CN117864283A - All-terrain four-wheel electric cross-country scooter capable of being expanded by wire control - Google Patents

Abstract

The utility model provides an all-terrain four-wheel electric cross-country scooter of drive-by-wire extension relates to vehicle control technical field, including automobile body assembly, front suspension assembly, back suspension assembly, preceding steering assembly, back steering assembly and wheel limit assembly, wheel limit assembly includes front portion wheel and rear portion wheel, and whole car control system includes whole car controller, a plurality of sensor, four drive control unit and drive-by-wire system, wherein, drive-by-wire system includes preceding steering drive system and back steering drive system, a plurality of sensor are used for gathering vehicle travel information, whole car controller is according to vehicle travel information to preceding steering drive system, back steering drive system send respectively and turn to control command, based on the control command of each, preceding steering drive system drive preceding steering assembly is accomplished the front portion wheel turns to, has realized more effective driving control, has promoted autonomy, flexibility and the stability of vehicle driving.

Description

All-terrain four-wheel electric cross-country scooter capable of being expanded by wire control

Technical Field

The application relates to the technical field of vehicle control, in particular to an all-terrain four-wheel electric off-road scooter capable of being expanded by wire control.

Background

The electric skateboard is a transportation means based on the traditional manual skateboard and added with an electric power suite. The electric skateboard is generally divided into a double-wheel drive or a single-wheel drive, and the most common transmission modes are as follows: the main power source of the hub motor and the belt drive is a lithium battery pack. In recent years, more and more people have chosen this more portable short-haul approach to walking. Electric off-road scooters generally consist of a large part of a deck (body support platform), a frame, a suspension, steering, wheels, and a drive assembly. The steering of the electric off-road scooter is realized by a PU (polyurethane) suspension on a bridge in a shaft steering mode, the trafficability and operability of the electric off-road scooter are limited, the electric off-road scooter is not suitable for harsher terrains, the use scene is limited, and the problems of steering by wire, driving by wire and the like under the unmanned condition are not considered.

Disclosure of Invention

In view of this, this description embodiment provides an all-terrain four-wheel electric off-road scooter of drive-by-wire extension, has developed an all-terrain electric off-road scooter that can portable transport and have stronger road throughput ability, has realized more effective driving control, has promoted autonomy, flexibility and the stability that the vehicle was driven.

The embodiment of the specification provides the following technical scheme:

the all-terrain four-wheel electric cross-country scooter comprises a body assembly, a front suspension assembly, a rear suspension assembly, a front steering assembly, a rear steering assembly and a wheel rim assembly, wherein the wheel rim assembly comprises front wheels and rear wheels, a whole vehicle control system comprises a whole vehicle controller, a plurality of sensors, four driving control units and a drive-by-wire system, the drive-by-wire system comprises a front steering driving system and a rear steering driving system, the plurality of sensors are used for collecting vehicle driving information, the whole vehicle controller respectively sends steering control instructions to the front steering driving system and the rear steering driving system according to the vehicle driving information, and based on the steering control instructions, the front steering driving system drives the front steering assembly to finish the steering of the front wheels, and the rear steering driving system drives the rear steering assembly to finish the steering of the rear wheels; each drive control unit comprises an in-wheel motor and a motor controller, and each drive control unit receives corresponding wheel control instructions from the whole vehicle controller respectively, so that each drive control unit drives the front wheel and the rear wheel respectively and independently.

In some embodiments, the body assembly comprises a frame and a driver standing platform, the frame has a plurality of sections with connecting function, the front suspension assembly comprises a front swing arm, a front shock absorber, a front suspension assembly, a small connecting rod and a triangular arm, the front swing arm is respectively hinged with the front suspension assembly and the small connecting rod, the triangular position of the triangular arm is respectively connected with the small connecting rod, the frame and the front shock absorber, the upper end of the front suspension assembly is fixedly connected with the frame, and the front suspension assembly is provided with an elastic element, so that force can be transmitted to the front shock absorber and the frame through the front swing arm, the small connecting rod and the triangular arm when the front wheels are stressed.

