CN112078583A

CN112078583A - Vehicle chassis control method, system and device

Info

Publication number: CN112078583A
Application number: CN202010845079.3A
Authority: CN
Inventors: 沈国; 李文华; 张方瑞
Original assignee: Beijing Institute of Specialized Machinery
Current assignee: Beijing Institute of Specialized Machinery
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2020-12-15

Abstract

The application discloses a vehicle chassis control method, which comprises the steps of obtaining a vehicle driving mode, and determining a first steering parameter, a second steering parameter, a third steering parameter and a fourth steering parameter according to the vehicle driving mode; and respectively controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to rotate according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter. Like this, when the vehicle needs the adjustment position, do not need the vehicle to move back and carry again, and directly at the in-process of carry, according to the first parameter of turning to based on the vehicle driving mode is confirmed, the second turns to the parameter, the third turns to the parameter and the fourth turns to the parameter and adjusts the position of vehicle, thereby avoided taking place with the condition that prior art the vehicle need the vehicle to move back the carry repeatedly, can effectively reduce the requirement to driver's operation use level, improve the carry of vehicle and the convenience of position adjustment, and then improve the ammunition of hanging bullet car and hang dress efficiency.

Description

Vehicle chassis control method, system and device

Technical Field

The present disclosure relates to the field of vehicle control, and more particularly, to a method, a system, and an apparatus for controlling a vehicle chassis.

Background

The missile hanging vehicle is used as special vehicle equipment, the driving modes of a chassis of the missile hanging vehicle generally comprise a front-driving rear-rotating mode (namely front-wheel-driving rear-wheel steering), a rear-driving rear-rotating mode (namely rear-wheel-driving rear-wheel steering) and the like, and if the missile hanging vehicle driven by the driving modes is adopted to hang ammunition on a wing hanging rack of an airplane, the requirement on a driver is particularly high, for example, when the missile hanging vehicle carries in, the central axis of symmetry of a vehicle body of the missile hanging vehicle needs to be basically fitted with the central axis of symmetry of the hanging rack, and ammunition hanging can be efficiently finished; if the deviation between the two is large, the ammunition hanging vehicle needs to retreat and carry again, but the ammunition hanging vehicle needs to retreat and carry repeatedly for many times, so that the time for completing ammunition hanging and loading is prolonged, and the ammunition hanging and loading efficiency of the ammunition hanging vehicle is low. Therefore, a vehicle chassis control method capable of improving the ammunition loading efficiency of the missile loading vehicle is needed.

Disclosure of Invention

The application provides a vehicle chassis control method and device to effectively reduce the requirement on the operation use level of a driver, improve the convenience of carrying and position adjustment of a vehicle and further improve the ammunition hanging and loading efficiency of a missile hanging vehicle.

In a first aspect, the present application provides a vehicle chassis control method applied to a vehicle chassis control system including first front wheels, second front wheels, first rear wheels, and second rear wheels, the method comprising:

acquiring a vehicle driving mode, and determining a first steering parameter of the first front wheel, a second steering parameter of the second front wheel, a third steering parameter of the first rear wheel and a fourth steering parameter of the second rear wheel according to the vehicle driving mode;

respectively controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to rotate according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter; wherein the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are each 0 ° to 90 ° and/or 0 ° to-90 °.

In a second aspect, the present application provides a vehicle chassis control apparatus applied to a vehicle chassis control system including first front wheels, second front wheels, first rear wheels, and second rear wheels, the apparatus comprising:

the determining unit is used for acquiring a vehicle driving mode and determining a first steering parameter of the first front wheel, a second steering parameter of the second front wheel, a third steering parameter of the first rear wheel and a fourth steering parameter of the second rear wheel according to the vehicle driving mode;

a control unit, configured to control the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to rotate respectively according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter; wherein the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are each 0 ° to 90 ° and/or 0 ° to-90 °.

In a third aspect, the present application provides a vehicle chassis control system comprising: a main controller, a first front wheel control device, a second front wheel control device, a first rear wheel control device, a second rear wheel control device, a first front wheel, a second front wheel, a first rear wheel and a second rear wheel;

the main controller is used for acquiring a vehicle driving mode; determining a first steering parameter for the first front wheel, a second steering parameter for the second front wheel, a third steering parameter for the first rear wheel, and a fourth steering parameter for the second rear wheel, based on the vehicle driving pattern; transmitting the first steering parameter to the first front wheel control device, the second steering parameter to the second front wheel control device, the third steering parameter to the first rear wheel control device, and the fourth steering parameter to the second rear wheel control device;

the first front wheel control device is used for controlling the first front wheel to rotate according to the first steering parameter;

the second front wheel control device is used for controlling the second front wheel to rotate according to the second steering parameter;

the first rear wheel control device is used for controlling the first rear wheel to rotate according to the third steering parameter;

the second rear wheel control device is used for controlling the second rear wheel to rotate according to the fourth steering parameter;

wherein the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are each 0 ° to 90 ° and/or 0 ° to-90 °.

In a fourth aspect, the present application provides a readable medium comprising executable instructions, which when executed by a processor of an electronic device, cause the electronic device to perform the method according to any of the first aspect.

In a fifth aspect, the present application provides an electronic device comprising a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs the method according to any one of the first aspect.

According to the technical scheme, a vehicle driving mode can be obtained firstly, and according to the vehicle driving mode, a first steering parameter of the first front wheel, a second steering parameter of the second front wheel, a third steering parameter of the first rear wheel and a fourth steering parameter of the second rear wheel are determined; and then respectively controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to rotate according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter. According to the technical scheme, the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are all 0-90 degrees and/or 0-90 degrees, so that when a symmetric central axis of a vehicle body and a symmetric central axis of a hanging rack deviate in the process of carrying the missile loader, the first front wheel, the second front wheel, the first rear wheel and the second rear wheel can be controlled to rotate to 90 degrees or-90 degrees respectively, so that the vehicle chassis can move transversely, and the position relation between the symmetric central axis of the vehicle body and the symmetric central axis of the hanging rack can be directly and transversely adjusted; like this, when the vehicle needs the adjustment position, this application does not need the vehicle to move back and carry again, but can be directly at the in-process of carry, according to the first parameter of turning to, the second parameter of turning to, the third parameter of turning to and the fourth parameter of turning to of determining based on vehicle driving mode adjust the position of vehicle, thereby avoided taking place with the condition that prior art the vehicle need move back the carry repeatedly, the method that this application provided can effectively reduce the requirement to driver's operation use level, the carry of vehicle and the convenience of position adjustment have been improved, and then the ammunition of hanging ammunition carrier dress efficiency is improved.

Further effects of the above-mentioned unconventional preferred modes will be described below in conjunction with specific embodiments.

