Left-right splicing type motorcycle control system based on rigid connection and working method of left-right splicing type motorcycle control system

Abstract

The invention discloses a left-right splicing type motorcycle control system based on rigid connection and a working method of the left-right splicing type motorcycle control system. The left-right splicing type motorcycle control system comprises a master motorcycle and a slave motorcycle, and intelligent control is achieved through cooperation of multiple modules. The system comprises a basic module, a man-machine interaction module, a system management module, a motor driving module, a motion control module, a master-slave soft cooperative control module, a safety control module, a brake control module, a master controller module, a slave controller module and a motor driving board module. Double-vehicle steering and torque synchronization is ensured through the master-slave soft cooperation module, safe intelligent regulation and control are achieved through the safety control module, efficient energy management is achieved through the brake control module, comprehensive fault processing is achieved through the fault management module, and full-state monitoring is achieved through the sensor module. The problem of differential constraint and steering synchronization of the spliced motorcycle is solved, the driving safety and the energy utilization rate are improved, and the method is more suitable for cooperative control under complex road conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle chassis design and electronic control, and in particular relates to a left-right spliced ​​motorcycle control system based on rigid connection and a working method thereof. Background Art

[0002] With the development of smart travel and vehicle collaboration technologies, there is a need to horizontally splice two motorcycles into a temporary four-wheel platform in special scenarios such as emergency transportation and collaborative driving training to improve vehicle stability and carrying capacity.

[0003] However, existing technologies have significant drawbacks. Traditional assembly relies on physically rigid connection structures, such as articulated frames, making modification complex and time-consuming. Mechanical differentials suffer from high response delays and slip rates during frequent steering or on low-grip surfaces, which can easily lead to wheel imbalance. Furthermore, the expansion of the equivalent wheelbase renders the traditional Ackerman steering model ineffective, making stable coordination difficult. Ultimately, this results in low mechanical connection and differential efficiency.

[0004] Furthermore, under the current communication connection, the slave vehicle cannot precisely synchronize its steering and braking with the master vehicle, resulting in braking, steering, and acceleration errors between the slave and master vehicles. If a passenger in the slave vehicle makes an error, such as twisting the handlebars, the abnormal response signal generated by the slave vehicle will be superimposed on the slave vehicle's control system, posing a significant safety hazard.

[0005] Third, although the existing electronic differential solution partially replaces the mechanical device, it ignores the load transfer, such as the vertical load fluctuation and vertical vibration coupling caused by lateral acceleration, making it difficult to suppress slip imbalance, which ultimately leads to insufficient dynamic control accuracy.

[0006] Finally, the traditional splicing control system has low energy recovery efficiency during braking, which will give passengers a greater sense of frustration. It also generally lacks an abnormal disturbance recognition mechanism such as human input interference, cannot shield erroneous operation signals in real time, lacks multi-sensor fusion protection, and has weak driving safety.

[0007] These problems seriously restrict the safety and energy efficiency of the entire vehicle in special transportation scenarios, and require innovative control systems to comprehensively consider and solve them. Summary of the Invention

[0008] The object of the present invention is to provide a left-right spliced ​​motorcycle control system based on rigid connection and a working method thereof to solve the above-mentioned technical problems.

[0009] To achieve the purpose of the present invention, on the one hand, the present invention provides a control system for a left-right spliced ​​motorcycle based on a rigid connection, wherein the left-right spliced ​​motorcycle includes a master vehicle and a slave vehicle, and the system includes the following modules:

[0010] The basic module is used for communication between modules and provides each control module with necessary sensor data, motor data, steering data, throttle data, and brake data;

[0011] The human-computer interaction module is used to provide a human-computer interaction interface and information, and to display information such as vehicle mode, gear position, faults, and status on the screen in real time;

[0012] The system management module is used to manage the vehicle control system, analyze vehicle fault codes, set charge and discharge power, monitor the status of each system hardware and software, configure the vehicle energy level, and provide real-time vehicle information to the human-computer interaction module;

[0013] The motor drive module is used to make the motor rotate as required and provide stable torque and speed;

[0014] The motion control module uses electronic Ackerman steering geometry and a dynamic weighted model predictive controller, combined with a sensor module, to address the differential constraints and steering stability issues of the two vehicles from a vehicle-wide perspective.