In some embodiments, the rear suspension assembly comprises a rear swing arm, a rear shock absorber and a rear suspension assembly, the front portion of the rear swing arm is hinged to the lower end of the rear suspension assembly, one end of the rear shock absorber is directly connected with the rear swing arm, the other end of the rear shock absorber is connected with the frame, the upper end of the rear suspension assembly is fixedly connected with the frame, and an elastic element is arranged in the rear suspension assembly, so that when the rear wheel is stressed, force is transmitted to the rear shock absorber and the frame through the rear swing arm.

In some embodiments, when the body is subjected to forces exerted by left and right driver center of gravity adjustment, the elastic elements in the front suspension assembly and the elastic elements in the rear suspension assembly compress to rotate the body about the longitudinal central axis of the body, and at the same time, the elastic force of the elastic elements can promote the longitudinal deflection of the body back to the right and the lateral deflection of the wheels back to the right.

In some embodiments, when the vehicle body is subjected to a horizontal force caused by a shift in the center of gravity of the driver, the front wheels, the interaction force of the rear wheels with the ground, and the rotational moment formed by the horizontal force cause the vehicle to undergo front axle steering and rear axle steering.

In some embodiments, the front steering assembly comprises a steering bearing seat, a steering arm, a front left and right knuckle arm, a front left and right steering pull rod and a steering column, wherein the steering bearing seat is fixedly connected to the frame, the steering arm is fixedly connected to the steering column, one end of the front left and right steering pull rod is hinged to the steering arm, the other end of the front left and right steering pull rod is hinged to the front left and right knuckle arm, and the front left and right knuckle arm is sleeved on a main pin shaft of the front wheel, so that when the steering column rotates, the steering arm, the front left and right steering pull rod and the front left and right knuckle arm can be driven to steer the front wheel.

In some embodiments, the front steering driving system includes a steering gear set, a front driving motor and a front motor bracket, the front driving motor is fixedly connected with the frame through the front motor bracket, and a motor output end of the front driving motor is connected with the steering column through the steering gear set, so that the steering column can be driven to rotate, and the front wheels are driven to rotate through the steering rocker, the front left and right steering levers and the front left and right knuckle arms.

In some embodiments, the rear steering assembly comprises a rear left and right steering knuckle arm, a rear left and right steering pull rod and a rear frame steering pull rod, wherein the rear left and right steering knuckle arm is sleeved on a main pin shaft of the rear wheel, and two ends of the rear left and right steering pull rod are respectively and spherically hinged on the rear left and right steering knuckle arm; one end of the rear frame steering pull rod is hinged to one side of the rear left and right knuckle arms, the other end of the rear frame steering pull rod is hinged to the frame, and when the vehicle body rotates around the longitudinal central axis of the vehicle body, the rear frame steering pull rod connected to the frame and the rear left and right steering pull rod jointly act to realize steering of rear wheels.

In some embodiments, the rear steering driving system comprises a rear driving motor, a crank block mechanism, a sliding block guide rail and a rear motor bracket, wherein the rear driving motor is fixedly connected with the frame through the rear motor bracket, and the rear driving motor drives the rear frame steering pull rod and the rear left and right steering pull rod to steer the rear wheels through the sliding block, the sliding block guide rail and the crank block mechanism.

In some embodiments, the whole vehicle controller processes based on vehicle running information including at least vehicle speed information, tire pressure information, steering handle torque information and vehicle body roll torque information, obtains driver steering intention information, and sends the wheel control instruction or the steering control instruction to the driving control unit or the drive-by-wire system according to the driver steering intention information so as to realize respective wheel driving control of the wheel edge assembly or respective steering control of the front steering assembly and the rear steering assembly.

In some embodiments, the whole vehicle controller feeds back corresponding measurement signals according to the steering torque information and the vehicle body roll torque information, converts the measurement signals into torque instructions or rotating speed instructions, and sends the torque instructions or rotating speed instructions to the drive-by-wire system to independently execute a wire-controlled steering action or execute the wire-controlled steering action in combination with mechanical steering; or the whole vehicle controller also adjusts the torque command in real time according to the vehicle speed information and the tire pressure information and sends the torque command to the motor controller so as to adjust the driving force of the corresponding wheel of the wheel rim assembly.