Drawings

In order to more clearly illustrate the embodiments or prior art solutions of the present application, the drawings needed for describing the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and that other drawings can be obtained by those skilled in the art without inventive exercise.

FIG. 1 is a schematic flow chart of a vehicle chassis control method of the present application;

FIG. 2 is a schematic view of a lateral shifting mode according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a rear drive rear turn mode according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a vehicle chassis control system according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a vehicle chassis control system according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a vehicle chassis control device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following embodiments and accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to solve the problem that in the prior art, when the deviation between the symmetric central axis of the body and the symmetric central axis of the hanging rack of the missile hanging vehicle is large when the missile hanging vehicle carries, the missile hanging vehicle needs to repeatedly carry out retreat carry for many times, so that the time for completing ammunition hanging is long, and the ammunition hanging efficiency of the missile hanging vehicle is low.

In the method, a vehicle driving mode can be obtained first, and according to the vehicle driving mode, a first steering parameter of a first front wheel, a second steering parameter of a second front wheel, a third steering parameter of a first rear wheel and a fourth steering parameter of a second rear wheel are determined; and then respectively controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to rotate according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter. According to the technical scheme, the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are all 0-90 degrees and/or 0-90 degrees, so that when a symmetric central axis of a vehicle body and a symmetric central axis of a hanging rack deviate in the process of carrying the missile loader, the first front wheel, the second front wheel, the first rear wheel and the second rear wheel can be controlled to rotate to 90 degrees or-90 degrees respectively, so that the vehicle chassis can move transversely, and the position relation between the symmetric central axis of the vehicle body and the symmetric central axis of the hanging rack can be directly and transversely adjusted; like this, when the vehicle needs the adjustment position, this application does not need the vehicle to move back and carry again, but can be directly at the in-process of carry, according to the first parameter of turning to, the second parameter of turning to, the third parameter of turning to and the fourth parameter of turning to of determining based on vehicle driving mode adjust the position of vehicle, thereby avoided taking place with the condition that prior art the vehicle need move back the carry repeatedly, the method that this application provided can effectively reduce the requirement to driver's operation use level, the carry of vehicle and the convenience of position adjustment have been improved, and then the ammunition of hanging ammunition carrier dress efficiency is improved.

Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1, a vehicle chassis control method in an embodiment of the present application is shown. In this embodiment, the method is applied to a vehicle chassis control system including a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, and may include, for example, the steps of:

s101: and acquiring a vehicle driving mode, and determining a first steering parameter of the first front wheel, a second steering parameter of the second front wheel, a third steering parameter of the first rear wheel and a fourth steering parameter of the second rear wheel according to the vehicle driving mode.

In the present application, a vehicle driving command input by a user may be obtained first, and a vehicle may be driven in response to the vehicle driving command. The vehicle driving instruction may include a vehicle driving mode, which may be understood as a mode in which the vehicle runs, for example, the vehicle driving mode may include a lateral movement mode, a rear-drive rear-turn mode, a front-drive rear-turn mode, and the like. Therefore, after the vehicle driving instruction is acquired, the vehicle driving mode in the vehicle driving instruction can be determined, and then the vehicle is driven according to the vehicle driving mode.

Since the respective operating states (such as steering parameters) of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel may be different in different vehicle driving modes; for example, the steering parameters of the first front wheel in the vehicle driving mode which is the transverse movement mode are different from the steering parameters in the rear-driving rear-turning mode; the steering parameters of the second front wheel in the transverse moving mode of the vehicle driving mode are different from the steering parameters in the rear-driving rear-rotating mode; the steering parameters of the first rear wheel in the vehicle driving mode which is the transverse moving mode are different from the steering parameters in the rear-driving rear-rotating mode; the steering parameters of the second rear wheel in the vehicle driving mode which is the transverse moving mode are different from the steering parameters in the rear-driving rear-turning mode. Therefore, in this embodiment, after obtaining the vehicle driving mode, the first steering parameter of the first front wheel, the second steering parameter of the second front wheel, the third steering parameter of the first rear wheel, and the fourth steering parameter of the second rear wheel may be determined according to the vehicle driving mode.

As an example, in the present embodiment, various vehicle driving modes and sets of wheel steering parameters respectively corresponding to the various vehicle driving modes may be stored in advance, where each set of wheel steering parameters includes a first steering parameter of a first front wheel, a second steering parameter of a second front wheel, a third steering parameter of a first rear wheel and a fourth steering parameter of a second rear wheel in one vehicle driving mode. Therefore, in this embodiment, after the vehicle driving mode is acquired, the wheel steering parameter set corresponding to the acquired vehicle driving mode may be determined according to the various vehicle driving modes stored in advance and the wheel steering parameter sets corresponding to the respective vehicle driving modes, that is, the first steering parameter of the first front wheel, the second steering parameter of the second front wheel, the third steering parameter of the first rear wheel, and the fourth steering parameter of the second rear wheel corresponding to the acquired vehicle driving mode may be determined.

S102: and respectively controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to rotate according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter.

In this embodiment, each wheel of the vehicle may be individually and separately driven, that is, the first front wheel, the second front wheel, the first rear wheel and the second rear wheel of the vehicle may be individually and separately driven, so that each wheel may rotate individually and do not interfere with each other, and thus, more vehicle driving modes may be implemented by the mutual cooperation of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel of the vehicle. It is emphasized that, in order to increase the diversity of the driving modes of the vehicle, in the present embodiment, the steerable angles of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are all in the range of 0 ° to 90 ° and/or 0 ° to-90 °, that is, the steerable angles of the respective wheels of the vehicle are in the range of [0 °, 90 ° ], [ -90 °, 0 ° ] or [ -90 °, 90 ° ]; therefore, the advancing direction of each wheel can be perpendicular to or parallel to the symmetric central axis of the vehicle body, and the vehicle can be driven in a transverse moving mode, a straight advancing mode, a straight backing mode and the like.

It should be noted that the steering angle of the wheel may be understood as an angle between the advancing direction of the wheel and a central axis of symmetry of the vehicle body, where the central axis of symmetry of the vehicle body may also be understood as an axial direction of the chassis. Next, an example will be described with reference to fig. 2; as shown in fig. 2, the steering angle of the first front wheel is-90 °, that is, the advancing direction of the first front wheel (i.e., the direction corresponding to the dashed line corresponding to the first front wheel in fig. 2) is perpendicular to the symmetric central axis of the vehicle body, and the advancing direction of the first front wheel faces the inner side of the chassis; the steering angle of the first rear wheel is-90 degrees, namely the advancing direction of the first rear wheel (namely the direction corresponding to the dotted line corresponding to the first rear wheel in fig. 2) is vertical to the symmetric central axis of the vehicle body, and the advancing direction of the first rear wheel faces the inner side of the chassis; the steering angle of the second front wheel is 90 degrees, namely the advancing direction of the second front wheel (namely the direction corresponding to the dotted line corresponding to the second front wheel in fig. 2) is vertical to the symmetric central axis of the vehicle body, and the advancing direction of the second front wheel faces the inner side of the chassis; the steering angle of the second rear wheel is 90 degrees, namely the advancing direction of the second rear wheel (namely the direction corresponding to the dotted line corresponding to the second rear wheel in fig. 2) is vertical to the symmetric central axis of the vehicle body, and the advancing direction of the second rear wheel faces the inner side of the chassis.