[0015] The master-slave soft collaborative control module is used to achieve the synchronous response of the slave vehicle to the master vehicle's instructions and to identify and shield abnormal input signals;

[0016] The safety control module is used to assess the current driving risk level of the vehicle and intelligently adjust the motor power output according to the risk level to ensure driving safety;

[0017] A brake control module, which smooths braking force distribution and energy recovery, eliminating the jerking sensation associated with traditional motorcycle braking while maximizing energy recovery efficiency;

[0018] The main controller module is used to run the software and algorithms on the main vehicle and run the master-side functions of the master-slave software collaboration module;

[0019] The slave controller module is used to run the software and algorithms on the slave vehicle and run the slave-end functions of the master-slave software collaboration module;

[0020] The motor drive board module is used to run the motor drive module and drive the steering motor and drive motor according to the control data of the soft cooperative control module.

[0021] The basic module includes a communication module, a data acquisition module, and a sensor module;

[0022] The communication module is used to encapsulate the vehicle status data information into CANBUS messages and send them to the corresponding modules. It is also used to send the motor torque and speed calculated by the motion control module to the motor drive module; it is also used to transmit millimeter wave radar data and camera related data to the corresponding topic in the form of ROS communication interface;

[0023] The data acquisition module is used to periodically collect vehicle status data information from the sensor module, generate the fault code of the current device after comprehensive analysis, and encapsulate all the collected information into the CANBUS message format and send it to the module that requires the CANBUS message; it is also used to periodically collect video information and target information from the sensor module, and encapsulate all the collected information into the ROS message format and send it to the corresponding ROS topic;

[0024] The sensor module is used to convert physical signals into electrical signals, which can be collected by the data collection module.

[0025] The human-computer interaction module includes a whole-machine management module and a display module;

[0026] The whole machine management module is used to manage the system, including mode management, gear management, fault information processing, status information processing, and energy information processing;

[0027] The display module is used to display the vehicle status data information, and it receives input from the whole vehicle management module and extracts the information and displays it on the screen.

[0028] The system management module includes a fault management module, an energy management module, a status monitoring module, and a BMS interaction module;

[0029] The fault management module is used to obtain fault codes from the data acquisition module, comprehensively analyze the data information of motion control faults, motor faults, BMS faults, EPS faults and communication faults, obtain the corresponding fault level content, and feed back the results to the whole machine management module and the energy management module to ensure vehicle safety;

[0030] An energy management module, configured to manage the power of the system, receives input from the fault module and the safety control module, and limits the power of the vehicle according to the fault arbitration level and the danger level to ensure the safety of both personnel and the vehicle;

[0031] The status monitoring module is used to receive the status information in the data acquisition module and monitor the overall CANBUS communication status of the system. Finally, the status data is encapsulated into a CANBUS data message, forwarded to the whole machine management module, and finally displayed on the screen of the display module;

[0032] The BMS interaction module is used to process data related to the BMS battery management system and send the data to the outside for display and alarm. At the same time, the BMS interaction module can receive user instructions to upgrade the firmware of the BMS battery management system.

[0033] On the other hand, the present invention also provides a working method of a left-right spliced ​​motorcycle control system based on a rigid connection, comprising the following steps:

[0034] Step 1: The data acquisition module obtains the reported key command data, steering data, throttle data, and brake data, and encapsulates them into CANBUS format messages and puts them into the CANBUS bus;

[0035] Step 2: Part of the sensor data is transmitted to the safety control module through the corresponding drive module or data acquisition module;

[0036] Step 3: The safety control module assesses the risk level and adopts different safety strategies according to the safety protocol. If emergency braking is required, the instruction is sent to the motion control module, and the motion control module performs emergency braking according to the instruction. If the system power needs to be reduced, the danger level is sent to the energy management module, which limits the vehicle power, maximum speed, and maximum torque. At the same time, the energy management module dynamically monitors the temperature and battery information of the master and slave vehicles through the BMS interaction module and rebalances the battery power of the master and slave vehicles.

