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1. (WO2019042141) CENTRALISED-DISTRIBUTED CONTROL SYSTEM FOR FOUR-WHEEL INDEPENDENTLY DRIVEN AND INDEPENDENTLY STEERED ELECTRIC VEHICLE
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Pub. No.: WO/2019/042141 International Application No.: PCT/CN2018/100874
Publication Date: 07.03.2019 International Filing Date: 16.08.2018
IPC:
G05D 1/02 (2006.01) ,B60K 17/356 (2006.01) ,B60L 15/20 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
K
ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS; AUXILIARY DRIVES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST, OR FUEL SUPPLY, OF PROPULSION UNITS, IN VEHICLES
17
Arrangement or mounting of transmissions in vehicles
34
for driving both front and rear wheels, e.g. four wheel drive vehicles
356
having fluid or electric motor, for driving one or more wheels
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
L
PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
15
Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
20
for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
Applicants:
清华大学 TSINGHUA UNIVERSITY [CN/CN]; 中国北京市 海淀区清华园 Qinghuayuan, Haidian District Beijing 100084, CN
Inventors:
杨昊光 YANG, Haoguang; CN
赵雪轩 ZHAO, Xuexuan; CN
朱子霖 ZHU, Zilin; CN
施炯明 SHI, Jiongming; CN
郑钢铁 ZHENG, Gangtie; CN
Agent:
北京清亦华知识产权代理事务所(普通合伙) TSINGYIHUA INTELLECTUAL PROPERTY LLC; 中国北京市 海淀区清华园清华大学照澜院商业楼301室 Room 301 Trade Building, Zhaolanyuan, Tsinghua University, Qinghuayuan, Haidian District Beijing 100084, CN
Priority Data:
201710758764.029.08.2017CN
Title (EN) CENTRALISED-DISTRIBUTED CONTROL SYSTEM FOR FOUR-WHEEL INDEPENDENTLY DRIVEN AND INDEPENDENTLY STEERED ELECTRIC VEHICLE
(FR) SYSTÈME DE COMMANDE CENTRALISÉ-RÉPARTI POUR VÉHICULE ÉLECTRIQUE À QUATRE ROUES MOTRICES INDÉPENDANTES ET À DIRECTION INDÉPENDANTE
(ZH) 四轮独立驱动独立转向电动车的集中-分布式控制系统
Abstract:
(EN) A centralised-distributed control system for a four-wheel independently driven and independently steered electric vehicle, comprising: a human-machine interaction interface (1-1) for inputting vehicle control information (1-2); a software architecture (1-3) for obtaining a plurality of pieces of wheel control information according to the vehicle control information, and sending the plurality of pieces of wheel control information to a plurality of single wheel control modules (1-11); a sensor (1-4) for collecting travel state information about the vehicle and ambient environment information, and sending the travel state information about the vehicle and the ambient environment information to the software architecture (1-3), so as to perform feedback for a control process and display on the human-machine interaction interface (1-1); and the plurality of single-wheel control modules (1-11) for controlling a corresponding wheel action according to the plurality of pieces of wheel control information in one-to-one correspondence. The present system has the following advantages: improving the freedom and security margin of a control system, and realising energy optimal action control over the vehicle.
(FR) La présente invention concerne un système de commande centralisé-réparti pour un véhicule électrique à quatre roues motrices indépendantes et à direction indépendante, comprenant : une interface d'interaction homme-machine (1-1) permettant d'entrer des informations de commande de véhicule (1-2) ; une architecture logicielle (1-3) permettant d'obtenir une pluralité d'éléments d'informations de commande de roue selon les informations de commande de véhicule, et d'envoyer la pluralité d'éléments d'informations de commande de roue à une pluralité de modules de commande de roue unique (1-11) ; un capteur (1-4) permettant de collecter des informations d'état de déplacement concernant le véhicule et des informations d'environnement ambiant, et d'envoyer les informations d'état de déplacement concernant le véhicule et les informations d'environnement ambiant à l'architecture logicielle (1-3) en vue d'une rétroaction pour un processus de commande et un affichage sur l'interface d'interaction homme-machine (1-1) ; et la pluralité de modules de commande de roue unique (1-11) permettant de commander une action de roue correspondante en fonction de la pluralité d'éléments d'informations de commande de roue en correspondance bijective. Ce système présente les avantages suivants : l'amélioration de la liberté et de la marge de sécurité d'un système de commande et la mise en œuvre d'une commande d'action optimale en matière d'énergie sur le véhicule.
(ZH) 一种四轮独立驱动独立转向电动车的集中-分布式控制系统,包括:人机交互界面(1-1),用于输入车辆控制信息(1-2);软件架构(1-3),用于根据车辆控制信息得到多个车轮控制信息,并将多个车轮控制信息发送给多个单轮控制模块(1-11);传感器(1-4),用于采集车辆的行车状态信息和周围环境信息,并将车辆的行车状态信息和周围环境信息发送至软件架构(1-3),以对控制过程进行反馈并在人机交互界面(1-1)进行显示;多个单轮控制模块(1-11),用于根据多个车轮控制信息一一对应地控制相应的车轮动作。本系统具有如下优点:提高了控制系统的自由度和安全裕度,且可以实现对车辆的能量最优的运动控制。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Chinese (ZH)
Filing Language: Chinese (ZH)