In this embodiment, after determining the first steering parameter of the first front wheel, the second steering parameter of the second front wheel, the third steering parameter of the first rear wheel, and the fourth steering parameter of the second rear wheel, the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel may be controlled to rotate respectively according to the first steering parameter, the second steering parameter, the third steering parameter, and the fourth steering parameter. That is, the steering parameter of the first front wheel may be controlled to be driven to a first steering parameter according to the first steering parameter, the steering parameter of the second front wheel may be controlled to be driven to a second steering parameter according to the second steering parameter, the steering parameter of the first rear wheel may be controlled to be driven to a third steering parameter according to the third steering parameter, and the steering parameter of the second rear wheel may be controlled to be driven to a fourth steering parameter according to the fourth steering parameter. In this way, by individually controlling each wheel, the present embodiment can control the vehicle to travel in more vehicle driving modes compared with the prior art, for example, the vehicle can realize driving modes such as lateral movement, straight forward, straight backward, and the like.

It should be noted that, in the present embodiment, the mentioned vehicle may be a special vehicle, for example, a missile hooking vehicle, and the chassis of the vehicle may be an all-electric chassis.

Fig. 1 shows only a basic embodiment of the method described in the present application, and based on this, certain optimization and expansion can be performed, and other alternative embodiments of the method can also be obtained.

Next, a specific embodiment of the vehicle chassis control method according to the present application, specifically a specific implementation of the vehicle driving mode in the lateral shifting mode, will be described. In this embodiment, on the basis of the embodiment corresponding to fig. 1, S102 is further described (S102 includes S202). In this embodiment, the method specifically includes the following steps:

s201: the method comprises the steps of obtaining a vehicle driving mode as a transverse moving mode, and determining a first steering parameter of a first front wheel, a second steering parameter of a second front wheel, a third steering parameter of a first rear wheel and a fourth steering parameter of a second rear wheel according to the transverse moving mode.

S201 in the present embodiment is the same as S101 in the corresponding embodiment of fig. 1. Therefore, in this embodiment, S201 is not described again, and reference may be specifically made to the description of S101.

Wherein, when the vehicle driving mode is the lateral shifting mode, the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter are all at a rotation angle of 90 degrees or a rotation angle of-90 degrees. It should be emphasized that, in this mode, as long as the advancing directions of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are perpendicular to the central axis of symmetry of the vehicle body, the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter may all be 90 °, or may all be-90 °, or may be a part of 90 °, or a part of-90 °.

S202: and respectively controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to respectively rotate to 90 degrees or-90 degrees according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter.

In this embodiment, since the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter may be the same or different, the first front wheel, the second front wheel, the first rear wheel and the second rear wheel may be respectively controlled to rotate to 90 ° or-90 ° according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter, for example, the states of the wheels in the chassis when the first front wheel, the second front wheel, the first rear wheel and the second rear wheel respectively rotate to 90 ° or-90 ° according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter are respectively controlled as shown in fig. 2. Therefore, when the horizontal or transverse position of the vehicle needs to be adjusted, the two front wheels and the two rear wheels can be adjusted to be vertical to the axial direction of the vehicle chassis, so that the chassis can be transversely moved by driving the two rear wheels, and the chassis can be moved in the direction vertical to the axial direction of the vehicle chassis.

It should be noted that S202 in this embodiment is similar to S102 in the corresponding embodiment of fig. 1. Therefore, in this embodiment, S202 is not described in detail, and reference may be made to the description of S102.

The present embodiment can realize lateral movement of the vehicle. Therefore, the process of the specific implementation manner that the vehicle driving mode is the lateral movement mode is realized by the embodiment in combination with the specific application scenario. Of course, the above scenario is only an exemplary scenario and is not intended to limit the method provided in the present application. The method provided by the application can be applied to the treatment process of the vehicle chassis control method based on other same principles in an extensive way.

Next, a specific embodiment of the vehicle chassis control method according to the present application, specifically a specific implementation manner of the vehicle driving mode in the rear-drive rear-turn mode, will be described. This embodiment is further described on the basis of the corresponding embodiment shown in fig. 1 (S101 includes S301 to S303, and S102 includes S304 to S306). In this embodiment, the method specifically includes the following steps:

s301: and according to a rear-drive rear-turning mode, determining that the first turning parameter and the second turning parameter are turning angles of 0 degrees, and acquiring a third turning parameter of the first rear wheel, wherein the third turning parameter comprises an inward deviation angle and a rotating speed.

S302: and determining an outer deflection angle in the fourth steering parameter according to the inner deflection angle in the third steering parameter.

S303: and determining the rotating speed in the fourth steering parameter according to the rotating speed in the third steering parameter.

In this embodiment, after determining that the vehicle driving mode is the rear-drive rear-turn mode, the first steering parameter of the first front wheel, the second steering parameter of the second front wheel, the third steering parameter of the first rear wheel, and the fourth steering parameter of the second rear wheel may be determined according to the rear-drive rear-turn mode. In the rear-drive rear-rotation mode, differential traveling and steering of the vehicle can be realized by controlling the driving motors and the steering motors of the two rear wheels, so that the advancing directions of the front wheels are parallel to the symmetric central axis of the vehicle body, namely the two front wheels are in a zero state (for example, the advancing directions of the front wheels are parallel to the axial direction of the full-electric chassis), and the steering parameters of the rear wheels are determined according to the differential traveling and steering required by the vehicle.

Specifically, it may be determined that the first steering parameter and the second steering parameter are rotation angles of 0 ° according to a rear-drive rear-turn mode, that is, the advancing directions of the first front wheel and the second front wheel are both parallel to the symmetric central axis of the vehicle body. It should be noted that, in an implementation manner, the first rear wheel may be a rear wheel whose wheel advancing direction faces the inner side of the chassis, and the second rear wheel is a rear wheel whose wheel advancing direction faces the outer side of the chassis. Then, an outer deflection angle in the fourth steering parameter may be determined according to an inner deflection angle in the third steering parameter, and a rotation speed in the fourth steering parameter may be determined according to a rotation speed in the third steering parameter. The inner deflection angle can be understood as the angle to the central axis of symmetry of the vehicle body in the direction towards the inner side of the chassis, and the outer deflection angle can be understood as the angle to the central axis of symmetry of the vehicle body in the direction towards the outer side of the chassis.