In some embodiments, distance information of a target from the vehicle is acquired through a radar sensor or a UWB sensor, wheel speed information of each wheel is acquired in real time through a wheel speed sensor, steering angle information is acquired through a corner sensor, a target cost function is established by taking the distance information, the wheel speed information and the steering angle information as constraint conditions, a target torque signal is obtained by solving the target cost function, and the vehicle controller performs driving control, steering control and braking control based on the target torque signal so as to achieve target tracking or target avoidance.

Compared with the prior art, the beneficial effects that above-mentioned technical scheme that this description embodiment adopted can reach include at least:

1. the steering motor is arranged in front and back through the combination of the drive-by-wire technology and corresponding mechanical control, the steering power assisting is realized in a manned driving mode, the steering intention of a driver can be perceived through the steering angle or the torque, the steering intention of the driver can be perceived through the roll of the vehicle body caused by the gravity center deviation of the driver, and the steering can be automatically carried out through the drive-by-wire steering system in an unmanned driving mode, so that more effective driving control is realized, and the autonomy, the flexibility and the stability of the driving of the vehicle are improved;

2. the drive-by-wire mode can sense the grounding state of the vehicle when the vehicle runs on a rugged road by collecting information such as tire pressure and the like, and adjust the driving force of each wheel in real time, so that the wheel speed of each wheel is ensured not to deviate too much, the phenomenon of stall runaway is avoided, the stability of the vehicle is enhanced to a greater extent, the maximum driving force of the whole vehicle is realized, and the driving efficiency of the vehicle is improved;

3. in addition, when the center of gravity of a driver deviates, the vehicle body is driven to roll, the vehicle body is transmitted to the rear wheels through a rear frame steering pull rod and a rear left and right steering pull rod which are connected to the vehicle frame, so that the rear wheels steer, and the structural design can lead the rear wheels to steer along with the front wheels, thereby reducing the turning radius, improving the traffic capacity of the vehicle on a road with large curvature, integrating a plurality of steering modes such as steering of a handlebar, steering of a scooter axle, steering by wire and the like, and adopting a symmetrical 8-shaped connecting rod as a front steering connecting rod, particularly when the vehicle runs on a rough road or a bumpy road, the vehicle can be effectively prevented from deflecting to one side, and the running stability of the vehicle is improved;

4. the distance information of the target from the vehicle and the real-time vehicle running information are acquired, corresponding driving control signals are obtained through calculation processing, and then the vehicle control unit VCU performs driving control, steering control and braking control based on the control signals so as to achieve target tracking or target avoidance, and real-time target following or avoidance is achieved, so that driving safety is improved.

In a word, but all-terrain four-wheel electric cross-country scooter of drive-by-wire extension that this application embodiment provided integrates through the advantage such as strong cross-country performance with ATV and electric scooter are small and exquisite, convenient, has developed a portable all-terrain electric cross-country scooter who transports and have stronger road throughput ability, and this vehicle possesses the function such as getting rid of tail, snaking, drift, large-angle climbing, climbing stair, extensively is applicable to scene such as tourism sightseeing, patrol, farm inspection, cross-country driving experience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an overall control system of an all-terrain four-wheel electric cross-country scooter capable of being extended by wire provided by an embodiment of the application;

FIG. 2 is a side view of an all-terrain four-wheel electric all-terrain scooter with a drive-by-wire extension provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of the elastic element structure of the front suspension assembly of the all-terrain four-wheel electric cross-country scooter with wire control extension provided in the embodiment of the application;

FIG. 4 is a top view of the spring element structure of the front suspension assembly of the all-terrain four-wheel electric all-terrain skid steer carriage with the wire extension provided in the embodiment of the present application;

FIG. 5 is a schematic diagram of the structure of the elastic element of the rear suspension assembly of the all-terrain four-wheel electric all-terrain scooter with wire control expansion provided in the embodiment of the application;

FIG. 6 is a top view of the spring element configuration of the rear suspension assembly of the four-wheel electric all-terrain scooter with wire controlled expansion provided in an embodiment of the present application;

FIG. 7 is a front view of an all-terrain four-wheel electric all-terrain scooter with drive-by-wire extension provided in an embodiment of the present application;

