CN109515207A - A kind of intelligent driven controlling system of automatic driving vehicle - Google Patents

A kind of intelligent driven controlling system of automatic driving vehicle Download PDF

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Publication number
CN109515207A
CN109515207A CN201811211919.XA CN201811211919A CN109515207A CN 109515207 A CN109515207 A CN 109515207A CN 201811211919 A CN201811211919 A CN 201811211919A CN 109515207 A CN109515207 A CN 109515207A
Authority
CN
China
Prior art keywords
wheel
electric motor
master controller
automatic driving
driving vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201811211919.XA
Other languages
Chinese (zh)
Inventor
张锋
李朋辉
田晓
唐彬
桂大庆
秦子刚
张培
曹晓飞
金帆
宋永豪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei Junxin Electronic Technology Co Ltd
Original Assignee
Hefei Junxin Electronic Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hefei Junxin Electronic Technology Co Ltd filed Critical Hefei Junxin Electronic Technology Co Ltd
Priority to CN201811211919.XA priority Critical patent/CN109515207A/en
Publication of CN109515207A publication Critical patent/CN109515207A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1581—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by comprising an electrical interconnecting system between the steering control means of the different axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a kind of intelligent driven controlling systems of automatic driving vehicle, including axle, Electric Motor Wheel, wheel speed sensors, driving motor, wheel control system, steering motor, Power Management Unit, remote control unit, wireless data transmission unit, communication interface and master controller, axle both ends are equipped with Electric Motor Wheel, wheel speed sensors are installed in Electric Motor Wheel, steering motor is installed in the middle part of axle, Electric Motor Wheel is connected with driving motor, driving motor and wheel speed sensors are connected with wheel control system, wheel control system is connected with master controller by communication interface, master controller also respectively with Power Management Unit, steering motor, remote control unit is connected with wireless data transmission unit, the present invention overcomes the deficiencies in the prior art, the master controller of the system can be according to each Electric Motor Wheel rotary speed information and each axle direction information Parameter, adjustment kinematic parameter realize the synchronously control of each Electric Motor Wheel, make the operation that automatic driving vehicle is steady, stable.