It should be noted that, when the vehicle driving mode is the rear-drive rear-turn mode, the first front wheel and the second front wheel may be parallel to the axial direction of the chassis and may be locked firmly by the front wheel steering motor. Because the rear-wheel drive rear-wheel steering is based on a mathematical model established by an ackermann steering system, and the rear-wheel drive rear-wheel steering is divided into an inner deflection angle and an outer deflection angle, the inner deflection angle of the rear-wheel is larger than the outer deflection angle; therefore, the corresponding external deflection angle during the external deflection angle steering of the rear wheel can be calculated through the internal deflection angle during the steering of the internal side wheel of the rear wheel, and then the rotating speed during the steering of the external side wheel of the rear wheel can be calculated through the rotating speed during the steering of the internal side wheel of the rear wheel. That is, the camber angle in the fourth steering parameter of the second rear wheel may be determined from the camber angle in the third steering parameter of the first rear wheel, and the rotation speed in the fourth steering parameter of the second rear wheel may be determined from the rotation speed in the third steering parameter of the first rear wheel.

Next, how to determine the camber angle in the fourth steering parameter of the second rear wheel based on the camber angle in the third steering parameter of the first rear wheel, and how to determine the rotation speed in the fourth steering parameter of the second rear wheel based on the rotation speed in the third steering parameter of the first rear wheel will be described.

First, in this embodiment, an outer deflection angle in a fourth steering parameter of a second rear wheel may be determined according to an inner deflection angle in a third steering parameter of a first rear wheel by using formula (1); specifically, equation (1) is as follows:

α ═ arccot (cot β -B/L) formula (1);

in the formula, α is an inside camber angle of the third steering parameter of the first rear wheel (i.e., an inside camber angle of the inner wheel of the first rear wheel), β is an outside camber angle of the fourth steering parameter of the second rear wheel (i.e., an outside camber angle of the outer wheel of the rear wheel), B is a chassis wheel base (e.g., a full electric chassis wheel base), and L is a chassis wheel base (e.g., a full electric chassis wheel base).

Secondly, in this embodiment, the rotation speed in the fourth steering parameter of the second rear wheel may be determined according to the rotation speed in the third steering parameter of the first rear wheel by using formula (2); specifically, equation (2) is as follows:

n1 ═ n2sin β/sin α formula (2);

where n1 is the rotation speed of the third steering parameter of the first rear wheel (i.e., the rotation speed of the rear wheel inner side wheel), n2 is the rotation speed of the fourth steering parameter of the second rear wheel (i.e., the rotation speed of the rear wheel outer side wheel), α is the toe-in angle of the third steering parameter of the first rear wheel (i.e., the toe-in angle of the first rear wheel inner side wheel), and β is the toe-out angle of the fourth steering parameter of the second rear wheel (i.e., the toe-out angle of the rear wheel outer side wheel).

S304: controlling the first front wheel to rotate to 0 ° according to the first steering parameter;

s305: controlling the second front wheel to rotate to 0 degree according to the second steering parameter;

s306: and controlling the second rear wheel to rotate to the outward deviation angle in the fourth steering parameter and controlling the second rear wheel to drive to the rotating speed in the fourth steering parameter according to the outward deviation angle and the rotating speed in the fourth steering parameter.

In this embodiment, according to a rear-drive rear-turn mode, determining that the first steering parameter and the second steering parameter are turning angles of 0 °, and obtaining an inward deviation angle and a rotation speed in a third steering parameter of the first rear wheel and an outward deviation angle and a rotation speed in a fourth steering parameter of the second rear wheel; the first front wheel, the second front wheel, the first rear wheel and the second rear wheel may be controlled to be driven individually according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter, respectively, for example, as shown in fig. 3, the first front wheel, the second front wheel may be controlled to rotate to 0 ° and the two front wheels may be locked according to the first steering parameter and the second steering parameter, respectively, and the second rear wheel may be controlled to rotate to an camber angle in the fourth steering parameter and a rotational speed in the fourth steering parameter according to a camber angle and a rotational speed in the fourth steering parameter, respectively. Therefore, the chassis can control the second rear wheel to drive according to the received outward deflection angle and the rotating speed of the fourth steering parameter in the steering process, so that differential walking and steering can be realized by the first rear wheel and the second rear wheel, and the driving mode of the vehicle rear-drive rear-steering mode is realized.

The present embodiment can realize the traveling mode of the vehicle rear-drive rear-turn mode. Therefore, the process that the vehicle driving mode is the specific implementation mode in the rear-drive rear-turn mode is realized by combining the specific application scene. Of course, the above scenario is only an exemplary scenario and is not intended to limit the method provided in the present application. The method provided by the application can be applied to the treatment process of the vehicle chassis control method based on other same principles in an extensive way.

As shown in fig. 4, the embodiment described herein with respect to fig. 1 also correspondingly provides a vehicle chassis control system. The system of the present embodiment is a system for executing the method of the above embodiment. The technical solution is essentially the same as that of the embodiment shown in fig. 1, and the corresponding description in the embodiment is also applicable to this embodiment. The vehicle chassis control system in the embodiment includes: the front wheel control system comprises a main controller, a first front wheel control device, a second front wheel control device, a first rear wheel control device, a second rear wheel control device, a first front wheel, a second front wheel, a first rear wheel and a second rear wheel. It is emphasized that the main controller is communicatively connected to the first front wheel control device, the second front wheel control device, the first rear wheel control device, and the second rear wheel control device, respectively, for example, the main controller may be communicatively connected to the first front wheel control device, the second front wheel control device, the first rear wheel control device, and the second rear wheel control device, respectively, using a CANopen communication protocol, the first front wheel control device being connected to the first front wheel, the second front wheel control device being connected to the second front wheel, the first rear wheel control device being connected to the first rear wheel, and the second rear wheel control device being connected to the second rear wheel.

The main controller is used for acquiring a vehicle driving mode; determining a first steering parameter for the first front wheel, a second steering parameter for the second front wheel, a third steering parameter for the first rear wheel, and a fourth steering parameter for the second rear wheel, based on the vehicle driving pattern; transmitting the first steering parameter to the first front wheel control device, transmitting the second steering parameter to the second front wheel control device, transmitting the third steering parameter to the first rear wheel control device, and transmitting the fourth steering parameter to the second rear wheel control device.