FIG. 8 is a top view of an all-terrain four-wheel electric all-terrain scooter with a drive-by-wire extension provided in an embodiment of the present application;

FIG. 9 is a schematic diagram of a partial structure of a front steering assembly of an all-terrain four-wheel electric all-terrain cross-country scooter with a drive-by-wire extension provided in an embodiment of the present application;

FIG. 10 is a schematic view of a partial structure of a rear steering assembly of an all-terrain four-wheel electric all-terrain scooter with a drive-by-wire extension provided in an embodiment of the present application;

fig. 11 is a top view of a rear steering assembly of an all-terrain four-wheel electric all-terrain scooter with a steer-by-wire extension provided in an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below with reference to the accompanying drawings.

Other advantages and effects of the present application will become apparent to those skilled in the art from the present disclosure, when the following description of the embodiments is taken in conjunction with the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, apparatus may be implemented and/or methods practiced using any number and aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details.

The all-terrain four-wheel electric off-road scooter capable of being controlled and expanded comprises a body assembly, a front suspension assembly, a rear suspension assembly, a front steering assembly, a rear steering assembly and a wheel rim assembly (comprising wheels, specifically front wheels 61 and rear wheels 62 shown in fig. 2), and the functions of driving, steering, braking and the like of the whole scooter are realized through a whole scooter control system.

Specifically, as shown in fig. 1, the vehicle control system includes a vehicle control unit VCU, a plurality of sensors, four drive control units, and a drive-by-wire system. The drive-by-wire system further comprises a front steering driving system and a rear steering driving system which are used for respectively realizing steering driving control of the front steering assembly and the rear steering assembly. In addition, the VCU is provided with a power battery capable of DC-DC conversion for electric power supply so as to realize electric control when necessary. The sensors are used for collecting vehicle running information, and can be arranged at a plurality of required positions on the whole vehicle, such as wheel speed sensors and tire pressure sensors arranged on wheels, corner sensors arranged on a front steering assembly and the like. The vehicle driving information may include vehicle speed information, tire pressure information, handle torque information, roll torque information, road condition information, etc. The vehicle speed information may include wheel speed information of each wheel, etc., and the handle torque information may include handle angle information, etc.

The vehicle control unit receives vehicle running information acquired by the sensor in real time, processes the information data to generate corresponding control instructions, and sends the corresponding control instructions to the front steering driving system and the rear steering driving system, and based on the respective steering control instructions, the front steering driving system drives the front steering assembly to finish front wheel steering, and the rear steering driving system drives the rear steering assembly to finish rear wheel steering. In addition, each driving control unit comprises a hub motor and a motor controller, the whole vehicle controller also generates corresponding wheel control instructions according to vehicle running information acquired by the sensors in real time, and then each driving control unit respectively receives the corresponding wheel control instructions from the whole vehicle controller, so that each driving control unit respectively and independently drives each wheel in the front wheels and the rear wheels, namely, the whole vehicle adopts a distributed driving scheme, the four wheels can be independently driven, and the motor controller drives the wheels to move by controlling the torque and the rotating speed of the wheels. The distributed driving system can independently adjust the magnitude and the direction of driving moment through the motor, so that the fine tire adhesion distribution is realized, the vehicle operability and the running stability can be improved, in addition, the distributed driving system can also match the optimal efficiency range of the motor with the working condition of the vehicle, and the driving efficiency and the energy utilization rate of the vehicle are obviously improved.

Further, as shown in fig. 2 to 7 and fig. 9 to 11, in some embodiments, in the all-terrain four-wheel electric off-road scooter structure provided in the embodiments of the present application, the body assembly includes a frame 11 and a driver standing platform 12, and the frame 11 is provided with a plurality of sections, so as to facilitate connection. The front suspension assembly comprises a front swing arm 21, a front shock absorber 22, a front suspension assembly 23, a small connecting rod 24 and a triangular arm 25, wherein the front swing arm 21 is hinged with the lower end of the front suspension assembly 23 and the small connecting rod 24 respectively, the triangular position of the triangular arm 25 is hinged with the small connecting rod 24 and the frame 11 respectively (can generate relative rotation) and is connected with the front shock absorber 22, preferably one acute angle position and the obtuse angle position of the triangular arm 25 are hinged with the frame 11, the other acute angle position of the triangular arm 25 is connected with the front shock absorber 22, the upper end of the front suspension assembly 23 is fixedly connected with the frame, and the front suspension assembly 23 is provided with an elastic element, so that when a front wheel is stressed, the force can be transmitted to the front shock absorber 22 and the frame 11 through the front swing arm 21, the small connecting rod 24 and the triangular arm 25.