[0037] Step 4: The brake control module obtains the wheel speed, acceleration, roll angle, and braking angle through the CANBUS message, and then performs the corresponding Kalman filter and torque filter to generate the regenerative braking torque and steering compensation torque, and sends them to the motion control module;

[0038] Step 5: The motion control module receives data and instructions from the brake control module, data and instructions from the safety control module, and instructions from the energy management module, and calculates the corrected feedforward steering angle and torque based on the current steering angle, throttle opening, brake angle, IMU information, wheel speed, and suspension displacement, and sends the calculated results to the master-slave soft collaborative control module.

[0039] Step 6: The master-slave soft collaborative control module synchronizes the slave vehicle's torque and steering angle with the master vehicle's torque and steering angle in real time based on the feedforward steering angle and torque corrected by the motion control module, while shielding the slave vehicle from external disturbances. Simultaneously, the master vehicle dynamically monitors the slave vehicle's synchronization results and performs time resynchronization, error correction, or alarms when necessary.

[0040] Step 7: The fault management module collects data on the CANBUS bus in real time, analyzes and determines the fault code of each module, and sends the analysis results to the whole machine management module and the energy management module;

[0041] Step 8: The status monitoring module collects data on the CANBUS bus in real time, analyzes the status of the hardware modules and software modules, determines whether each module is running stably, and finally sends the analysis results to the whole machine management module;

[0042] Step 9: The whole machine management module collects fault information, status information, key information, and CANBUS messages, analyzes and processes these data, and finally sends the processing results to the display module;

[0043] Step 10: The display module receives the system information of the whole machine management module and displays the system information on the screen through the UI interface.

[0044] Compared with the existing technology, the significant progress of the present invention lies in: the present invention innovatively integrates the rigid-flexible collaborative architecture:

[0045] 1. In terms of control performance, a sensor network consisting of wheel speed sensors, IMUs, and suspension displacement sensors collects vehicle dynamic data in real time. The system innovatively implements an electronic Ackerman steering geometry correction model and a dynamic weight model predictive controller to achieve motion coordination control, resolving steering instability issues after the mechanical differential is canceled. A master-slave soft coordination module based on the CAN bus achieves 10ms-level high-speed command synchronization, ensuring that the slave vehicle accurately responds to the master vehicle's steering / braking signals. It also automatically blocks mechanical inputs such as the slave vehicle's throttle and steering to eliminate the risk of misoperation, resulting in greater accuracy and smoothness.

[0046] 2. In terms of safety systems, an intelligent risk assessment system, built using a multi-data fusion architecture of sensor modules, can proactively identify potential hazards and intelligently adjust power output. The safety control module integrates multi-source data from millimeter-wave radar, visible light, and infrared cameras, and establishes a three-level protection system based on deep learning algorithms, significantly improving driving safety in various scenarios.

[0047] 3. Simultaneous optimization of operating economy and comfort: The dual-filtering technology of the brake control module eliminates braking frustration and improves energy recovery by 20-30%. The simplified differential system reduces daily maintenance requirements and operating costs, achieving higher efficiency.

[0048] 4. The system's structural design adopts a special truss structure to provide excellent overall rigidity and load adaptability, demonstrating strong performance in heavy-load scenarios; the modular design supports rapid assembly and disassembly, and can flexibly switch between single / dual vehicle modes according to actual needs, broadening the scope of application.

[0049] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0051] Figure 1 It is the overall structural diagram of the present invention;

[0052] Figure 2 It is a hardware architecture diagram of the present invention;

[0053] Figure 3 It is a software architecture diagram of the present invention;

[0054] Figure 4 It is a system principle diagram of the present invention;

[0055] Figure 5 It is a system startup flow chart of the present invention;

[0056] Figure 6 It is a flow chart of the system data processing method of the present invention. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0058] The present invention is a motorcycle control system based on a rigid connection of left and right splicing, combined with Figure 1 It is based on two motorcycles spliced ​​together by a rigid cross truss, with the wheelbase from front to rear wheel being L and the left and right wheelbase being w.

