181results about How to "Ensure driving stability" patented technology

The invention discloses a regional path tracking control method for an autonomous land vehicle. A problem that collision of a vehicle with a road boundary or surround obstacle occurs because shapes and sizes of the vehicle and the road are not considered by the existing tracking control method can be solved. The method comprises the following steps: establishing a two-dimensional road model; establishing a mathematical model associated with a vehicle path tracking problem; calculating a roadable region boundary line within a certain distance in front of the vehicle; establishing a vehicle system model; carrying out a design of a regional path tracking control model and selecting a controlled quantity being an optimum front wheel steering angle at current time; according to the optimum front wheel steering angle, controlling a steering execution mechanism to make motion to enable the controlled vehicle to be driven in a roadable region, provided by a vehicle sensing system, within a certain distance in front of the vehicle. When the two-dimensional road model is established, the shapes and sizes of the vehicle and roads are taken into consideration, thereby reducing the possibility of collision of the vechile with the road boundary and thus improving safety of the autonomous land vehicle.

An organic light emitting display device capable of ensuring the drive stability. The organic light emitting display includes a plurality of pixels; first signal supply lines respectively coupled to the pixels disposed in at least two horizontal lines; and second signal supply lines being lower in number than the first signal supply lines and respectively coupled to the pixels disposed in the horizontal lines includes a scan driver driving the first and second signal supply lines; a data driver driving data lines disposed in a direction that is crossed to the first and second signal supply lines; and a dummy pattern block providing dummy patterns so that loads of the second signal supply lines are identical to loads of the first signal supply lines.

The invention discloses an independent suspension mounting bracket structure. The independent suspension mounting bracket structure comprises a front independent suspension mounting structure and a rear independent suspension mounting structure. The independent suspension mounting structure comprises a left longitudinal body connecting beam, a right longitudinal body connecting beam, a first transverse mounting reinforcing beam, a second transverse mounting reinforcing beam, a bracket on a shock absorber and a triangular arm mounting bracket on a suspension. The independent suspension mounting structure also meets the mounting rigidity and strength requirements of steering, transmission, braking, cooling systems, air transport, air drop, mooring and securing and the like. The rigidity and the strength of the whole body are enhanced; and the requirements of the whole vehicle for the properties such as whole vehicle bearing, control stability, reliability and the like under the condition of a cross-country pavement with large torque or a severe pavement are met.

The invention discloses an independent suspension system. Two suspension oil cylinders are arranged between wheel edges of wheels on two sides and a frame respectively, and a steering mechanism drives the wheels on the two sides to perform steering. Two upper V-shaped swing rods and two lower V-shaped swing rods are arranged corresponding to the wheels on the two sides. Rod connection end portions of the two upper V-shaped swing rods are hinged to the upper portions of the wheel edges of the wheels on corresponding sides through spherical hinges respectively, and rod separation end portions of the two upper V-shaped swing rods are hinged to fixing members fixed below the frame along the lateral direction. Rod connection end portions of the two lower V-shaped swing rods are hinged to the lower portions of the wheel edges of the wheels on corresponding sides through spherical hinges respectively, and rod separation end portions of the two lower V-shaped swing rods are hinged to the fixing members fixed below the frame along the lateral direction. By means of the independent suspension system, possible frustrating effects caused by the suspension oil cylinders can be avoided, mutual independent motion of the wheel on the left side and the wheel on the right side can be achieved reliably, adhesion conditions of the ground are fully utilized, and control stability of the complete machine is improved. On the basis, the invention further comprises a crane with the independent suspension system.

