The invention discloses a lateral balance vehicle for automatic driving, belongs to the technical field of vehicle chassis, and relates to the automatic driving technology of active side-tipping vehicles, a vehicle body which does not move laterally and an auxiliary vehicle body which moves laterally are connected to a vehicle frame, and an environment sensing positioning sensor is arranged on the vehicle body; a drive-by-wire accelerator, a drive-by-wire brake, a drive-by-wire steering and a drive-by-wire movement unit are arranged on the frame, the drive-by-wire movement unit controls the auxiliary vehicle body to move laterally, curve centrifugal force and lateral force act on rollover moment balance of the vehicle, and lateral balance and automatic driving of the vehicle are achieved. Based on a multi-sensor fusion technology of an automatic driving vehicle, through path planning, generation of a vehicle driving track and motion control parameters, vehicle steering execution and auxiliary vehicle body lateral movement synchronization are controlled, and timing and accurate control of lateral displacement are achieved. And a transverse stable mode in which the rollover moment is completely eliminated or an energy-saving safe mode in which the rollover moment is partially eliminated is selected.

    本发明用于自动驾驶的侧向平衡车辆,属于车辆底盘技术领域,涉及主动侧倾车辆自动驾驶技术,车架上连接着不侧向移动的车身和侧向移动的副车身,车身上设置有环境感知定位传感器,车架上设置有线控油门、线控制动、线控转向、线控移动,线控移动单元控制副车身侧向移动,实现弯道离心力、侧向力作用于车辆的侧翻力矩平衡,实现侧向平衡车辆自动驾驶;基于自动驾驶车辆的多传感器融合技术,通过路径规划、生成车辆行驶轨迹和运动控制参数,控制执行车辆转向和副车身侧向移动同步,实现侧向位移的正时、精确控制,选择工作在侧翻力矩完全消除的横向稳定模式或者侧翻力矩部分消除的节能安全模式。


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    Title :

    Lateral balancing vehicle for automatic driving


    Additional title:

    用于自动驾驶的侧向平衡车辆


    Contributors:
    CHAI ZHIGANG (author) / WANG YA (author) / WEI WENJUN (author)

    Publication date :

    2023-08-04


    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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