The first front wheel control device is used for controlling the first front wheel to rotate according to the first steering parameter; the second front wheel control device is used for controlling the second front wheel to rotate according to the second steering parameter; the first rear wheel control device is used for controlling the first rear wheel to rotate according to the third steering parameter; the second rear wheel control device is used for controlling the second rear wheel to rotate according to the fourth steering parameter; wherein the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are each 0 ° to 90 ° and/or 0 ° to-90 °.

That is, the first front wheel control device may control the steering parameter of the first front wheel to be driven to a first steering parameter according to the first steering parameter, the second front wheel control device may control the steering parameter of the second front wheel to be driven to a second steering parameter according to the second steering parameter, the first rear wheel control device may control the steering parameter of the first rear wheel to be driven to a third steering parameter according to the third steering parameter, and the second rear wheel control device may control the steering parameter of the second rear wheel to be driven to a fourth steering parameter according to the fourth steering parameter. In this way, by individually controlling each wheel, the present embodiment can control the vehicle to travel in more vehicle driving modes compared with the prior art, for example, the vehicle can realize driving modes such as lateral movement, straight forward, straight backward, and the like.

It should also be noted that, in one implementation, the first rear wheel may be a rear wheel with a wheel forward direction facing toward the inner side of the chassis, and the second rear wheel may be a rear wheel with a wheel forward direction facing toward the outer side of the chassis.

According to the technical scheme, the main controller can firstly acquire a vehicle driving mode, and determine a first steering parameter of the first front wheel, a second steering parameter of the second front wheel, a third steering parameter of the first rear wheel and a fourth steering parameter of the second rear wheel according to the vehicle driving mode; then, the first front wheel control device, the second front wheel control device, the first rear wheel control device, and the second rear wheel control device may control the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel to rotate, respectively, according to the first steering parameter, the second steering parameter, the third steering parameter, and the fourth steering parameter, respectively. According to the technical scheme, the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are all 0-90 degrees and/or 0-90 degrees, so that when a deviation occurs between a symmetric central axis of a vehicle body and a symmetric central axis of a hanger in the process of carrying the missile loader, the first front wheel, the second front wheel, the first rear wheel and the second rear wheel can be controlled to rotate to 90 degrees or-90 degrees respectively by the main controller, the first front wheel control device, the second front wheel control device, the first rear wheel control device and the second rear wheel control device, so that a vehicle chassis can move transversely, and the position relation between the symmetric central axes of the vehicle body and the hanger can be directly and transversely adjusted; like this, when the vehicle needs the adjustment position, this application does not need the vehicle to move back and carry again, but can be directly at the in-process of carry, according to the first parameter of turning to, the second parameter of turning to, the third parameter of turning to and the fourth parameter of turning to of determining based on vehicle driving mode adjust the position of vehicle, thereby avoided taking place with the condition that prior art the vehicle need move back the carry repeatedly, the method that this application provided can effectively reduce the requirement to driver's operation use level, the carry of vehicle and the convenience of position adjustment have been improved, and then the ammunition of hanging ammunition carrier dress efficiency is improved.

Fig. 4 shows only a basic embodiment of the system according to the present application, and based on this, certain optimization and expansion can be performed, and other alternative embodiments of the method can also be obtained.

Next, a specific embodiment of the vehicle chassis control system according to the present application, specifically, a specific implementation manner of the vehicle driving mode in the rear-drive rear-turn mode, will be described. In this embodiment, the main controller, the first front wheel control device, the second front wheel control device, the first rear wheel control device, and the second rear wheel control device are further described on the basis of the embodiment corresponding to fig. 1.

In the present embodiment, the vehicle driving mode includes a lateral movement mode; correspondingly, the first, second, third and fourth steering parameters are all a turn angle of 90 ° or a turn angle of-90 °. That is, the main controller is configured to acquire a lateral movement pattern; according to the transverse movement mode, determining that a first steering parameter of the first front wheel is a corner 90 degrees or a corner-90 degrees, a second steering parameter of the second front wheel is a corner 90 degrees or a corner-90 degrees, a third steering parameter of the first rear wheel is a corner 90 degrees or a corner-90 degrees, and a fourth steering parameter of the second rear wheel is a corner 90 degrees or a corner-90 degrees; transmitting the first steering parameter to the first front wheel control device, transmitting the second steering parameter to the second front wheel control device, transmitting the third steering parameter to the first rear wheel control device, and transmitting the fourth steering parameter to the second rear wheel control device. It should be emphasized that, in this mode, as long as the advancing directions of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are perpendicular to the central axis of symmetry of the vehicle body, the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter may all be 90 °, or may all be-90 °, or may be a part of 90 °, or a part of-90 °. It is emphasized that, in the initial stage, the two front wheels and the two rear wheels are in the null state (i.e. the forward directions of the four wheels are parallel to the axial direction of the chassis), and in this stage, the steering encoders in the respective control devices are correspondingly in the null state.

The first front wheel control device may include a first steering controller, a first steering motor, and a first steering encoder; the first steering encoder is used for acquiring the steering angle of the first front wheel; the first steering controller is used for controlling the first steering motor to rotate the first front wheel according to the steering angle of the first front wheel and the first steering parameter until the first front wheel rotates to 90 degrees or-90 degrees.

For example, as shown in fig. 4, when the main controller determines that the driving mode of the vehicle is the lateral movement mode, the main controller may be connected to a first steering controller (i.e., the steering controller 1) by using a CANopen communication protocol, the first steering controller is connected to a first steering motor (i.e., the steering motor 1), and the first steering motor sends real-time information (e.g., a first steering parameter) to the first steering controller through a first steering encoder, until it is detected that a rotation angle of the first steering encoder (i.e., the steering encoder 1) reaches 90 °, the first steering motor stops rotating and is locked.

The second front wheel control device comprises a second steering controller, a second steering motor and a second steering encoder; the second steering encoder is used for acquiring the steering angle of the second front wheel; and the second steering controller is used for controlling the second steering motor to rotate the second front wheel according to the steering angle of the second front wheel and the second steering parameter until the second front wheel rotates to 90 degrees or-90 degrees.

For example, as shown in fig. 4, when the main controller determines that the driving mode of the vehicle is the lateral movement mode, the main controller may be connected to a second steering controller (i.e., the steering controller 2) by using a CANopen communication protocol, the second steering controller is connected to a second steering motor (i.e., the steering motor 2), and the second steering motor sends real-time information (e.g., a second steering parameter) to the second steering controller through a second steering encoder, until it is collected that the rotation angle of the second steering encoder (i.e., the steering encoder 2) reaches 90 °, the second steering motor stops rotating and is locked.