The invention relates to a driving anti-slip control system of a shaft-driven electric vehicle, belonging to the technical field of a vehicle control system. The invention is characterized in that the speed interval of a vehicle is judged according to the instant vehicle speed. At the high-speed stage, a motor moment is adopted to carry out independent control, so as to ensure the driving stability of the vehicle; at the medium / low-speed stage, the road surface condition of the vehicle is judged according to the slippage rate of two driving wheels, so as to adopt different control methods to the vehicle. Aiming at the bisectional road surface, the motor moment and a braking moment are adopted to carry out coordination control, namely the motor moment is adopted to carry out high-selection control and the braking moment is applied on the driving wheel at the low-adhered side for intervention, thereby ensuring the accelerating capacity of the vehicle; aiming at the single road surface, the motor moment is adopted to carry out independent control, namely the motor moment is adopted to carry out low-selection control, thereby ensuring the accelerating smoothness of the vehicle.

The invention discloses an independent suspension system which comprises two suspension oil cylinders arranged between the edges of wheels on two sides and a frame respectively, a steering mechanism used for driving the wheels on the two sides to make a turn under the drive action of a power-assisted steering oil cylinder, and two swing rods corresponding to the wheels on the two sides, wherein one end part of each swing rod is hinged to the edge of the wheel on the corresponding side through a spherical hinge, and the other end part of the swing rod is hinged to fixing members fixed below a main speed reducer in a front-rear direction through two spherical hinges respectively. Through the structural improvement, tires mounted on the wheel edges can be positioned, the tire motion in the moving process of a crane is guaranteed to meet the design requirement, and the possible destructive influence of the suspension oil cylinders can be completely avoided, so that the wheels on the left and right sides can reliably and independently move; the adhesion conditions of a road surface are fully utilized, so that the control stability of the complete crane can be improved. Based on the independent suspension system, the invention further provides the crane with the independent suspension system.

The invention discloses a drive skid prevention control algorithm for a four-wheel independent drive electric automobile, and belongs to the field of new-energy automobile control. The method includes the steps of firstly, estimating the largest torque output value Tmax of the whole automobile through combination with rotating speed information of four wheels and through the largest torque estimation algorithm; secondly, calculating the torque output value Tf of the front wheels according to the calculation result obtained in the first step and according to the load ratio of the front wheels to the rear wheels; thirdly, estimating the whole automobile speed V and the acceleration a through the rotating speed omega f of the front wheels; fourthly, calculating the actual slip rate S of the rear wheels and the change rate (please see the specification) of the rear wheels according to the result obtained in the third step and the rotating speed omega r of the rear wheels; fifthly, calculating the torque output value Tr of the rear wheels according to the results obtained from the first step to the fourth step and the target slip rate S* of the rear wheels and through a sliding membrane control algorithm. According to the method, no additional hardware structure is needed, cost of system is reduced to the maximum extent, reliability of the system is ensured, and the method and the system can be widely applied to the four-wheel independent drive electric automobile.

The invention discloses a method of wheel torque distribution for a multi-axle drive electric vehicle based on online optimization of driving energy. The method comprises the following steps that thevehicle parameters are obtained and required torque difference values between a left side vehicle body and a right side vehicle body are obtained, after a total torque difference value is applied to the left side vehicle body or the right side vehicle body separately, whether the required torque of the one-side vehicle body is larger than the maximum torque which all drive motors of the one-side vehicle body can output is judged, according to an objective function and a constraint condition, the initial optimization of data is carried out, and first distribution of drive torque of each wheel is carried out; the slip ratio of each drive wheel is calculated, and a fitting coefficient is obtained by fitting a characteristic curve of an electric drive system; and combined with the fitting coefficient, according to the following optimal objection function, the data optimization is carried out once again, and drive torque of each wheel at the optimal performance of a whole vehicle is obtained.

The invention discloses a yawing motion control method of a four-wheel distribution type drive coach, and relates to the technical field of vehicle control. A layered control method is adopted, the upper layer is a motion tracking layer, steering response of a steady state of the vehicle is calculated by adopting a non-linear vehicle model and the reference understeer degree, meanwhile, a road attachment condition limiting value is adopted for constraint, and steady-state lateral force response and tire self-aligning torque response are calculated with a magic tire formula according to slip angle response at the steady state and vertical load change; needed additional yawing moment is calculated with a yawing motion balance equation; a lower layer is an actuator control layer, and generalized control force is reasonably distributed to four drive motors with an optimization algorithm through combination with the current driving condition; finally, offline distribution calculation results of different vehicle parameters needed on different upper layers are stored and looked up offline, four driving wheels are subjected to torque distribution according to road attachment conditions, yawing motion of the vehicle is controlled, and driving stability is guaranteed.