In some embodiments, the elastic element of the front suspension assembly 23 may be implemented as a front suspension clamp plate 231 and a front suspension fixing plate 232 as shown in fig. 3 and 4, where the front suspension clamp plate 231 is disposed in the front suspension assembly 23, and a through hole provided with a rubber bushing is disposed in the front suspension clamp plate 231 and connected with the front suspension fixing plate 232 through a bolt, so that the front suspension fixing plate 232 and the front suspension clamp plate 231 can rotate relatively around the C-axis, and further the vehicle body and the front swing arm 21 can rotate relatively, and an effect of rotating the whole vehicle around a longitudinal axis B of the travel of the front suspension assembly 23 is generated.

In some embodiments, the rear suspension assembly comprises a rear swing arm 31, a rear shock absorber 32 and a rear suspension assembly 33, wherein the front part of the rear swing arm 31 is hinged with the lower end of the rear suspension assembly 33, and the rear swing arm 31 and the rear shock absorber 32 can rotate relatively; one end of the rear shock absorber 32 is directly connected with the rear swing arm 31 and the other end is connected with the frame 11, the upper end of the rear suspension assembly 33 is fixedly connected with the frame 11, and an elastic member (not shown) is provided in the rear suspension assembly 33 so that when the rear wheel is stressed, force is transmitted to the rear shock absorber 32 and the frame 11 via the rear swing arm 31.

In addition, in some embodiments, the elastic element of the rear suspension assembly 33 may be implemented as a rear suspension clamping plate 331 and a rear suspension fixing plate 332 as shown in fig. 5 and 6, the rear suspension clamping plate 331 is disposed in the rear suspension assembly 33, a through hole provided with a rubber bushing is disposed in the rear suspension clamping plate 331 and is connected with the rear suspension fixing plate 332 through a bolt, so that the rear suspension fixing plate 332 and the rear suspension clamping plate 331 can rotate relatively around the C axis, and further the vehicle body and the rear swing arm 31 can rotate relatively, so as to generate the effect of rotating the whole vehicle around the longitudinal axis B of the front suspension assembly 33, and when the elastic elements of the front suspension assembly 23 and the rear suspension assembly 33 act together, the effect of rotating the whole vehicle around the longitudinal axis B of the front suspension assembly 23 and the rear suspension assembly 33 can be realized.

In some embodiments, when the driver applies a force to the vehicle body by adjusting the left and right center of gravity on driver standing platform 12, unbalanced vertical force components on both sides of the vehicle are applied to front suspension assembly 23 and rear suspension assembly 33, and the elastic elements of front suspension assembly 23 and rear suspension assembly 33 are unilaterally compressed, causing the vehicle body to rotate about the longitudinal center axis of the vehicle body (as shown by the B axis in FIG. 2), ultimately rotating the vehicle body angle from A1 to A1', A2 to A2' in FIG. 3, and at the same time, unilateral deformation of the elastic elements may also cause the vehicle body to longitudinally deflect back into alignment and the wheels to laterally deflect back into alignment. Additionally, in some embodiments, when the driver's center of gravity is offset, the vehicle body is thereby also subjected to a force applied due to the driver's center of gravity offset, the vehicle body thereby rotates about the B axis, and the driver's force on the vehicle body generates a horizontal component F such that F cooperates with the drag (or friction) of the ground against the front wheels 61, rear wheels 62 to create a rotational moment such that the vehicle travel direction changes from a to a' to effect steering.

