面向L4/L5级智能汽车的全矢量线控底盘架构设计及其域控制方法研究

随着智能化程度提高，汽车操控权逐渐从驾驶员转移到智能设备。目前智能汽车的设计是从驾驶员视角出发，将人的操纵自动化，汽车在极端工况下固有的失稳特性仍未消除。而L4/L5级智能汽车没有驾驶员操作，一旦发生交通事故，事故责任判定将挑战现有伦理及法律。线控底盘是智能汽车执行的基础，也是安全行驶的最终保障，因此亟需探索新视角和新机制，实现智能汽车线控底盘的固有安全。本项目面向L4/L5级智能汽车，提出了全矢量线控底盘及其域控制的创新思路，主要内容包括：1）探索全矢量线控底盘实现方案及其电子电气架构，并分析其固有安全性；2）设计驱动-制动-转向-悬架一体化的电动轮，并研究其动力学特性；3）探究基于全矢量线控的智能汽车底盘域控制方法；4）搭建全矢量线控实验研究平台，实现理论验证与迭代研究。全矢量线控极大提升车辆的安全性和灵活机动性，在军事装备上极具潜力，研究工作将为下一代智能线控底盘研发提供理论支撑。

With the improvement of the intelligence, the control of the intelligent vehicles is gradually transferred from the driver to intelligent devices. At present, the design of intelligent vehicle is from the driver's perspective, which is the human operations are automated. The inherent instability characteristics of the vehicles in extreme conditions have not been eliminated. However, there is no drivers operated in L4/L5-level intelligent vehicles. Once a traffic accident occurs, the determination of accident liability will challenge the existing ethics and laws. The control-by-wire chassis is the executive basis of the intelligent vehicles, and also the final guarantee of safe driving. Therefore, it is urgent to explore new perspectives and new mechanisms to realize the inherent safety of the control-by-wire chassis for intelligent vehicles. Aiming at the requirements of L4/L5-level intelligent vehicles, this project puts forward innovative ideas of full-vector-control-by-wire chassis and its domain control. The main contents include: 1) the implementation scheme of full-vector-control-by-wire chassis and its electronic and electrical architecture will be explored, and its inherent safety will be analyzed; 2) an integrated electric-wheel with driving-braking-steering-suspension will be designed and its dynamic characteristics will be studied; 3) the control method of intelligent vehicle chassis domain will be explored based on full-vector-control-by-wire chassis; 4) a full-vector-control-by-wire experimental platform will be established to realize theoretical verification and iterative research. Full-vector-control-by-wire chassis can greatly improve the safety and flexible mobility of vehicles, and has great potential in military equipment. The research work will provide theoretical support for the development of the next generation of intelligent wire control chassis.