Description

A kind of intelligent driven controlling system of automatic driving vehicle
Technical field
The invention belongs to vehicle drive control system technical fields, and in particular to a kind of intelligent drives of automatic driving vehicle Control system.
Background technique
Currently, many countries are all in the research and development design for actively carrying out intelligent vehicle in the world.And automatic driving car It is a branch of intelligent vehicle, it is a collection environment sensing, and programmed decision-making, the functions such as automatic running are in the synthesis of one System, it concentrates and has used the technologies such as computer, sensing, information, communication, navigation and automatic control, is typical new and high technology Synthesis.And driving control system is core and the basis of automatic driving vehicle, driving control system is not only to automatic driving car Movement and control action of having turned, and the structure of driving control system determine automatic driving vehicle traveling it is steady Property.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent driven controlling systems of automatic driving vehicle, to solve above-mentioned background The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of intelligent driven controlling system of automatic driving vehicle, including axle, Electric Motor Wheel, wheel speed sensors, driving motor, vehicle Cranking wheel control system, steering motor, Power Management Unit, remote control unit, wireless data transmission unit, communication interface and main control Device, the axle both ends are equipped with Electric Motor Wheel, and wheel speed sensors, peace in the middle part of the axle are equipped in the Electric Motor Wheel Equipped with steering motor, the Electric Motor Wheel is connected with driving motor, the driving motor and wheel speed sensors and wheel control System processed is connected, and the wheel control system is connected with master controller by communication interface, and the master controller is also It is connected respectively with Power Management Unit, steering motor, remote control unit and wireless data transmission unit.
Further, the communication interface is CAN bus.
Further, driving motor, wheel speed sensors and wheel control are fitted in each Electric Motor Wheel of the vehicle System is fitted with steering motor on each axle.
Further, the steering motor is connect with master controller by CAN bus.
Further, the steering motor is turned to using differential mode.
Further, the wheel control system is fed back the wheel speed information in each Electric Motor Wheel to master control using encoder Device processed, the steering motor also use encoder that the direction information on each axle is fed back to master controller.
Further, the wheel control system realizes that the interconnection between each Electric Motor Wheel rotary speed information is mutual by CAN bus Logical, master controller passes through the kinematic parameter of Electric Motor Wheel rotary speed information and each Electric Motor Wheel of axle direction information adjustment, realizes each Electric Motor Wheel synchronous operation.
Further, the remote control unit is sent to for receiving wireless remote control data, and by the decoding of wireless remote control data Master controller.
Further, the wireless data transmission unit uses the wireless WIFI module with built-in antenna, the nothing Line data transmission unit can be interacted with master controller.
Further, the power management section uses lithium battery power supply, and the power management section is by power-supply battery Electricity and temperature information master controller is sent to by encoder.
Compared with prior art, the beneficial effects of the present invention are: each Electric Motor Wheel has independent wheel control system, and Each wheel control system can be acquired the rotary speed information of Electric Motor Wheel, be then connected by CAN bus with master controller, Realize interconnecting between each electronic cranking wheel control system；And the steering motor on axle is also connected with master controller, makes to lead Controller can realize each electricity according to the parameter of each Electric Motor Wheel rotary speed information and each axle direction information, adjustment kinematic parameter The synchronously control of driving wheel makes the operation that automatic driving vehicle is steady, stable.
Detailed description of the invention
Fig. 1 the structural representation of present invention.
The structural block diagram of control system Fig. 2 of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention, Technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention one Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
As shown in Figure 1, a kind of intelligent driven controlling system of automatic driving vehicle of the present invention, including axle 11, Electric Motor Wheel 1, wheel speed sensors 10, driving motor 2, wheel control system 3, steering motor 4, Power Management Unit 9, remote control unit 7, wireless data transmission unit 8, communication interface 5 and master controller 6, communication interface 5 are CAN bus, and 11 both ends of axle are equipped with Electric Motor Wheel 1 is fitted with wheel speed sensors 10 in each Electric Motor Wheel 1, is fitted with steering motor 4 in the middle part of each axle 11, turns It is turned to motor 4 using differential mode, Electric Motor Wheel 1 is connected with driving motor 2, driving motor 2 and wheel speed sensors 10 and vehicle Cranking wheel control system 3 is connected, and driving motor 2 and wheel control system 3, wheel control are fitted in each Electric Motor Wheel 1 of vehicle System 3 processed is connected with master controller 6 by communication interface 5, and wheel control system 3 will be in each Electric Motor Wheel 1 using encoder Wheel speed information feedback to master controller 6, master controller 6 also respectively with Power Management Unit 9, steering motor 4, remote control unit 7 It is connected with wireless data transmission unit 8, steering motor 4 is connect with master controller 6 by CAN bus, and steering motor 4 is using volume Direction information on each axle 11 is fed back to master controller 6 by code device, and remote control unit 7 is used to receive wireless remote control data, and Send the decoding of wireless remote control data to master controller 6, power management section 9 uses lithium battery power supply, and power management section 9 will The electricity and temperature information of power-supply battery are sent to master controller 6 by encoder, and wireless data transmission unit 8 is using with interior The wireless WIFI module of antenna is set, wireless data transmission unit 8 can be interacted with master controller 6, and wheel control system 3 passes through CAN bus realizes interconnecting between each 1 rotary speed information of Electric Motor Wheel, and master controller 6 passes through 1 rotary speed information of Electric Motor Wheel and axle The kinematic parameter of each Electric Motor Wheel 1 of 11 direction information adjustments realizes that each Electric Motor Wheel 1 is run simultaneously.
In the control system, each Electric Motor Wheel 1 has an independent wheel control system 3, and each wheel control system 3 The rotary speed information of Electric Motor Wheel 1 can be acquired, be then connected by CAN bus with master controller 6, realize each Electric Motor Wheel control Interconnecting between system 3 processed；And the steering motor 4 on axle 11 is also connected with master controller 6, enables master controller 6 According to the parameter of 11 direction information of each 1 rotary speed information of Electric Motor Wheel and each axle, adjustment kinematic parameter realizes each Electric Motor Wheel 1 Synchronously control, make the operation that automatic driving vehicle is steady, stable.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.