In some embodiments, the front steering assembly 4 includes a steering bearing housing 41, a steering rocker 42, front left and right knuckle arms 43, front left and right steering tie rods 44, and a steering column 45. Specifically, the steering bearing seat 41 is fixedly connected to the frame 11, the steering rocker 42 is fixedly connected to the steering column 45, one end of the front left and right steering levers 44 is hinged to the steering rocker 42, the other end is hinged to the front left and right knuckle arms 43, and the front left and right knuckle arms 43 are sleeved on main pin shafts (not shown in the drawings) of the front wheels 61, so that when the steering column 45 rotates, the steering rocker 42, the front left and right steering levers 44 and the front left and right knuckle arms 43 can be driven to steer the front wheels 61. In some embodiments, the front left and right steering tie rods 44 are ball-ended, one end being ball-hinged to the steering arms 42 and the other end being ball-hinged to the front left and right knuckle arms 43.

In some embodiments, the front steering drive system for driving the front steering assembly to steer the front wheels 61 includes a steering gear set 46, a front drive motor 47 and a front motor bracket 48, the front drive motor 47 is fixedly connected to the frame 11 via the front motor bracket 48, the motor output of the front drive motor 47 is connected (may be a vertical connection) to the steering column 45 via the steering gear set 46, and the rotation of the front drive motor 47 is converted into rotation of the steering column 45 such that the steering column 45 may be driven to rotate, and then the front wheels 61 are driven to rotate via the steering rocker arm 42, the front left and right steering tie rods 44 and the front left and right knuckle arms 43.

In some embodiments, the rear steering assembly comprises a rear left and right knuckle arm 51, a rear left and right steering pull rod 52 and a rear frame steering pull rod 53, wherein the rear left and right knuckle arm 51 is sleeved on a main pin shaft of a rear wheel, and two ends of the rear left and right steering pull rod 52 are respectively and spherically hinged on the rear left and right knuckle arm 51; one end of a rear frame steering rod 52 is hinged to one side of the rear left and right knuckle arms 51, and the other end is hinged to the frame 11, and when the vehicle body rotates around a longitudinal center axis (a B axis shown in fig. 2) of the vehicle body, a rear frame steering rod 53 connected to the frame 11 cooperates with the rear left and right steering rods 52 to steer rear wheels.

In some embodiments, a rear steering drive system for driving the rear steering assembly to steer the rear wheels 62 includes a rear drive motor 54, a crank slide mechanism 55, a slide 56, a slide rail 57, and a rear motor bracket 58. Specifically, the rear driving motor 54 (which may be a servo-deceleration integrated motor) is fixedly connected with the frame 11 through a rear motor bracket 58, and the rear driving motor 54 drives the rear frame steering tie rod 53 and the rear left-right steering tie rod 52 to steer the rear wheels 62 through a slider 56, a slider guide 57 and a slider-crank mechanism of the slider-crank mechanism 55. In some embodiments, the inner side of the rear frame steering tie 53 may also be secured to the rear swing arm 31 to turn off the rear wheel (i.e., rear wheel 62) active steering function.

In some embodiments, the rear wheels 62 may also be locked mechanically, for example, in situations where rear wheel steering is not required, the rear frame steering tie 53 may be connected to the rear swing arm 31, and the rear wheels 62 will not produce a steering effect, thereby eliminating rear wheel sway during high speed driving and improving vehicle driving stability.

In addition, in some embodiments, in the vehicle control system provided in the embodiments of the present application, the vehicle controller VCU processes based on vehicle running information including at least vehicle speed information, tire pressure information, steering torque information and roll torque information of a vehicle body, and obtains steering intention information of a driver after calculation processing, so that a wheel control instruction or a steering control instruction may be sent to a drive control unit or a drive-by-wire system according to the steering intention information of the driver, so as to implement respective wheel driving control or respective steering control of a front steering assembly and a rear steering assembly of the wheel assembly. In some embodiments, the vehicle controller VCU may also simultaneously acquire vehicle status information, and combine the vehicle status information with steering intention information of the driver to perform vehicle driving control.

For example, in some embodiments, the vehicle controller VCU may adjust the driving force of each wheel in real time according to the vehicle state and the driver's intention, for example, when the front wheels are braked, the rear wheels may still be driven, so as to implement the drifting function; the control functions of in-situ steering, unilateral driving steering, torque control, speed control and the like can be realized through differential speed, so that the control flexibility of the vehicle is improved.

