The invention relates to the technical field of unmanned driving, in particular to a novel unmanned drive-by-wire chassis control method. The system comprises an unmanned driving system, a drive-by-wire chassis control system, a data acquisition unit used for acquiring vehicle information and collecting related data, and hub motors which are connected with hubs respectively and independently control the hubs to rotate. The method has the advantages that according to the scheme, the planned track is sent to the drive-by-wire chassis control system through the upper unmanned driving system, then the drive-by-wire chassis control system calculates whether the track can be executed or not, if the track exceeds the range capable of being executed by the vehicle, the track is fed back to the unmanned driving system, the unmanned driving system re-plans a proper track, and the driving efficiency is improved. If the track is reasonable and feasible, the drive-by-wire chassis control system calculates the wheel turning angle and the wheel torque and then executes the wheel turning angle and the wheel torque, so that the problem that the track sent by the unmanned driving system cannot be executed under the extreme condition, and consequently the vehicle collides or is out of control is solved.

    本发明涉及无人驾驶技术领域,尤其涉及一种新型的无人驾驶线控底盘控制方法。其包括无人驾驶系统、线控底盘控制系统、用于获取车辆信息及采集相关数据的数据获取单元、分别与轮毂相连接且单独控制每个轮毂转动的轮毂电机。本发明的有益之处:本发明方案通过上层无人驾驶系统发送规划轨迹给线控底盘控制系统,然后线控底盘控制系统计算该轨迹是否能够执行,如果该轨迹超出了车辆能够执行的范围,反馈给无人驾驶系统,使其重新规划合适的轨迹,如果该轨迹合理可行,线控底盘控制系统计算出车轮转角和车轮转矩,然后执行,以此解决在较极端情况下无人驾驶系统发出的轨迹无法被执行而导致车辆碰撞或失控的问题。


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    Title :

    Novel unmanned drive-by-wire chassis control method


    Additional title:

    一种新型的无人驾驶线控底盘控制方法


    Contributors:
    ZHANG YAOWEN (author) / HUANG CHENG (author) / NI YAZHOU (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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