Steering control method, device and control system for multiple wheel independent drive motors

Abstract

The present application provides a steering control method, device, and control system for multiple wheel independent drive motors, comprising: determining a deceleration compensation torque based on braking information when deceleration braking and steering operations are performed on a target vehicle in the event of a brake system failure; distributing the deceleration compensation torque to each wheel of the target vehicle to determine a reverse torque applied to the brake system of each wheel, wherein the reverse torque is less than a torque threshold; and controlling the steering of the wheels of the target vehicle based on the steering torque fed back by the steering device. In the embodiment of the present application, when a reverse torque needs to be applied to the power system during deceleration to compensate for the failed braking force in the event of a vehicle brake system failure, the deceleration compensation torque of the entire vehicle is distributed among the wheels to ensure that the deceleration compensation torque of each wheel is within a certain range, thereby preventing the wheels from locking during steering and improving steering safety.

Description

Technical Field

[0001] The present application relates to the field of automobile braking, and more specifically, to a steering control method, device, and control system for multiple independent wheel drive motors. Background Art

[0002] For vehicles with multiple independently controlled wheels, if the braking system of a wheel fails, the driver's braking trigger device may not fully apply the brakes to the wheel. To ensure vehicle safety, the powertrain system of the wheel with the failed braking system will generally apply braking compensation. However, applying braking compensation in the powertrain system can easily cause wheel locking, which cannot guarantee steering safety. Summary of the Invention

[0003] In view of this, the purpose of the embodiments of the present application is to provide a steering control method, device and control system for multiple independent wheel drive motors, which can improve the safety of steering when the power system performs brake compensation.

[0004] In a first aspect, an embodiment of the present application provides a steering control method for multiple wheel independent drive motors, comprising: when a target vehicle fails in the braking system and deceleration braking and steering operations are performed on the target vehicle, a deceleration compensation torque is determined based on braking information; the deceleration compensation torque is distributed to each wheel of the target vehicle to determine a reverse torque applied to the braking system of each wheel, wherein the reverse torque is less than a torque threshold; and, the steering of the wheels of the target vehicle is controlled based on the steering torque fed back by the steering device.

[0005] In the above implementation, when the brake system fails, deceleration is performed, requiring the use of deceleration compensation torque to compensate for the reduced braking capacity caused by the brake system failure. During steering, if the deceleration compensation torque of the wheel power system is too large, tire lock and steering loss may occur. In this case, by distributing the deceleration compensation torque so that each wheel receives a deceleration compensation torque within a threshold range, tire lock and steering loss are reduced, thereby improving steering safety.

[0006] In combination with the first aspect, an embodiment of the present application provides a first possible implementation of the first aspect, wherein: distributing the deceleration compensation torque to each wheel of the target vehicle includes: distributing the deceleration compensation torque to wheels other than wheels that can be steered according to the steering torque.

[0007] In the above implementation, the wheels of the target vehicle are divided into first and second wheels, where the first wheel is used to perform steering operations based on the steering torque, and the second wheel is used to perform deceleration based on the deceleration compensation torque. The deceleration compensation torque is then distributed among the wheels that only perform deceleration operations. By performing steering and deceleration operations on different wheels, the influence of the deceleration compensation torque on steering is reduced, thereby improving steering safety.

[0008] In combination with the first possible implementation of the first aspect, an embodiment of the present application provides a second possible implementation of the first aspect, wherein: the deceleration compensation torque is distributed to each wheel of the target vehicle to determine the reverse torque applied to the braking system of each wheel, including: inputting the deceleration compensation torque into a preset model; and distributing the deceleration compensation torque to each wheel of the target vehicle through the preset model to determine the reverse torque applied to the braking system of each wheel.

[0009] In the above implementation process, the deceleration compensation torque is input into a preset model for distribution, and the model is used to distribute the deceleration compensation torque. Based on the advantages of fast and accurate model training, the speed and accuracy of the deceleration compensation torque distribution are improved.

[0010] In combination with the second possible implementation of the first aspect, an embodiment of the present application provides a third possible implementation of the first aspect, wherein the deceleration compensation torque is distributed to each wheel of the target vehicle to determine the reverse torque applied to the braking system of each wheel, including: determining the steering state of the target vehicle based on the steering torque feedback from the steering device; and distributing the deceleration compensation torque to each wheel of the target vehicle according to a preset algorithm of the steering state to determine the reverse torque applied to the braking system of each wheel.

[0011] In the above implementation, the steering state of the target vehicle is first determined using the steering torque. The deceleration compensation torque is then distributed to each wheel of the target vehicle according to different preset algorithms corresponding to different steering states. Because the deceleration compensation torque distribution is calculated based on the preset algorithms corresponding to the steering states of the target vehicle, the deceleration compensation torque distribution is more consistent with the actual state of the vehicle. The deceleration compensation torque distributed to each wheel based on the actual state of the vehicle is more reasonable, thereby improving the rationality and accuracy of the deceleration compensation torque distribution.

[0012] In combination with the third possible implementation of the first aspect, the embodiment of the present application provides a fourth possible implementation of the first aspect, wherein the steering state of the target vehicle is determined based on the steering torque fed back by the steering device, including: matching the steering torque with a preset steering torque; if the steering torque is less than the preset steering torque, matching the current speed fed back by the speed sensor with a speed threshold, and determining the steering state of the target vehicle based on the matching result of the current speed and the speed threshold; or, if the steering torque is greater than the preset steering torque, matching the steering device rotation direction fed back by the steering sensor with an angular velocity, and determining the steering state of the target vehicle based on the matching result of the rotation direction and the angular velocity.