In some embodiments, the whole vehicle controller VCU feeds back corresponding measurement signals according to the steering handle torque information and the vehicle body roll torque information, converts the measurement signals into torque instructions or rotation speed instructions, and sends the torque instructions or rotation speed instructions to the drive-by-wire system to perform the steering-by-wire action alone or in combination with the mechanical steering; or the whole vehicle controller also adjusts the torque command in real time according to the vehicle speed information and the tire pressure information and sends the torque command to the motor controller so as to adjust the driving force of the corresponding wheels of the wheel rim assembly. For example, in some embodiments, in the manned mode, the drive-by-wire system is assisted by drive-by-wire steering based on mechanical steering, the VCU determines steering intention information of the driver by collecting steering torque information and rolling torque information of the vehicle body caused by gravity change of the driver, and sends a feedback measurement signal to a corresponding torque command of the motor controller after calibration and processing, so as to realize steering assistance, and if necessary, differential steering assistance can be realized by giving different rotation speed commands to left and right wheels. In some embodiments, when in the unmanned mode, the vehicle can be steered by performing a steer-by-wire action through a drive-by-wire system by receiving a remote control command from a VCU through wireless remote control, converting the remote control command into a signal command for driving, steering, braking and the like through processing, and braking through an electric feedback braking mode.

In some embodiments, distance information of a target from the vehicle can be acquired through a radar sensor or a UWB sensor, wheel speed information of each wheel is acquired in real time through a wheel speed sensor, rotation angle information is acquired through a rotation angle sensor, a target cost function is established by taking the distance information, the wheel speed information and the rotation angle information as constraint conditions, a target torque signal is obtained by solving the target cost function, and then a whole vehicle controller VCU performs driving control, steering control and braking control based on the target torque signal so as to achieve target tracking or target obstacle avoidance, and real-time target following or avoidance is achieved, so that driving safety is improved.

In this specification, identical and similar parts of the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.

Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing processing device or mobile device.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.

Claims (12)

1. The all-terrain four-wheel electric cross-country scooter capable of being expanded by wire is characterized by comprising a body assembly, a front suspension assembly, a rear suspension assembly, a front steering assembly, a rear steering assembly and a wheel rim assembly, wherein the wheel rim assembly comprises front wheels and rear wheels, a whole vehicle control system comprises a whole vehicle controller, a plurality of sensors, four driving control units and a wire control system, the wire control system comprises a front steering driving system and a rear steering driving system, the plurality of sensors are used for collecting vehicle driving information, the whole vehicle controller respectively sends steering control instructions to the front steering driving system and the rear steering driving system according to the vehicle driving information, and based on the steering control instructions, the front steering driving system drives the front steering assembly to finish steering of the front wheels, and the rear steering driving system drives the rear steering assembly to finish steering of the rear wheels; each drive control unit comprises an in-wheel motor and a motor controller, and each drive control unit receives corresponding wheel control instructions from the whole vehicle controller respectively, so that each drive control unit drives the front wheel and the rear wheel respectively and independently.

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

3. The expandable all-terrain four-wheel electric off-road scooter of claim 2, wherein the rear suspension assembly comprises a rear swing arm, a rear shock absorber and a rear suspension assembly, the front portion of the rear swing arm is hinged with the lower end of the rear suspension assembly, one end of the rear shock absorber is directly connected with the rear swing arm, the other end of the rear shock absorber is connected with the frame, the upper end of the rear suspension assembly is fixedly connected with the frame, and an elastic element is arranged in the rear suspension assembly, so that when the rear wheels are stressed, force is transmitted to the rear shock absorber and the frame through the rear swing arm.

4. The expandable all-terrain four-wheeled electric off-road scooter of claim 3, wherein the spring elements of the front suspension assembly and the spring elements in the rear suspension assembly compress when the body is subjected to forces exerted by left and right driver center of gravity adjustment to rotate the body about the longitudinal central axis of the body, and wherein the spring force of the spring elements urges the body to deflect longitudinally back into alignment and the wheels to deflect laterally back into alignment.