The invention discloses an automobile hydraulic variable-transmission-ratio steering system and a multi-objective optimization method thereof. The automobile hydraulic variable-transmission-ratio steering system comprises a mechanical transmission module, a hydraulic power assisted module, a variable transmission ratio module and a main control module. Aiming at the automobile hydraulic variable-transmission-ratio steering system, mechanical structure parameters and hydraulic parameters which have a great influence on steering performance are selected as optimizing variables, and optimizing objectives are the steering road feel and energy consumption of the steering system; and under the constraint condition of steering sensitivity, multi-objective optimization is conducted through the NSGA-II genetic algorithm of the proposed mixed niche group sharing technology. According to the hydraulic variable-transmission-ratio steering system, the transmission ratio of the steering system can be adjusted according to the automobile travelling working condition, and the characteristics of flexible steering in a low speed and stable steering in a high speed are achieved. After the key parameters of the system are optimized, under the situation of guaranteeing the automobile travelling stability, the good steering road feel can be obtained, meanwhile, the energy consumption of the system is reduced, and the good comprehensive steering performance is obtained.

The invention provides a hill and mountain tractor body attitude adjusting device and an adjusting method. Axle adjusting components of the hill and mountain tractor body attitude adjusting device are symmetrically mounted at the bottom of a body; the hill and mountain tractor body attitude adjusting device comprises axles, attitude adjusting hydraulic cylinders, stabilizers and variable connecting rod groups; the attitude adjusting hydraulic cylinders and the variable connecting rod groups are both symmetrically hinged between the body and the axles; each variable connecting rod group comprises two connecting rods, which are hinged between the body and the axles and parallel to each other in an up-and-down direction; the stabilizers are mounted between the body and the axles; an electronically controlled hydraulic system comprises a sensor, a signal collection unit, an attitude controller and an electronically controlled hydraulic valve which are connected with each other via signals; and the electronically controlled hydraulic valve controls the attitude adjusting hydraulic cylinders. According to the adjusting method, vehicle attitude information detected by the sensor is transmitted to the attitude controller by using the information collection unit, and then the electronically controlled hydraulic valve is controlled to adjust the attitude adjusting hydraulic cylinders, and finally, self-adjusting of body attitude is realized. According to the hill and mountain tractor body attitude adjusting device and the adjusting method, the body attitudes of wheeled vehicles are self-adjusted in real time to guarantee the running stability.

Provided is a pneumatic tire which achieves both reduction of pattern noise and improvement in driving stability on a dry road surface. The pneumatic tire according to the present invention is designed to be mounted in such a way that a designated side of the tire faces to the outside of a vehicle, and is characterized in that: multiple block elements arrayed in a circumferential direction of the tire are formed in each of regions sectioned by an equator of the tire in a tread portion of the tire, the regions on inner and outer sides; the number of pitches of the block elements on the vehicle inner side is set to 60 to 80; the number of pitch variations of the block elements on the vehicle inner side is set to at least 4; the number of pitches of block elements on the vehicle outer side is set to 50 to 70; the number of pitch variations of the block elements on the vehicle outer side is set to at least 4; the number of pitches of the block elements on the vehicle inner side is set larger than the number of pitches of the block elements on the vehicle outer side; and a ratio of an average pitch length of the block elements on the vehicle outer side to an average pitch length of the block elements on the vehicle inner side is set in a range of 1.05 to 1.20.