[0059] The present invention is a motorcycle control system based on a rigid connection of left and right splicing, combined with Figure 3 and Figure 4 The left-right spliced ​​motorcycle includes a main vehicle and a slave vehicle, and the system includes the following modules:

[0060] The basic module is used for communication between modules and provides each control module with necessary sensor data, motor data, steering data, throttle data, and brake data;

[0061] The human-computer interaction module is used to provide a human-computer interaction interface and information, and to display information such as vehicle mode, gear position, fault, status, etc. on the LED screen in real time;

[0062] The system management module is used to manage the vehicle control system, analyze vehicle fault codes, set charge and discharge power, monitor the status of each system hardware and software, configure the vehicle energy level, and provide real-time vehicle information to the human-computer interaction module;

[0063] The motor drive module is used to make the motor rotate as required and provide stable torque and speed;

[0064] The motion control module uses electronic Ackerman steering geometry and a dynamic weighted model predictive controller, combined with a sensor module, to address the differential constraints and steering stability issues of the two vehicles from a vehicle-wide perspective.

[0065] The master-slave soft collaborative control module is used to achieve the synchronous response of the slave vehicle to the master vehicle's instructions and to identify and shield abnormal input signals;

[0066] The safety control module is used to assess the current driving risk level of the vehicle and intelligently adjust the motor power output according to the risk level to ensure driving safety;

[0067] A brake control module, which smooths braking force distribution and energy recovery, eliminating the jerking sensation associated with traditional motorcycle braking while maximizing energy recovery efficiency;

[0068] The main controller module is used to run the software and algorithms on the main vehicle and run the master-side functions of the master-slave software collaboration module;

[0069] The slave controller module is used to run the software and algorithms on the slave vehicle and run the slave functions of the master-slave software collaboration module;

[0070] The motor drive board module is used to run the motor drive module and drive the steering motor and drive motor according to the control data of the soft cooperative control module.

[0071] The basic module includes a communication module, a data acquisition module, and a sensor module;

[0072] The communication module is used to encapsulate vehicle status data information into CANBUS (Controller Area Network-BUS) messages and send them to the corresponding modules. It is also used to send the motor torque and speed calculated by the motion control module to the motor drive module. It is also used to transmit millimeter-wave radar data and camera-related data to the corresponding topics via the ROS (Robot Operating System) communication interface.

[0073] The data acquisition module is used to periodically collect vehicle status data information from the sensor module, generate the fault code of the current device after comprehensive analysis, and encapsulate all the collected information into the CANBUS message format and send it to the module that requires the CANBUS message; it is also used to periodically collect video information and target information from the sensor module, and encapsulate all the collected information into the ROS message format and send it to the corresponding ROS topic;

[0074] The sensor module is used to convert physical signals into electrical signals, which can be collected by the data collection module.

[0075] The vehicle status data information includes motor data, steering data, throttle data, brake data, sensor data, and gear mode; the video information includes visible light camera data and infrared camera data; and the target information includes millimeter wave radar data.

[0076] The sensor module includes a millimeter wave radar module, a visible light camera module, an infrared camera module, an IMU module, a suspension displacement sensor module, a wheel speed sensor module, a tilt sensor module, a drive potentiometer module, an angle sensor module, and a Hall encoder module;

[0077] The millimeter-wave radar module is used to collect and identify target information and output millimeter-wave radar data;

[0078] The visible light camera module is used to collect visible light video streams and output visible light camera data;

[0079] The infrared camera module is used to collect infrared video streams and output infrared camera data;

[0080] The IMU (Inertial Measurement Unit) module is used to collect and output the vehicle's three-axis velocity, acceleration, and angular velocity;

[0081] The suspension displacement sensor module is used to collect and output suspension displacement;

[0082] The wheel speed sensor module is used to collect and output the wheel speed;

[0083] The driving potentiometer module is used to collect and output the throttle angle;

[0084] The angle sensor module is used to collect and output the braking angle;

[0085] The Hall encoder module is used to collect and output the steering angle of the handlebar;

[0086] The human-computer interaction module includes a whole-machine management module and a display module;

[0087] The whole machine management module is used to manage the system, including mode management, gear management, fault information processing, status information processing, and energy information processing;

[0088] The display module is used to display the vehicle status data information, and it receives input from the whole vehicle management module and extracts the information and displays it on the screen.

[0089] The system management module includes a fault management module, an energy management module, a status monitoring module, and a BMS (Battery Management System) interaction module;

[0090] The fault management module is used to obtain fault codes from the data acquisition module, comprehensively analyze data information of motion control faults, motor faults, BMS faults, EPS (Electric Power Steering) faults, and communication faults, obtain corresponding fault levels, and feed back the results to the overall management module and the energy management module to ensure vehicle safety.