The first rear wheel control device comprises a third steering controller, a third steering motor, a third steering encoder, a first driving controller and a first driving motor; the third steering encoder is used for acquiring the steering angle of the first rear wheel; the third steering controller is configured to control the third steering motor to rotate the first rear wheel according to the steering angle of the first rear wheel and the third steering parameter until the first rear wheel rotates to 90 degrees or-90 degrees; the first driving controller is used for controlling the first driving motor to drive the first rear wheel.

For example, as shown in fig. 4, when the main controller determines that the driving mode of the vehicle is the lateral movement mode, the main controller may be connected to a third steering controller (i.e., the steering controller 3) by using a CANopen communication protocol, the third steering controller is connected to a third steering motor (i.e., the steering motor 3), and the third steering motor sends real-time information (e.g., a third steering parameter) to the third steering controller through a third steering encoder, until it is collected that the rotation angle of the third steering encoder (i.e., the steering encoder 3) reaches 90 °, the third steering motor stops rotating and is locked. In addition, main control unit can adopt CANopen communication protocol to be connected with first drive controller (being drive controller 1), gathers sideslip signal instruction when main control unit, can send drive instruction to the first drive controller who is connected with main control unit to first drive controller controls first driving motor (being drive motor 1) on the first rear wheel, in order to realize the vehicle and control lateral shifting function.

The second rear wheel control device comprises a fourth steering controller, a fourth steering motor, a fourth steering encoder, a second driving controller and a second driving motor; the fourth steering encoder is used for acquiring the steering angle of the second rear wheel; the fourth steering controller is configured to control the fourth steering motor to rotate the second rear wheel according to the steering angle of the second rear wheel and the fourth steering parameter until the second rear wheel rotates to 90 degrees or-90 degrees; and the second driving controller is used for controlling the second driving motor to drive the second rear wheel.

For example, as shown in fig. 4, when the main controller determines that the driving mode of the vehicle is the lateral movement mode, the main controller may be connected to a fourth steering controller (i.e., the steering controller 4) by using a CANopen communication protocol, the fourth steering controller is connected to a fourth steering motor (i.e., the steering motor 4), and the fourth steering motor sends real-time information (e.g., a fourth steering parameter) to the fourth steering controller through a fourth steering encoder, until it is collected that the rotation angle of the fourth steering encoder (i.e., the steering encoder 4) reaches 90 °, the fourth steering motor stops rotating and is locked. In addition, the main controller can adopt CANopen communication protocol to be connected with a second drive controller (namely, drive controller 2), and when the main controller collects a transverse moving signal instruction, the main controller can send a drive instruction to the second drive controller connected with the main controller, so that the second drive controller controls a second drive motor (namely, drive motor 2) on a second rear wheel, and the function of transverse movement of the vehicle left and right is realized.

The main controller may be a first drive controller of the first rear wheel control device or a second drive controller of the second rear wheel control device, or may be a controller other than the first front wheel control device, the second front wheel control device, the first rear wheel control device, and the second rear wheel control device. In one embodiment, as shown in fig. 4, the main controller may be a first drive controller (i.e., the drive controller 1) in the first rear wheel control device.

The present embodiment can realize lateral movement of the vehicle. Therefore, the process of the specific implementation manner that the vehicle driving mode is the lateral movement mode is realized by the embodiment in combination with the specific application scenario. Of course, the above scenario is only an exemplary scenario and is not intended to limit the system provided herein. The method provided by the application can be applied to a vehicle chassis control system with the same other principles.

The main controller is specifically configured to determine that the first steering parameter and the second steering parameter are steering angles of 0 ° according to a rear-drive rear-turn mode after determining that a vehicle driving mode is the rear-drive rear-turn mode, and acquire a third steering parameter of the first rear wheel, where the third steering parameter includes an inward deviation angle and a rotation speed; determining an outer deflection angle in the fourth steering parameter according to an inner deflection angle in the third steering parameter; determining the rotating speed in the fourth steering parameter according to the rotating speed in the third steering parameter; and transmitting the first steering parameter to the first front wheel control device, transmitting the second steering parameter to the second front wheel control device, and transmitting the fourth steering parameter to the second rear wheel control device.

It should be noted that, when the vehicle driving mode is the rear-drive rear-turn mode, the first front wheel and the second front wheel may be parallel to the axial direction of the chassis and may be locked firmly by the front wheel steering motor. Because the rear-wheel drive rear-wheel steering is based on a mathematical model established by an ackermann steering system, and the rear-wheel drive rear-wheel steering is divided into an inner deflection angle and an outer deflection angle, the inner deflection angle of the rear-wheel is larger than the outer deflection angle; therefore, in the steering process of the chassis, the main controller can calculate the corresponding external deflection angle when the external deflection angle of the rear wheel is steered through the internal deflection angle when the internal side wheel of the rear wheel is steered, and then calculate the rotating speed when the external side wheel of the rear wheel is steered through the rotating speed when the internal side wheel of the rear wheel is steered. That is, the main controller may determine the camber angle in the fourth steering parameter of the second rear wheel based on the camber angle in the third steering parameter of the first rear wheel, and determine the rotational speed in the fourth steering parameter of the second rear wheel based on the rotational speed in the third steering parameter of the first rear wheel.

Next, how the main controller determines the camber angle in the fourth steering parameter of the second rear wheel based on the camber angle in the third steering parameter of the first rear wheel, and how the main controller determines the rotation speed in the fourth steering parameter of the second rear wheel based on the rotation speed in the third steering parameter of the first rear wheel will be described.

First, in this embodiment, the main controller may determine an out-bias angle in a fourth steering parameter of the second rear wheel according to an in-bias angle in a third steering parameter of the first rear wheel by using formula (1); specifically, equation (1) is as follows:

α ═ arccot (cot β -B/L) formula (1);

Secondly, in this embodiment, the main controller may determine the rotation speed in the fourth steering parameter of the second rear wheel according to the rotation speed in the third steering parameter of the first rear wheel using formula (2); specifically, equation (2) is as follows:

n1 ═ n2sin β/sin α formula (2);

The first front wheel control device comprises a first steering controller, a first steering motor and a first steering encoder; the first steering encoder is used for acquiring the steering angle of the first front wheel; the first steering controller is used for controlling the first steering motor to rotate according to the steering angle of the first front wheel and the first steering parameter until the first front wheel rotates to 0 degrees.

For example, as shown in fig. 4, when the main controller determines that the vehicle driving mode is the rear-drive rear-turn mode, the main controller may be connected to the first steering controller (i.e., the steering controller 1) by using a CANopen communication protocol, the first steering controller is connected to the first steering motor (i.e., the steering motor 1), and the first steering motor sends real-time information (e.g., the first steering parameter) to the first steering controller through the first steering encoder until it is collected that the rotation angle of the first steering encoder (i.e., the rotation angle of the steering encoder 1) is 0 °, that is, the first front wheel is in a zero state (that is, the forward direction of the first front wheel is parallel to the axial direction of the chassis), at which time, the first steering motor stops rotating and is locked.

