by axis B in FIG2 ). Ultimately, the vehicle body angle rotates from A1 to A1' and A2 to A2' as shown in FIG3 . Simultaneously, the unilateral deformation of the elastic elements can also cause the longitudinal offset of the vehicle body and the lateral offset of the wheels to return to normal. Furthermore, in some embodiments, when the driver's center of gravity shifts, the vehicle body is also subjected to a force exerted by the driver's center of gravity, causing the vehicle body to rotate about axis B. The driver's force on the vehicle body generates a horizontal component F, which, in combination with the resistance (or friction) of the ground on the front and rear wheels 61 and 62, generates a rotational torque, causing the vehicle's direction of travel to change from A to A', thereby achieving a turn.

[0048] In some embodiments, the front steering assembly 4 includes a steering bearing 41, a steering rocker arm 42, front left and right steering knuckle arms 43, front left and right steering tie rods 44, and a steering column 45. Specifically, the steering bearing 41 is fixedly connected to the vehicle frame 11, the steering rocker arm 42 is fixedly connected to the steering column 45, and one end of the front left and right steering tie rods 44 is hinged to the steering rocker arm 42, and the other end is hinged to the front left and right steering knuckle arms 43. The front left and right steering knuckle arms 43 are mounted on the kingpin shaft (not shown) of the front wheel 61. When the steering column 45 rotates, it drives the steering rocker arm 42, the front left and right steering tie rods 44, and the front left and right steering knuckle arms 43 to steer the front wheel 61. In some embodiments, the front left and right steering tie rods 44 have ball joints at both ends, with one end being hinged to the steering rocker arm 42 and the other end being hinged to the front left and right steering knuckle arms 43.

[0049] In some embodiments, the front steering drive system for driving the front steering assembly to complete the steering of the front wheels 61 includes a steering gear set 46, a front drive motor 47 and a front motor bracket 48. The front drive motor 47 is fixedly connected to the frame 11 through the front motor bracket 48. The motor output end of the front drive motor 47 is connected to the steering column 45 through the steering gear set 46 (which can be a vertical connection), converting the rotation of the front drive motor 47 into the rotation of the steering column 45, so that the steering column 45 can be driven to rotate, and then the front wheels 61 are driven to rotate through the steering rocker arm 42, the front left and right steering rods 44 and the front left and right steering knuckle arms 43.

[0050] In some embodiments, the rear steering assembly includes rear left and right steering knuckle arms 51, rear left and right steering tie rods 52, and rear frame steering tie rods 53. The rear left and right steering knuckle arms 51 are mounted on the kingpin shafts of the rear wheels, and both ends of the rear left and right steering tie rods 52 are respectively ball-jointed on the rear left and right steering knuckle arms 51; one end of the rear frame steering tie rod 52 is hinged to one side of the rear left and right steering knuckle arms 51, and the other end is hinged to the frame 11. When the vehicle body rotates around the longitudinal center axis of the vehicle body (axis B as shown in Figure 2), the rear frame steering tie rod 53 connected to the frame 11 works together with the rear left and right steering tie rods 52 to achieve steering of the rear wheels.

[0051] In some embodiments, the rear steering drive system, which drives the rear steering assembly to steer the rear wheels 62, includes a rear drive motor 54, a slider-crank mechanism 55, a slider 56, a slider guide 57, and a rear motor bracket 58. Specifically, the rear drive motor 54 (which can be a servo-reduction integrated motor) is fixedly connected to the vehicle frame 11 via the rear motor bracket 58. The rear drive motor 54, through the slider 56, the slider guide 57, and the slider-crank mechanism of the slider-crank mechanism 55, drives the rear frame steering tie rod 53 and the left and right rear steering tie rods 52 to steer the rear wheels 62. In some embodiments, the inner side of the rear frame steering tie rod 53 can also be fixed to the rear swing arm 31 to disable the active steering function of the rear wheels (i.e., the rear wheels 62).

[0052] In some embodiments, the steering of the rear wheels 62 can also be locked mechanically. For example, in a scenario where rear wheel steering is not required, the rear frame steering rod 53 can be connected to the rear swing arm 31, and the rear wheels 62 will not produce a steering effect, thereby eliminating the rear wheel sway caused by high-speed driving and improving vehicle driving stability.

[0053] In addition, in some embodiments, in the vehicle control system provided in the embodiments of the present application, the vehicle controller VCU processes vehicle driving information based on at least vehicle speed information, tire pressure information, throttle torque information, and body roll torque information, and obtains the driver's steering intention information after calculation and processing, so as to send wheel control instructions or steering control instructions to the drive control unit or the wire control system based on the driver's steering intention information, so as to achieve drive control of each wheel of the wheel side assembly or steering control of each front steering assembly and the rear steering assembly. In some embodiments, the vehicle controller VCU can also simultaneously obtain vehicle status information, and combine the vehicle status information with the driver's steering intention information to control vehicle driving.