[0091] An energy management module, configured to manage the power of the system, receives input from the fault module and the safety control module, and limits the power of the vehicle according to the fault arbitration level and the danger level to ensure the safety of both personnel and the vehicle;

[0092] The status monitoring module is used to receive the status information in the data acquisition module and monitor the overall CANBUS communication status of the system. Finally, the status data is encapsulated into a CANBUS data message, forwarded to the whole machine management module, and finally displayed on the screen of the display module;

[0093] The BMS interaction module is used to process data related to the BMS battery management system and send the data to the outside for display and alarm. At the same time, the BMS interaction module can receive user instructions to upgrade the firmware of the BMS battery management system.

[0094] The BMS battery management system is used for output power limitation, maximum current limitation, battery overvoltage and undervoltage alarm, charge and discharge current detection alarm and protection, battery temperature detection, power calculation, historical record storage, remote OTA (Over The Air, remote software update) upgrade, online firmware upgrade, deep sleep, and it regularly feeds back battery status information to the BMS interaction module, which is then transmitted to the outside by the BMS interaction module.

[0095] The communication module includes a CANBUS communication module and a ROS communication module; the CANBUS communication module is used to encapsulate the vehicle status data information into a CANBUS message and send it to the corresponding module; the ROS communication module is used to encapsulate the millimeter wave radar data and camera-related data generated by the sensor module into a ROS message and send it to the corresponding topic.

[0096] The data acquisition module collects information and puts it into the CANBUS communication bus through the communication module. The status monitoring module monitors the operating status of each module by monitoring the status information. The fault management module monitors the faults of each software module and hardware module through fault codes. The whole machine management module manages the mode and gear of the control system through key information, and analyzes the output information of the fault management module and the output information of the status monitoring module, summarizes the basic information, mode, and gear information of each module, and sends it to the display module for display on the screen.

[0097] The fault management module and the safety control module control the energy of the entire vehicle through the fault punching level and the driving hazard level, and the energy management module limits the maximum power, maximum speed and maximum torque of the entire vehicle; the energy management module controls the power output of the battery in real time through the BMS interaction module.

[0098] The safety control module, the brake control module, the motion control module, the master-slave soft coordination control module, the master controller module, the slave controller module, and the motor drive board module together control the torque output of the master vehicle motor, the torque output of the slave vehicle motor, the steering angle of the master vehicle, and the steering angle of the slave vehicle, and transmit the signals to the master vehicle motor and the slave vehicle motor to drive the vehicle;

[0099] The information input to the safety control module includes millimeter-wave radar data, visible light camera data, and infrared camera data; the input information to the brake control module includes wheel speed sensor data, inclination sensor data, and braking angle; the input information to the motion control module includes steering angle, throttle opening, braking angle, IMU information, wheel speed sensor data, and suspension displacement sensor data; the input information to the master-slave soft collaborative control module includes steering angle, braking angle, throttle opening, as well as the steering feedforward and torque corrected by the motion control module; the master controller module and the slave controller module are the hardware carriers of the four control modules; the motor drive board module is the hardware carrier of the motor drive module.

[0100] The present invention provides a method for starting a left-right spliced ​​motorcycle control system based on a rigid connection, comprising the following steps: Figure 5 :

[0101] Step 1: After power-on, the system performs a power-on self-test. If the hardware self-test is normal, proceed to step 2; otherwise, a hardware fault alarm is issued.

[0102] Step 2: The system starts to start each software module in sequence. If any software module fails to start normally, a software fault alarm is issued;

[0103] Step 3: If all software modules of the system are started normally, the normal interface will be displayed.

[0104] The present invention is a working method of a left-right splicing type motorcycle control system based on rigid connection, and the data processing method flow includes the following steps: Figure 6 :

[0105] Step 1: The data acquisition module obtains the reported key command data, steering data, throttle data, and brake data, and encapsulates them into CANBUS format messages and puts them into the CANBUS bus;

[0106] Step 2: Some sensor data (including visible light camera data, infrared camera data, and lidar data) are transmitted to the safety control module through the corresponding driver module or data acquisition module;

[0107] Step 3: The safety control module assesses the risk level and adopts different safety strategies according to the safety protocol. If emergency braking is required, the instruction is sent to the motion control module, and the motion control module performs emergency braking according to the instruction. If the system power needs to be reduced, the danger level is sent to the energy management module, which limits the vehicle power, maximum speed, and maximum torque. At the same time, the energy management module dynamically monitors the temperature and battery information of the master and slave vehicles through the BMS interaction module and rebalances the battery power of the master and slave vehicles.