The second front wheel control device comprises a second steering controller, a second steering motor and a second steering encoder; the second steering encoder is used for acquiring the steering angle of the second front wheel; and the second steering controller is used for controlling the second steering motor to rotate according to the steering angle of the second front wheel and the second steering parameter until the second front wheel rotates to 0 degree.

For example, as shown in fig. 4, when the main controller determines that the vehicle driving mode is the rear-drive rear-turn mode, the main controller may be connected to a second steering controller (i.e., the steering controller 2) by using a CANopen communication protocol, the second steering controller is connected to a second steering motor (i.e., the steering motor 2), and the second steering motor sends real-time information (e.g., a second steering parameter) to the second steering controller through a second steering encoder until it is collected that a rotation angle of the second steering encoder (i.e., the steering encoder 2) reaches 0 °, that is, the second front wheel is in a zero state (i.e., an advancing direction of the second front wheel is parallel to an axial direction of the chassis), at which time, the second steering motor stops rotating and is locked.

The first rear wheel control device comprises a third steering controller, a third steering motor, a third steering encoder, a first driving controller, a first driving motor and a first rotating speed encoder; the third steering encoder is used for acquiring the steering angle of the first rear wheel; the first rotating speed encoder is used for acquiring the rotating speed of the first rear wheel; the third steering controller is used for acquiring the steering angle of the first rear wheel, sending the steering angle of the first rear wheel to the main controller, and controlling the third steering motor to rotate the second rear wheel; the first driving controller is used for collecting the rotating speed of the first rear wheel, sending the rotating speed of the first rear wheel to the main controller, and controlling the first driving controller to drive the first rear wheel.

For example, as shown in fig. 4, when the main controller determines that the driving mode of the vehicle is the rear-drive rear-turn mode, the main controller is connected to a third steering controller (i.e., the steering controller 3) by using the CANopen communication protocol; the third steering controller is connected with a third steering motor (namely, a steering motor 3), the third steering motor sends the collected steering angle of the first rear wheel (namely, the steering inner deflection angle alpha of the inner side wheel of the rear wheel) to the third steering controller through a third steering encoder, and the third steering controller sends the rotating speed to the main controller. In addition, the main controller may be connected to the first drive controller (i.e., the drive controller 1) by using a CANopen communication protocol, and when the main controller acquires a rotation speed acquisition instruction, the main controller may send the rotation speed acquisition instruction to the first drive controller connected to the main controller, so that the first drive motor sends the acquired rotation speed of the first rear wheel (i.e., the rotation speed n1 of the inner side wheel of the rear wheel) to the first rotation speed controller through the first rotation speed encoder, and the first rotation speed controller sends the rotation speed to the main controller, so that the main controller acquires the inner deviation angle α of the inner side wheel of the rear wheel (i.e., the first rear wheel) during steering, and the rotation speed n1 of the inner side wheel of the rear wheel, i.e., the third steering parameter of the first rear wheel.

The second rear wheel control device comprises a fourth steering controller, a fourth steering motor, a fourth steering encoder, a second driving controller, a second driving motor and a second rotating speed encoder; the fourth steering encoder is used for acquiring the steering angle of the second rear wheel; the second rotating speed encoder is used for acquiring the rotating speed of the second rear wheel; the fourth steering controller is configured to control the fourth steering motor to rotate the second rear wheel according to the steering angle of the second rear wheel and the steering angle in the fourth steering parameter until the second rear wheel rotates to the steering angle in the fourth steering parameter; and the second driving controller is used for controlling the second driving motor to drive the second rear wheel according to the rotating speed of the second rear wheel and the rotating speed in the fourth steering parameter until the rotating speed of the second rear wheel is the rotating speed in the fourth steering parameter.

For example, as shown in fig. 4, when the main controller determines that the driving mode of the vehicle is the lateral movement mode, the main controller may be connected to a fourth steering controller (i.e., the steering controller 4) by using a CANopen communication protocol, the fourth steering controller is connected to a fourth steering motor (i.e., the steering motor 4), and the fourth steering motor sends real-time information (e.g., a fourth steering parameter) to the fourth steering controller through a fourth steering encoder until a steering angle from a corner of the fourth steering encoder (i.e., the steering encoder 4) to a steering angle in the fourth steering parameter is acquired. Meanwhile, the main controller can be connected with a second drive controller (namely, the drive controller 2) by adopting a CANopen communication protocol, and when the main controller acquires a rear-drive rear-turn signal instruction, the main controller can send a drive instruction to the second drive controller connected with the main controller, so that the second drive controller controls a second drive motor (namely, the drive motor 2) on a second rear wheel to drive the second rear wheel at a rotating speed in a fourth turning parameter; therefore, the vehicle can realize steering and walking in a rear-driving and rear-turning mode.

The present embodiment can realize the traveling mode of the vehicle rear-drive rear-turn mode. Therefore, the process that the vehicle driving mode is the specific implementation mode in the rear-drive rear-turn mode is realized by combining the specific application scene. Of course, the above scenario is only an exemplary scenario and is not intended to limit the system provided herein. The method provided by the application can be applied to the processing process of a vehicle chassis control system with the same other principles.

Fig. 6 shows a specific embodiment of the vehicle chassis control device according to the present application. The apparatus of this embodiment is a physical apparatus for executing the method of the above embodiment. The technical solution is essentially the same as that in the above embodiment, and the corresponding description in the above embodiment is also applicable to this embodiment. The device in this embodiment includes:

a determining unit 601, configured to obtain a vehicle driving mode, and determine a first steering parameter of the first front wheel, a second steering parameter of the second front wheel, a third steering parameter of the first rear wheel, and a fourth steering parameter of the second rear wheel according to the vehicle driving mode;

a control unit 602, configured to control the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel to rotate respectively according to the first steering parameter, the second steering parameter, the third steering parameter, and the fourth steering parameter; wherein the steerable angle ranges of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are each 0 ° to 90 ° and/or 0 ° to-90 °.

Optionally, the vehicle driving mode comprises a lateral movement mode; correspondingly, the first, second, third and fourth steering parameters are all a turn angle of 90 ° or a turn angle of-90 °;

correspondingly, the control unit 602 is specifically configured to:

and respectively controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to respectively rotate to 90 degrees or-90 degrees according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter.