Claims (10)

1. a kind of intelligent driven controlling system of automatic driving vehicle, including axle, Electric Motor Wheel, wheel speed sensors, driving motor, Wheel control system, steering motor, Power Management Unit, remote control unit, wireless data transmission unit, communication interface and main control Device, it is characterised in that: the axle both ends are equipped with Electric Motor Wheel, and wheel speed sensors are equipped in the Electric Motor Wheel, described Axle in the middle part of steering motor is installed, the Electric Motor Wheel is connected with driving motor, the driving motor and wheel speed biography Sensor is connected with wheel control system, and the wheel control system is connected with master controller by communication interface, described Master controller be also connected respectively with Power Management Unit, steering motor, remote control unit and wireless data transmission unit.
2. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Communication interface is CAN bus.
3. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Driving motor, wheel speed sensors and wheel control system are fitted in each Electric Motor Wheel of vehicle, on each axle It is fitted with steering motor.
4. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Steering motor is connect with master controller by CAN bus.
5. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Steering motor is turned to using differential mode.
6. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Wheel control system is fed back the wheel speed information in each Electric Motor Wheel to master controller, the steering motor using encoder Direction information on each axle is fed back to by master controller using encoder.
7. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1 or 2, it is characterised in that: institute The wheel control system stated realizes interconnecting between each Electric Motor Wheel rotary speed information by CAN bus, and master controller passes through electricity The kinematic parameter of driving wheel rotary speed information and each Electric Motor Wheel of axle direction information adjustment realizes each Electric Motor Wheel synchronous operation.
8. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Remote control unit sends master controller to for receiving wireless remote control data, and by the decoding of wireless remote control data.
9. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Wireless data transmission unit uses the wireless WIFI module with built-in antenna, and the wireless data transmission unit can be with master control Device processed interacts.
10. a kind of intelligent driven controlling system of automatic driving vehicle according to claim 1, it is characterised in that: described Power management section use lithium battery power supply, the power management section passes through the electricity of power-supply battery and temperature information Encoder is sent to master controller.
CN201811211919.XA 2018-10-18 2018-10-18 A kind of intelligent driven controlling system of automatic driving vehicle Withdrawn CN109515207A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110316194A (en) * 2019-07-08 2019-10-11 广州易流新能源汽车科技有限公司 A kind of pilotless automobile drive system, drive control method and development approach
CN110696631A (en) * 2019-11-18 2020-01-17 广东工业大学 Bottom layer electric control system of unmanned electric vehicle
WO2021004568A1 (en) 2019-07-08 2021-01-14 Schaeffler Technologies AG & Co. KG Machine with a sensor network
DE102020121268A1 (en) 2020-08-13 2022-02-17 Schaeffler Technologies AG & Co. KG Machine with at least one machine component
DE102020121267A1 (en) 2020-08-13 2022-02-17 Schaeffler Technologies AG & Co. KG Machine with at least one machine component
DE102020121271A1 (en) 2020-08-13 2022-02-17 Schaeffler Technologies AG & Co. KG Machine and method for sending and/or receiving machine-specific data of the machine

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110316194A (en) * 2019-07-08 2019-10-11 广州易流新能源汽车科技有限公司 A kind of pilotless automobile drive system, drive control method and development approach
WO2021004568A1 (en) 2019-07-08 2021-01-14 Schaeffler Technologies AG & Co. KG Machine with a sensor network
CN110696631A (en) * 2019-11-18 2020-01-17 广东工业大学 Bottom layer electric control system of unmanned electric vehicle
DE102020121268A1 (en) 2020-08-13 2022-02-17 Schaeffler Technologies AG & Co. KG Machine with at least one machine component
DE102020121267A1 (en) 2020-08-13 2022-02-17 Schaeffler Technologies AG & Co. KG Machine with at least one machine component
DE102020121271A1 (en) 2020-08-13 2022-02-17 Schaeffler Technologies AG & Co. KG Machine and method for sending and/or receiving machine-specific data of the machine

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Application publication date: 20190326