[0108] Step 4: The brake control module obtains the wheel speed, acceleration, roll angle, and braking angle through the CANBUS message, and then performs the corresponding Kalman filter and torque filter to generate the regenerative braking torque and steering compensation torque, and sends them to the motion control module;

[0109] Step 5: The motion control module receives data and instructions from the brake control module, data and instructions from the safety control module, and instructions from the energy management module, and calculates the corrected feedforward steering angle and torque based on the current steering angle, throttle opening, brake angle, IMU information, wheel speed, and suspension displacement, and sends the calculated results to the master-slave soft collaborative control module.

[0110] Step 6: The master-slave soft collaborative control module synchronizes the slave vehicle's torque and steering angle with the master vehicle's torque and steering angle in real time based on the feedforward steering angle and torque corrected by the motion control module, while shielding the slave vehicle from external disturbances. Simultaneously, the master vehicle dynamically monitors the slave vehicle's synchronization results and performs time resynchronization, error correction, or alarms when necessary.

[0111] Step 7: The fault management module collects data on the CANBUS bus in real time, analyzes and determines the fault code of each module, and sends the analysis results to the whole machine management module and the energy management module;

[0112] Step 8: The status monitoring module collects data on the CANBUS bus in real time, analyzes the status of the hardware modules and software modules, determines whether each module is running stably, and finally sends the analysis results to the whole machine management module;

[0113] Step 9: The whole machine management module collects fault information, status information, key information, and CANBUS messages, analyzes and processes these data, and finally sends the processing results to the display module;

[0114] Step 10: The display module receives the system information from the whole machine management module and displays the system information on the screen through a UI (User Interface).

[0115] Combine Figure 2 The millimeter-wave radar module, visible light camera module, infrared camera module, IMU module, suspension displacement sensor module, wheel speed sensor module, tilt sensor module, drive potentiometer module, angle sensor module, Hall encoder module, master controller module, slave controller module, and motor drive board module of the present invention are hardware modules.

[0116] Combine Figure 3 The display module, status monitoring module, BMS interaction module, whole machine management module, energy management module, fault management module, communication module, data acquisition module, motion control module, master-slave soft collaborative control module, safety control module, brake control module, and motor drive module of the present invention are software modules.

[0117] Combine Figure 2The present invention inputs all the data of each sensor into the main controller module, and only inputs the driving potentiometer, angle sensor, and Hall encoder data from the slave controller module. Under the control of the master-slave soft cooperative control module, the main controller module coordinates the control of the master vehicle and the slave vehicle, sends the master vehicle control data to the master vehicle motor drive module, sends the slave vehicle control data to the slave vehicle soft cooperative control module, and displays the vehicle status data information on the display screen; the slave controller module sends the slave vehicle control data output by the slave vehicle soft cooperative control module to the slave vehicle motor drive module.

[0118] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0119] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A left-right spliced ​​motorcycle control system based on rigid connection, characterized in that: The left-right spliced ​​motorcycle includes a main vehicle and a slave vehicle, and the system includes the following modules: The basic module is used for communication between modules and provides each control module with necessary sensor data, motor data, steering data, throttle data, and brake data; The human-computer interaction module is used to provide a human-computer interaction interface and information, and to display information such as vehicle mode, gear position, faults, and status on the screen in real time; The system management module is used to manage the vehicle control system, analyze vehicle fault codes, set charge and discharge power, monitor the status of each system hardware and software, configure the vehicle energy level, and provide real-time vehicle information to the human-computer interaction module; The motor drive module is used to make the motor rotate as required and provide stable torque and speed; The motion control module uses electronic Ackerman steering geometry and a dynamic weighted model predictive controller, combined with a sensor module, to address the differential constraints and steering stability issues of the two vehicles from a vehicle-wide perspective. The master-slave soft collaborative control module is used to achieve the synchronous response of the slave vehicle to the master vehicle's instructions and to identify and shield abnormal input signals; The safety control module is used to assess the current driving risk level of the vehicle and intelligently adjust the motor power output according to the risk level to ensure driving safety; A brake control module, which smooths braking force distribution and energy recovery, eliminating the jerking sensation associated with traditional motorcycle braking while maximizing energy recovery efficiency; The main controller module is used to run the software and algorithms on the main vehicle and run the master-side functions of the master-slave software collaboration module; The slave controller module is used to run the software and algorithms on the slave vehicle and run the slave functions of the master-slave software collaboration module; The motor drive board module is used to run the motor drive module and drive the steering motor and drive motor according to the control data of the soft cooperative control module.