5. The expandable all-terrain four-wheel electric off-road scooter of claim 4, wherein when the body is subjected to a horizontal force caused by a shift in the center of gravity of the driver, the front wheels, the interaction of the rear wheels with the ground, and a rotational moment caused by the horizontal force cause the front axle steering and the rear axle steering to occur.

6. The expandable all-terrain four-wheel electric off-road scooter of claim 1, wherein the front steering assembly comprises a steering bearing seat, a steering arm, a front left and right steering rod and a steering column, the steering bearing seat is fixedly connected to the frame, the steering arm is fixedly connected to the steering column, one end of the front left and right steering rod is hinged to the steering arm, the other end is hinged to the front left and right steering arm, and the front left and right steering arm is sleeved on a main pin shaft of the front wheel, so that when the steering column rotates, the steering arm, the front left and right steering rod and the front left and right steering arm can be driven to steer the front wheel.

7. The expandable all-terrain four-wheel electric off-road scooter of claim 6, wherein the front steering drive system comprises a steering gear set, a front drive motor and a front motor bracket, the front drive motor is fixedly connected with the frame through the front motor bracket, and a motor output end of the front drive motor is connected with the steering column through the steering gear set, so that the steering column can be driven to rotate, and the front wheels are driven to rotate through the steering rocker, the front left and right steering levers and the front left and right steering knuckle arms.

8. The expandable all-terrain four-wheel electric off-road scooter of claim 1, wherein the rear steering assembly comprises a rear left and right knuckle arm, a rear left and right steering pull rod and a rear frame steering pull rod, the rear left and right knuckle arm is sleeved on a main pin shaft of the rear wheel, and two ends of the rear left and right steering pull rod are respectively and spherically hinged on the rear left and right knuckle arm; one end of the rear frame steering pull rod is hinged to one side of the rear left and right knuckle arms, the other end of the rear frame steering pull rod is hinged to the frame, and when the vehicle body rotates around the longitudinal central axis of the vehicle body, the rear frame steering pull rod connected to the frame and the rear left and right steering pull rod jointly act to realize steering of rear wheels.

9. The expandable all-terrain four-wheel electric off-road scooter of claim 8, wherein the rear steering drive system comprises a rear drive motor, a crank slider mechanism, a slider guide rail and a rear motor bracket, wherein the rear drive motor is fixedly connected with the frame through the rear motor bracket, and the rear drive motor drives the rear frame steering pull rod and the rear left and right steering pull rod through the slider, the slider guide rail and the crank slider mechanism to steer the rear wheels.

10. The expandable all-terrain four-wheel electric off-road scooter according to any one of claims 1 to 9, wherein the vehicle controller processes based on vehicle travel information including at least vehicle speed information, tire pressure information, steering torque information, and body roll torque information, obtains driver steering intention information, and transmits the wheel control instruction or the steering control instruction to the drive control unit or the drive-by-wire system according to the driver steering intention information to achieve respective wheel drive control of the wheel side assembly or respective steering control of the front steering assembly and the rear steering assembly.

11. The expandable all-terrain four-wheel electric off-road scooter of claim 10, wherein the vehicle controller feeds back corresponding measurement signals according to the steering torque information and the roll torque information, converts the measurement signals into torque instructions or rotation speed instructions, and transmits the torque instructions or rotation speed instructions to the drive-by-wire system to perform a steer-by-wire action alone or in combination with a mechanical steering; or the whole vehicle controller also adjusts the torque command in real time according to the vehicle speed information and the tire pressure information and sends the torque command to the motor controller so as to adjust the driving force of the corresponding wheel of the wheel rim assembly.

12. The expandable all-terrain four-wheel electric off-road scooter of claim 10 or 11, wherein distance information of a target from the vehicle is acquired through a radar sensor or a UWB sensor, wheel speed information of each wheel is acquired in real time through a wheel speed sensor, steering angle information is acquired through a rotation angle sensor, a target cost function is established by taking the distance information, the wheel speed information and the steering angle information as constraint conditions, a target torque signal is obtained by solving the target cost function, and the vehicle controller performs driving control, steering control and braking control based on the target torque signal to achieve target tracking or target avoidance.