The invention discloses a commercial vehicle with a four-wheel steering function. The commercial vehicle comprises a rear steering axle and a rear wheel steering controller, wherein the rear steering axle comprises a rear wheel steering driving axle and a rear wheel steering returning mechanism; the rear wheel steering driving axle comprises an axle body, a left steering knuckle and a right steering knuckle, two steering knuckle arms, two tie rod arms as well as a rear steering tie rod, wherein the left steering knuckle and the right steering knuckle are positioned at the two ends of the axle body, respectively; the two tie rod arms are fixed on the left steering knuckle and the right steering knuckle, respectively; the rear steering tie rod is used for connecting the two tie rod arms; the rear wheel steering returning mechanism comprises a hydraulic returning cylinder as well as a motor, a rear wheel steering gear, a steering pitman arm and a rear wheel steering track rod, wherein the motor, the rear wheel steering gear, the steering pitman arm and the rear wheel steering track rod are connected with each other in sequence; one steering knuckle arm is connected with the rear wheel steering track rod to drive the rear wheel to steer; the other steering knuckle arm is connected with a piston rod of the hydraulic returnable cylinder; and the rear wheel steering controller is electrically connected with the motor and also electrically connected with a hydraulic electromagnetic valve of a hydraulic source of the rear wheel steering gear. According to the commercial vehicle with the four-wheel steering function, disclosed by the invention, four-wheel steering is realized and the maneuvering ability and handling stability are also improved.

The invention discloses a chassis with a four-wheel steering function. The chassis comprises a rear steering axle. The rear steering axle comprises a rear wheel steering drive axle and a rear wheel steering reversal mechanism. The rear wheel steering drive axle comprises an axle body, a left steering knuckle, a right steering knuckle, two steering knuckle arms, two trapezoid arms and a rear steering tie rod. The left steering knuckle and the right steering knuckle are arranged at the two ends of the axle body respectively. The two steering knuckle arms are fixed to the left steering knuckle and the right steering knuckle respectively. The two trapezoid arms are fixed to the left steering knuckle and the right steering knuckle respectively. The rear steering tie rod is connected with the two trapezoid arms. The left steering knuckle and the right steering knuckle are fixedly connected with hubs of two rear wheels respectively. The rear wheel steering reversal mechanism comprises a hydraulic reversal cylinder, a motor, a rear wheel steering machine, a steering rocker arm and a rear wheel steering pull rod. The motor, the rear wheel steering machine, the steering rocker arm and the rear wheel steering pull rod are sequentially connected. The steering knuckle arm connected with the rear wheel steering pull rod moves to drive the rear wheels to steer, and the other steering knuckle arm is connected with a piston rod of the hydraulic reversal cylinder. The chassis achieves the four-wheel steering function of a commercial vehicle and meanwhile is simple in structure and small in control difficulty.

An object of the present invention is to provide a heavy-duty pneumatic tire which has a block pattern and which is capable of improving uneven wear resistance without sacrificing wet grip performance or snow performance, and which is well suited for use in various seasons. The present invention includes block patterns employing at least three types of blocks including: a central block separated by a central longitudinal groove, a middle longitudinal groove, and a central transverse groove, a central block separated by a middle longitudinal groove, an outer a middle block (4M) divided by longitudinal grooves and intermediate transverse grooves, and an outer block divided by outer longitudinal grooves, outer transverse grooves (3S) extending from the outer longitudinal grooves to the ends of the tread, Among them, the aspect ratio of the block, the groove width ratio of the longitudinal groove and the transverse groove, the maximum width of the block, the minimum width of the block and its ratio, and the circumferential edge composition and tire axial edge composition at each wear stage and its ratio are limited within a specific range.