2. A left-right spliced ​​motorcycle control system based on rigid connection according to claim 1, characterized in that: The basic module includes a communication module, a data acquisition module, and a sensor module; The communication module is used to encapsulate the vehicle status data information into CANBUS messages and send them to the corresponding modules. It is also used to send the motor torque and speed calculated by the motion control module to the motor drive module; it is also used to transmit millimeter wave radar data and camera related data to the corresponding topic in the form of ROS communication interface; The data acquisition module is used to periodically collect vehicle status data information from the sensor module, generate the fault code of the current device after comprehensive analysis, and encapsulate all the collected information into the CANBUS message format and send it to the module that requires the CANBUS message; it is also used to periodically collect video information and target information from the sensor module, and encapsulate all the collected information into the ROS message format and send it to the corresponding ROS topic; The sensor module is used to convert physical signals into electrical signals, which can be collected by the data collection module.

3. The left-right splicing type motorcycle control system based on rigid connection according to claim 2 is characterized in that: The vehicle status data information includes motor data, steering data, throttle data, brake data, sensor data, and gear mode; the video information includes visible light camera data and infrared camera data; and the target information includes millimeter wave radar data.

4. The left-right splicing type motorcycle control system based on rigid connection according to claim 2 is characterized in that: The sensor module includes a millimeter wave radar module, a visible light camera module, an infrared camera module, an IMU module, a suspension displacement sensor module, a wheel speed sensor module, a tilt sensor module, a drive potentiometer module, an angle sensor module, and a Hall encoder module; The millimeter-wave radar module is used to collect and identify target information and output millimeter-wave radar data; The visible light camera module is used to collect visible light video streams and output visible light camera data; The infrared camera module is used to collect infrared video streams and output infrared camera data; The IMU module is used to collect and output the vehicle's three-axis velocity, acceleration, and angular velocity; The suspension displacement sensor module is used to collect and output suspension displacement; The wheel speed sensor module is used to collect and output the wheel speed; The driving potentiometer module is used to collect and output the throttle angle; The angle sensor module is used to collect and output the braking angle; The Hall encoder module is used to collect and output the steering angle of the handlebar.

5. The left-right splicing type motorcycle control system based on rigid connection according to claim 4 is characterized in that: The human-computer interaction module includes a whole-machine management module and a display module; The whole machine management module is used to manage the system, including mode management, gear management, fault information processing, status information processing, and energy information processing; The display module is used to display the vehicle status data information, and it receives input from the whole vehicle management module and extracts the information and displays it on the screen.

6. The left-right splicing type motorcycle control system based on rigid connection according to claim 5 is characterized in that: The system management module includes a fault management module, an energy management module, a status monitoring module, and a BMS interaction module; The fault management module is used to obtain fault codes from the data acquisition module, comprehensively analyze the data information of motion control faults, motor faults, BMS faults, EPS faults and communication faults, obtain the corresponding fault level content, and feed back the results to the whole machine management module and the energy management module to ensure vehicle safety; An energy management module, configured to manage the power of the system, receives input from the fault module and the safety control module, and limits the power of the vehicle according to the fault arbitration level and the danger level to ensure the safety of both personnel and the vehicle; The status monitoring module is used to receive the status information in the data acquisition module and monitor the overall CANBUS communication status of the system. Finally, the status data is encapsulated into a CANBUS data message, forwarded to the whole machine management module, and finally displayed on the screen of the display module; The BMS interaction module is used to process data related to the BMS battery management system and send the data to the outside for display and alarm. At the same time, the BMS interaction module can receive user instructions to upgrade the firmware of the BMS battery management system.