Optionally, the vehicle driving mode comprises a rear-drive rear-turn mode;

the determining unit 601 is specifically configured to:

according to a rear-wheel-drive mode, determining that the first steering parameter and the second steering parameter are the rotation angles of 0 degrees, and acquiring a third steering parameter of the first rear wheel, wherein the third steering parameter comprises an inward deviation angle and a rotation speed;

determining an outer deflection angle in the fourth steering parameter according to an inner deflection angle in the third steering parameter;

determining the rotating speed in the fourth steering parameter according to the rotating speed in the third steering parameter;

correspondingly, the control unit 602 is specifically configured to:

controlling the first front wheel to rotate to 0 ° according to the first steering parameter;

controlling the second front wheel to rotate to 0 degree according to the second steering parameter;

and controlling the second rear wheel to rotate to the outward deviation angle in the fourth steering parameter and controlling the second rear wheel to drive to the rotating speed in the fourth steering parameter according to the outward deviation angle and the rotating speed in the fourth steering parameter.

Optionally, the vehicle is a missile hooking vehicle, and the chassis is a full-electric chassis.

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. On the hardware level, the electronic device comprises a processor and optionally an internal bus, a network interface and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.

The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.

And the memory is used for storing the execution instruction. In particular, a computer program that can be executed by executing instructions. The memory may include both memory and non-volatile storage and provides execution instructions and data to the processor.

In a possible implementation manner, the processor reads corresponding execution instructions from the nonvolatile memory into the memory and then runs the corresponding execution instructions, and corresponding execution instructions can also be obtained from other equipment so as to form the vehicle chassis control device on a logic level. The processor executes the execution instructions stored in the memory, so that the vehicle chassis control method provided by any embodiment of the application is realized through the executed execution instructions.

The method executed by the vehicle chassis control device according to the embodiment shown in fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

The embodiment of the present application also provides a readable storage medium, which stores execution instructions, and when the stored execution instructions are executed by a processor of an electronic device, the electronic device can be caused to execute the vehicle chassis control method provided in any embodiment of the present application, and is specifically used for executing the vehicle chassis control method.

The electronic device described in the foregoing embodiments may be a computer.

It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.

The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A vehicle chassis control method applied to a vehicle chassis control system including first front wheels, second front wheels, first rear wheels, and second rear wheels, the method comprising:

2. The method of claim 1, wherein the vehicle driving mode comprises a lateral movement mode; correspondingly, the first, second, third and fourth steering parameters are all a turn angle of 90 ° or a turn angle of-90 °;

correspondingly, the controlling the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to rotate respectively according to the first steering parameter, the second steering parameter, the third steering parameter and the fourth steering parameter includes:

3. The method of claim 1, wherein the vehicle driving mode comprises a rear-drive rear-turn mode;

the determining a first steering parameter of the first front wheel, a second steering parameter of the second front wheel, a third steering parameter of the first rear wheel, and a fourth steering parameter of the second rear wheel according to the vehicle driving pattern includes:

4. A method according to any one of claims 1-3, wherein the vehicle is a missile loader and the chassis is an all-electric chassis.

5. A vehicle chassis control apparatus applied to a vehicle chassis control system including a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, the apparatus comprising:

6. A vehicle chassis control system, characterized by comprising: a main controller, a first front wheel control device, a second front wheel control device, a first rear wheel control device, a second rear wheel control device, a first front wheel, a second front wheel, a first rear wheel and a second rear wheel;

7. The system of claim 6, wherein the vehicle driving mode comprises a lateral movement mode; correspondingly, the first, second, third and fourth steering parameters are all a turn angle of 90 ° or a turn angle of-90 °;

the first front wheel control device comprises a first steering controller, a first steering motor and a first steering encoder; the first steering encoder is used for acquiring the steering angle of the first front wheel; the first steering controller is used for controlling the first steering motor to rotate the first front wheel according to the steering angle of the first front wheel and the first steering parameter until the first front wheel rotates to 90 degrees or-90 degrees;

the second front wheel control device comprises a second steering controller, a second steering motor and a second steering encoder; the second steering encoder is used for acquiring the steering angle of the second front wheel; the second steering controller is used for controlling the second steering motor to rotate the second front wheel according to the steering angle of the second front wheel and the second steering parameter until the second front wheel rotates to 90 degrees or-90 degrees;

the first rear wheel control device comprises a third steering controller, a third steering motor, a third steering encoder, a first driving controller and a first driving motor; the third steering encoder is used for acquiring the steering angle of the first rear wheel; the third steering controller is configured to control the third steering motor to rotate the first rear wheel according to the steering angle of the first rear wheel and the third steering parameter until the first rear wheel rotates to 90 degrees or-90 degrees; the first driving controller is used for controlling the first driving motor to drive the first rear wheel;

8. The system of claim 6, wherein the vehicle driving mode comprises a rear-drive rear-turn mode;

the main controller is specifically configured to determine that the first steering parameter and the second steering parameter are rotation angles of 0 ° according to a rear-drive rear-turn mode, and obtain a third steering parameter of the first rear wheel, where the third steering parameter includes an inner deflection angle and a rotation speed; determining an outer deflection angle in the fourth steering parameter according to an inner deflection angle in the third steering parameter; determining the rotating speed in the fourth steering parameter according to the rotating speed in the third steering parameter; transmitting the first steering parameter to the first front wheel control device, transmitting the second steering parameter to the second front wheel control device, and transmitting the fourth steering parameter to the second rear wheel control device;

the first front wheel control device comprises a first steering controller, a first steering motor and a first steering encoder; the first steering encoder is used for acquiring the steering angle of the first front wheel; the first steering controller is used for controlling the first steering motor to rotate according to the steering angle of the first front wheel and the first steering parameter until the first front wheel rotates to 0 degree;

the second front wheel control device comprises a second steering controller, a second steering motor and a second steering encoder; the second steering encoder is used for acquiring the steering angle of the second front wheel; the second steering controller is used for controlling the second steering motor to rotate according to the steering angle of the second front wheel and the second steering parameter until the second front wheel rotates to 0 degree;

the first rear wheel control device comprises a third steering controller, a third steering motor, a third steering encoder, a first driving controller, a first driving motor and a first rotating speed encoder; the third steering encoder is used for acquiring the steering angle of the first rear wheel; the first rotating speed encoder is used for acquiring the rotating speed of the first rear wheel; the third steering controller is used for acquiring the steering angle of the first rear wheel, sending the steering angle of the first rear wheel to the main controller, and controlling the third steering motor to rotate the second rear wheel; the first driving controller is used for acquiring the rotating speed of the first rear wheel, sending the rotating speed of the first rear wheel to the main controller, and controlling the first driving controller to drive the first rear wheel;

9. The system according to any one of claims 6-8, wherein the vehicle is a missile loader and the chassis is an all-electric chassis.

10. The system of claim 7 or 8, wherein the master controller is the first drive controller or the second drive controller.