The invention discloses a multi-mode steering system with a nested type dual-rotor steering motor and a control method. The multi-mode steering system comprises a steering shaft, an electromagnetic clutch, a dual-rotor steering motor and an ECU, wherein the electromagnetic clutch comprises an input end and an output end; the electromagnetic clutch is selectively combined with or separated from the input end and the output end; the steering shaft penetrates through a central through hole of the electromagnetic clutch and is capable of driving the input end to rotate; the dual-rotor steering motor comprises an inner rotor and an outer rotor; the inner rotor is connected with the steering shaft which penetrates through the electromagnetic clutch; one end of the outer rotor is connected with the output end of the electromagnetic clutch; a diverter is driven by the other end of the outer rotor; and the ECU is electrically connected with the dual-rotor steering motor and the electromagnetic clutch. The steering system disclosed by the invention has various steering modes and is capable of promoting the safety performance of an automobile and realizing the flexible steering.

The invention discloses a novel intelligent portable electric trolley. A swinging head is arranged at the front end of a main body of a vehicle body; the swinging head is equipped with a speed-regulating handle, a brake switch, a lighting switch, a steering motor, a steering control mechanism, a front driving wheel, a GPS and Bluetooth module, a central control module, a motor control module and the like; a cushion mounting frame is arranged on the back part of the main body of the vehicle body; a leather cushion is arranged on the cushion mounting frame; the leather cushion can be subjected to height adjustment and folding storage by a folding mechanism; a solar battery cover plate is provided; and the leather cushion and the swinging head can be accommodated in the main body of the vehicle body. The novel intelligent portable electric trolley adopts a storage structure, so that the volume is shrunk; the GPS intelligently follows the Bluetooth remote control function; an active lighting system automatically adjusts the lighting intensity; a high-performance polymer lithium battery pack increases endurance mileage; and acceleration, speed reduction and braking of the trolley are realized through the high-precision GPS positioning system and Bluetooth communication system and driving record, and energy can be recycled through braking.

The invention discloses a bionic non-pneumatic tire. The bionic non-pneumatic tire comprises a crown, a bionic spoke plate support body and a spoke plate inner ring, wherein the crown, the bionic spoke plate support body and the spoke plate inner ring are sequentially arranged from outside to inside according to the radial direction of the tire; the crown comprises a tread, a cap ply and belt plies, wherein the tread, the cap ply and the belt plies are sequentially arranged from outside to inside according to the radial direction of the tire; the belt plies comprise a # 1 belt ply and a # 2 belt ply which are sequentially arranged from outside to inside according to the radial direction of the tire; and the bionic spoke plate support body is designed by imitating a kangaroo lower limb structure, and the bionic spoke plate support body comprises a kangaroo lower limb-imitated main spoke plate and a supporting auxiliary spoke plate. According to the bionic non-pneumatic tire, shock absorption, drainage and heat dissipation capability of the non-pneumatic tire are remarkably improved, and the overall mass is remarkably reduced; and the bionic spoke plate support body adopts a high-modulus polyurethane material, and thus high hardness, fatigue resistance, cutting resistance and green and environmental protection performance are achieved.

The invention relates to a torque control method for artificial refueling before creeping speed of an electric automobile. The torque control method specifically includes the steps that under the conditions that a braking pedal and an accelerator pedal of the electric automobile are not treaded and the gear of a gearbox is engaged to the forward gear or the reversing gear, the electric automobileis accelerated to approach a target creeping speed according to a preset creeping control scheme, and at the moment, if the accelerator pedal is manually treaded, the torque of a driving motor is controlled as follows: 1, the currently required torque of the driving motor is calculated by checking a torque table under the normal driving condition of the electric automobile; and 2, the calculated torque and the driving motor torque corresponding to the creeping control scheme at the moment are compared, and the larger torque is selected as the actual torque of the driving motor. The torque control method can avoid the automobile weak feeling generated by reduced required torque when a driver treads an accelerator, so that driving stability and comfort are good.