[0054] For example, in some embodiments, the vehicle controller VCU can adjust the driving force of each wheel in real time according to the vehicle status and the driver's intention. For example, when the front wheels are braked, the rear wheels can still be driven to achieve a drift function; it can also achieve control functions such as on-the-spot steering, unilateral drive steering, torque control and speed control through differential speed, thereby improving the vehicle control flexibility.

[0055] In some embodiments, the vehicle control unit (VCU) provides feedback based on the handlebar torque information and the body roll torque information, converts the measurement signals into torque commands or speed commands, and sends them to the drive-by-wire system to execute the steer-by-wire action alone or in combination with mechanical steering. Alternatively, the vehicle control unit adjusts the torque command in real time based on vehicle speed and tire pressure information and sends it to the motor controller to adjust the driving force of the corresponding wheel of the wheel assembly. For example, in some embodiments, in manned driving mode, the drive-by-wire system provides steer-by-wire assistance based on mechanical steering. The VCU determines the driver's steering intention by collecting handlebar torque information and body roll torque information caused by the driver's center of gravity change. After calibration and processing, the feedback measurement signals are sent to the motor controller to implement steering assistance. If necessary, differential steering assistance can also be achieved by providing different speed commands to the left and right wheels. In some embodiments, in unmanned driving mode, the vehicle can be controlled by wireless remote control. The VCU first receives the remote control command, which is then processed and converted into drive, steering, braking, and other signal commands. The drive-by-wire system executes the steer-by-wire action to achieve vehicle steering, and braking is performed through electric feedback braking.

[0056] In some embodiments, the distance information of the target from the vehicle can be collected by a radar sensor or a UWB sensor, the wheel speed information of each wheel can be collected in real time by a wheel speed sensor, and the handlebar angle information can be collected by a steering angle sensor. The distance information, wheel speed information and handlebar angle information are used as constraints to establish a target cost function, and the target torque signal is obtained by solving the target cost function. Then, the vehicle controller VCU performs drive control, steering control and braking control based on the target torque signal to achieve target tracking or target obstacle avoidance, and realize real-time target following or avoidance, thereby improving driving safety.

[0057] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "an embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different places in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0058] In addition, unless expressly stated in the claims, the order of the processing elements and sequences, the use of alphanumeric characters, or the use of other names described in this specification are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some embodiments of the invention that are currently considered useful through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing processing device or mobile device.

[0059] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. An all-terrain four-wheel electric off-road scooter that can be extended by wire control, characterized in that It includes a vehicle body assembly, a front suspension assembly, a rear suspension assembly, a front steering assembly, a rear steering assembly and a wheel-end assembly. The wheel-end assembly includes a front wheel and a rear wheel. The vehicle control system includes a vehicle controller, multiple sensors, four drive control units and a by-wire system. Among them, the by-wire system includes a front steering drive system and a rear steering drive system. The multiple sensors are used to collect vehicle driving information. The vehicle controller sends steering control commands to the front steering drive system and the rear steering drive system respectively according to the vehicle driving information. Based on their respective steering control commands, the front steering drive system drives the front steering assembly to complete the steering of the front wheel, and the rear steering drive system drives the rear steering assembly to complete the steering of the rear wheel; each drive control unit includes a hub motor and a motor controller. Each drive control unit respectively receives the corresponding wheel control commands from the vehicle controller, so that each drive control unit independently drives its respective wheel among the front wheel and the rear wheel.

2. The all-terrain four-wheel electric off-road scooter capable of being extended by wire control according to claim 1, characterized in that, The vehicle body assembly includes a frame and a driver standing platform. The frame has several connecting sections. The front suspension assembly includes a front swing arm, a front shock absorber, a front mount assembly, a small connecting rod and a triangular arm. The front swing arm is respectively hinged to the front mount assembly and the small connecting rod. The triangular positions of the triangular arm are respectively connected to the small connecting rod, the frame and the front shock absorber. The upper end of the front mount assembly is fixedly connected to the frame, and the front mount assembly is provided with an elastic element, so that when the front wheel is stressed, the force can be transmitted to the front shock absorber and the frame through the front swing arm, the small connecting rod and the triangular arm.

3. The all-terrain four-wheel electric off-road scooter capable of being extended by wire control according to claim 2, characterized in that, The rear suspension assembly includes a rear swing arm, a rear shock absorber and a rear mount assembly. The front part of the rear swing arm is hinged to the lower end of the rear mount assembly. One end of the rear shock absorber is directly connected to the rear swing arm and the other end is connected to the frame. The upper end of the rear suspension assembly is fixedly connected to the frame, and the rear mount assembly is provided with an elastic element, so that when the rear wheel is stressed, the force is transmitted to the rear shock absorber and the frame through the rear swing arm.