7. The left-right splicing type motorcycle control system based on rigid connection according to claim 6 is characterized in that: The BMS battery management system is used for output power limitation, maximum current limitation, battery overvoltage and undervoltage alarm, charge and discharge current detection alarm and protection, battery temperature detection, power calculation, historical record storage, remote OTA upgrade, online firmware upgrade, deep sleep, and it regularly feeds back battery status information to the BMS interaction module, which is then transmitted to the outside by the BMS interaction module.

8. The left-right splicing type motorcycle control system based on rigid connection according to claim 7 is characterized in that: The communication module includes a CANBUS communication module and a ROS communication module; the CANBUS communication module is used to encapsulate the vehicle status data information into a CANBUS message and send it to the corresponding module; the ROS communication module is used to encapsulate the millimeter wave radar data and camera-related data generated by the sensor module into a ROS message and send it to the corresponding topic.

9. The left-right splicing type motorcycle control system based on rigid connection according to claim 8, characterized in that: The safety control module, the brake control module, the motion control module, the master-slave soft coordination control module, the master controller module, the slave controller module, and the motor drive board module together control the torque output of the master vehicle motor, the torque output of the slave vehicle motor, the steering angle of the master vehicle, and the steering angle of the slave vehicle, and transmit the signals to the master vehicle motor and the slave vehicle motor to drive the vehicle. The information input to the safety control module includes millimeter-wave radar data, visible light camera data, and infrared camera data; the input information to the brake control module includes wheel speed sensor data, tilt sensor data, and brake angle; the input information to the motion control module includes steering angle, throttle opening, brake angle, IMU information, wheel speed sensor data, and suspension displacement sensor data; The input information of the master-slave soft collaborative control module includes steering angle, braking angle, throttle opening, as well as the steering feedforward and torque corrected by the motion control module; the master controller module and the slave controller module are the hardware carriers of the four control modules; the motor drive board module is the hardware carrier of the motor drive module.

10. A method for operating a left-right spliced ​​motorcycle control system based on rigid connection according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: The data acquisition module obtains the reported key command data, steering data, throttle data, and brake data, and encapsulates them into CANBUS format messages and puts them into the CANBUS bus; Step 2: Part of the sensor data is transmitted to the safety control module through the corresponding drive module or data acquisition module; Step 3: The safety control module assesses the risk level and adopts different safety strategies according to the safety protocol. If emergency braking is required, the instruction is sent to the motion control module, and the motion control module performs emergency braking according to the instruction. If the system power needs to be reduced, the danger level is sent to the energy management module, which limits the vehicle power, maximum speed, and maximum torque. At the same time, the energy management module dynamically monitors the temperature and battery information of the master and slave vehicles through the BMS interaction module and rebalances the battery power of the master and slave vehicles. Step 4: The brake control module obtains the wheel speed, acceleration, roll angle, and braking angle through the CANBUS message, and then performs the corresponding Kalman filter and torque filter to generate the regenerative braking torque and steering compensation torque, and sends them to the motion control module; Step 5: The motion control module receives data and instructions from the brake control module, data and instructions from the safety control module, and instructions from the energy management module, and calculates the corrected feedforward steering angle and torque based on the current steering angle, throttle opening, brake angle, IMU information, wheel speed, and suspension displacement, and sends the calculated results to the master-slave soft collaborative control module. Step 6: The master-slave soft collaborative control module synchronizes the slave vehicle's torque and steering angle with the master vehicle's torque and steering angle in real time based on the feedforward steering angle and torque corrected by the motion control module, while shielding the slave vehicle from external disturbances. Simultaneously, the master vehicle dynamically monitors the slave vehicle's synchronization results and performs time resynchronization, error correction, or alarms when necessary. Step 7: The fault management module collects data on the CANBUS bus in real time, analyzes and determines the fault code of each module, and sends the analysis results to the whole machine management module and the energy management module; Step 8: The status monitoring module collects data on the CANBUS bus in real time, analyzes the status of the hardware modules and software modules, determines whether each module is running stably, and finally sends the analysis results to the whole machine management module; Step 9: The whole machine management module collects fault information, status information, key information, and CANBUS messages, analyzes and processes these data, and finally sends the processing results to the display module; Step 10: The display module receives the system information of the whole machine management module and displays the system information on the screen through the UI interface.

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