The invention discloses a high-altitude mooring unmanned aerial vehicle firefighting rescue system, and belongs to the technical field of firefighting. The high-altitude mooring unmanned aerial vehicle firefighting rescue system is used for solving the technical problem that at present, high-rise firefighting rescue is difficult. The specific structure of the system comprises a high-altitude operation subsystem and a ground support subsystem; the high-altitude operation subsystem comprises a mooring unmanned aerial vehicle, a fire extinguishing unit, an environment monitoring unit and a rescuecatapulting unit, wherein the fire extinguishing unit, the environment monitoring unit and the rescue catapulting unit are located on the mooring unmanned aerial vehicle; the ground support subsystemcomprises a fire fighting vehicle, a fire extinguishing agent supply unit, a power source unit and a pipeline winding-unwinding unit, wherein the fire extinguishing agent supply unit, the power source unit and the pipeline winding-unwinding unit are installed on the fire fighting vehicle; the power source unit is connected with the mooring unmanned aerial vehicle through a mooring cable and usedfor providing a power source for the mooring unmanned aerial vehicle; the fire extinguishing agent supply unit is connected with the fire extinguishing unit through a supply pipe and used for providing a fire extinguishing agent to the fire extinguishing unit; and the pipeline winding-unwinding unit is used for conducting winding and unwinding operation on the mooring cable or / and the supply pipe.The high-altitude mooring unmanned aerial vehicle firefighting rescue system has the advantages of being long in endurance, large in carrying capacity, fast in response, safe, reliable and capable ofbeing integrated with the high-rise firefighting rescue function.

The invention discloses a steering method for a wheel rim / hub-driven multi-shaft vehicle. The steering method includes: detecting a running state of a vehicle; performing assisted steering in a mode that linear control hydraulic steering is a primary means and electronic gap steering is a secondary means if the vehicle runs normally; and performing assisted steering in the electronic gap steeringmode if the vehicle runs at a low speed. While the vehicle runs normally, assisted steering is performed in the mode that linear control hydraulic steering is the primary means and electronic gap steering is the secondary means, and the reliability and the running stability can be ensured; and when the vehicle runs at the low speed, assisted steering is performed in the electronic gap steering mode, the steering performance of the multi-shaft vehicle can be improved at the low speed, and the maneuverability of the vehicle can be enhanced.

A 4-wheel drive system of an incremental electric vehicle and a control method thereof are disclosed, the system is equipped with a range extender system, External clutch and rear motor controller, the range extender system is connected to the front speed reducer through an external clutch, A rear motor controller is sequentially connected with a rear drive motor and a rear reducer, A range extender system includes a generator, generator controller, engine, engine controller, Internal clutch and lift controller, wherein the generator is connected with the front reducer through an external clutch, the engine and the generator are connected through an internal clutch, At that same time, the range increase controller is connected with the engine controller and the generator controller respectively, The rear motor controller is connected with the whole vehicle controller, and the power battery is connected with the generator controller and the rear motor controller respectively. The four-wheel drive system of the incremental electric vehicle improves the power performance and energy utilization rate of the electric vehicle, and also increases the driving range.

The image reading unit is provided with: a xenon lamp; a frame 601 having first and second side walls 60a (60b); a reflection unit for reflecting light reflected on an original; a lens unit for forming an image from the light reflected on the reflection unit; an image sensor for converting the light forming the image in the lens unit to electric signals; first and second supporting plates 750a (750b) disposed on the outer side of the first and second side walls 60a (60b) for supporting the reflection unit. The first reinforcing plate forms a guide unit for supporting the other side of the scanning unit in the main scanning direction and guiding the scanning unit in the sub-scanning direction. The driving source and the drive transmitting unit are fixed to the second reinforcing unit.

A method of controlling a low-pressure fuel pump for a GDI engine includes setting predetermined driving conditions that affect a drivability of the GDI engine in situations that are generated in a vehicle in which the GDI engine is mounted, open-loop controlling the low-pressure fuel pump when one or more of the predetermined driving conditions occur, and when none of the predetermined driving conditions occurs, close-loop controlling the low-pressure fuel pump according to a signal from a fuel pressure sensor such that a target fuel pressure provided from an engine controller is pursued.