4. The wire-controlled expandable all-terrain four-wheel electric off-road scooter according to claim 3, wherein When the vehicle body is subjected to the force exerted by the driver's center of gravity adjustment left and right, the elastic elements of the front mount assembly and the elastic elements in the rear mount assembly are compressed, so that the vehicle body rotates around the longitudinal central axis of the vehicle body. At the same time, the elastic force of the elastic elements can promote the longitudinal offset of the vehicle body to return to the original position and the lateral offset of the wheels to return to the original position.

5. The fully terrain four-wheel electric off-road scooter capable of being extended by wire control according to claim 4, wherein When the vehicle body is subjected to the horizontal force caused by the offset of the driver's center of gravity, the rotational torque formed by the interaction force between the front wheel, the rear wheel and the ground and the horizontal force causes the vehicle to have front axle steering and rear axle steering.

6. The wire-controlled expandable all-terrain four-wheel electric off-road scooter according to claim 1, characterized in that The front steering assembly includes a steering bearing seat, a steering rocker arm, front left and right steering knuckle arms, front left and right steering tie rods, and a steering column. The steering bearing seat is fixedly connected to the vehicle frame. The steering rocker arm is fixedly connected to the steering column. One end of each of the front left and right steering tie rods is hinged to the steering rocker arm, and the other end is hinged to the front left and right steering knuckle arms. The front left and right steering knuckle arms are sleeved on the kingpins of the front wheels. When the steering column rotates, the steering rocker arm, the front left and right steering tie rods, and the front left and right steering knuckle arms can be driven to realize the steering of the front wheels.

7. The all-terrain four-wheel electric off-road scooter capable of being extended by wire control according to claim 6, characterized in that, The front steering drive system includes a steering gear set, a front drive motor, and a front motor bracket. The front drive motor is fixedly connected to the vehicle frame through the front motor bracket. The motor output end of the front drive motor is connected to the steering column through the steering gear set, so that the steering column can be driven to rotate, and the front wheels can be driven to rotate through the steering rocker arm, the front left and right steering tie rods, and the front left and right steering knuckle arms.

8. The wire-controlled extensible all-terrain four-wheel electric off-road scooter according to claim 1, characterized in that, The rear steering assembly includes rear left and right steering knuckle arms, rear left and right steering tie rods, and a rear vehicle frame steering tie rod. The rear left and right steering knuckle arms are sleeved on the kingpins of the rear wheels. Both ends of the rear left and right steering tie rods are ball-jointed to the rear left and right steering knuckle arms respectively. One end of the rear vehicle frame steering tie rod is hinged to one side of the rear left and right steering knuckle arms, and the other end is hinged to the vehicle frame. When the vehicle body rotates around the longitudinal central axis of the vehicle body, the rear vehicle frame steering tie rod connected to the vehicle frame and the rear left and right steering tie rods act together to realize the steering of the rear wheels.

9. The wire-controlled expandable all-terrain four-wheel electric off-road scooter according to claim 8, wherein The rear steering drive system includes a rear drive motor, a crank-slider mechanism, a slider, a slider guide rail, and a rear motor bracket. The rear drive motor is fixedly connected to the vehicle frame through the rear motor bracket. The rear drive motor drives the rear vehicle frame steering tie rod and the rear left and right steering tie rods through the slider, the slider guide rail, and the crank-slider mechanism to realize the steering of the rear wheels.

10. The wire-controlled extensible all-terrain four-wheel electric off-road scooter according to any one of claims 1 to 9, characterized in that, The vehicle controller processes vehicle driving information including at least vehicle speed information, tire pressure information, handlebar torque information, and vehicle body roll torque information, obtains the driver's steering intention information, and sends the wheel control command or the steering control command to the drive control unit or the by-wire system according to the driver's steering intention information, so as to realize the respective wheel drive control of the wheel side assembly or the respective steering control of the front steering assembly and the rear steering assembly.

11. The wire-controlled extensible all-terrain four-wheel electric off-road scooter according to claim 10, characterized in that, The vehicle controller feeds back corresponding measurement signals according to the handlebar torque information and the vehicle body roll torque information, converts the measurement signals into torque commands or speed commands, and sends them to the by-wire system to perform the by-wire steering action alone or perform the by-wire steering action in combination with mechanical steering; or, the vehicle controller also adjusts the torque command in real time according to the vehicle speed information and the tire pressure information and sends it to the motor controller to adjust the driving force of the corresponding wheels of the wheel side assembly.

12. The wire-controlled expandable all-terrain four-wheel electric off-road scooter according to claim 10 or 11, characterized in that, Collect the distance information of the target from the vehicle through a radar sensor or a UWB sensor, collect the wheel speed information of each wheel in real time through a wheel speed sensor, collect the handlebar angle information through a steering angle sensor, establish a target cost function with the distance information, the wheel speed information, and the handlebar angle information as constraint conditions, obtain a target torque signal by solving the target cost function, and the vehicle controller performs drive control, steering control, and braking control based on the target torque signal to achieve target tracking or target avoidance.

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