[0013] In the above implementation process, the steering torque, speed information, steering information, etc. of the target vehicle are matched in sequence, and the steering of the target vehicle is divided into multiple states. Different preset algorithms are used according to different steering, thereby improving the rationality and accuracy of the distribution of the deceleration compensation torque.

[0014] In combination with the fourth possible implementation of the first aspect, an embodiment of the present application provides a fifth possible implementation of the first aspect, wherein the braking information includes braking pressure, and the method further includes: obtaining the actual braking pressure fed back by the braking device; and determining that the braking system of the target vehicle has failed based on the braking pressure and the actual braking pressure.

[0015] In the above implementation process, by comparing the pressure value fed back by the braking system with the pressure value issued by the control system, the vehicle's braking system can be monitored, and the failure of the braking system can be understood in time to improve the compensation efficiency of the braking force when the braking system fails.

[0016] In combination with the fifth possible implementation of the first aspect, an embodiment of the present application provides a sixth possible implementation of the first aspect, wherein determining the deceleration compensation torque based on braking information includes: determining the target deceleration braking force of the braking system based on the braking stroke; determining the deceleration compensation torque input to the power system based on the target deceleration braking force and the current braking force fed back by the braking system.

[0017] In the above implementation, the target deceleration braking force is determined based on the braking stroke. Since the braking stroke directly reflects the braking force applied by the user, the target deceleration braking force can be more accurately reflected. Furthermore, since the deceleration braking torque is determined by the target deceleration braking force and the current braking force, and the current braking force is directly fed back by the braking system, the accuracy of the current braking force is guaranteed, thereby improving the accuracy of the deceleration braking force and enhancing the deceleration compensation effect.

[0018] In a second aspect, an embodiment of the present application further provides a steering control device for multiple wheel independent drive motors, comprising: a first determination module: used to determine the deceleration compensation torque based on braking information when deceleration braking and steering operations are performed on the target vehicle in the event of a brake system failure of the target vehicle; a second determination module: used to distribute the deceleration compensation torque to each wheel of the target vehicle to determine the reverse torque applied to the braking system of each wheel, wherein the reverse torque is less than a torque threshold; and a control module: used to control the steering of the target wheel based on the steering torque fed back by the steering device.

[0019] In a third aspect, an embodiment of the present application further provides a control system comprising: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of the method in the above-mentioned first aspect, or any possible implementation of the first aspect.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the steering control method for multiple independent drive motors according to the above-mentioned first aspect or any possible implementation of the first aspect are executed.

[0021] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following embodiments are given in conjunction with the accompanying drawings for detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram of the interaction between the control system, braking system, and power system provided in an embodiment of the present application;

[0024] Figure 2 A block diagram of an electronic device of a control system provided in an embodiment of the present application;

[0025] Figure 3 A flowchart of steering control of multiple independent wheel drive motors provided in an embodiment of the present application;

[0026] Figure 4Schematic diagram of the functional modules of the steering control device for multiple wheel independent drive motors provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0028] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0029] With the development of the automobile industry, the speed of vehicles is getting faster and faster, which requires the braking performance of vehicles to be better and better. When the vehicle is driving, if the braking force of the braking system is insufficient (power failure / brake thermal decay / water on the brake friction surface, etc.), it will lead to poor deceleration performance of the vehicle, and there may be a risk of collision in an emergency. In the event of a failure of the braking system, a reverse braking torque is generally input into the power system to compensate for the braking force that failed when the braking system failed. When steering is performed in this case, the steering operation result will be affected by the reverse torque applied to the power system, resulting in the vehicle's steering action not being executed according to the operation applied by the user, and thus the safety of the steering cannot be guaranteed.

[0030] In view of this, the inventors of the present application have proposed a steering control method for multi-wheel independent drive motors through long-term research. By compensating the deceleration compensation torque to each wheel of the target vehicle, it is ensured that the reverse torque of each wheel can be less than the torque threshold, so as to ensure that each wheel can meet the conditions for executing steering, ensure the steering effect of the wheel, and achieve the driver's steering purpose. It should be understood that multi-wheel independent drive can be that the front wheels and rear wheels can be driven separately. For example, multiple front wheels use the same transmission mechanism, and multiple front wheels are driven or braked at the same time. Multiple rear wheels use the same transmission mechanism, and multiple rear wheels are driven or braked at the same time. Multi-wheel independent drive can also be that each wheel is driven separately. For example, each of the multiple wheels has a transmission mechanism, and each wheel is driven or braked separately.

[0031] To facilitate understanding of this embodiment, the operating environment for executing the steering control of a multi-wheel independent drive motor disclosed in the embodiment of the present application is first introduced in detail.

[0032] like Figure 1, which is a schematic diagram illustrating the interaction between the control system, braking system, and power system provided in an embodiment of the present application. The control system 100 communicates with the braking system 110 and the power system 120 via a network for data communication or interaction. The control system 100 may be a body control module (BCM), a microcontroller unit (MCU), a server, a control platform, or the like, or may be a personal computer (PC), a tablet computer, a smartphone, a personal digital assistant (PDA), or the like. The braking system 110 may include a steering device, a brake trigger device, a brake pump, brake pads, a parking brake, an anti-lock braking system, or the like. The steering device may include a steering wheel, a joystick, a steering interactive screen, or the like, and the brake trigger device may include a brake pedal, a trigger button, a joystick, or the like. The power system 120 may include an engine, a clutch, a transmission, or the like.

[0033] The braking system 110 is provided with an information transmission device, which may be provided as one or multiple information transmission devices. If there is one information transmission device, it may be provided on any braking device of the braking system 110, for example, the information transmission device may be provided on the brake pump or on the anti-lock braking system. If there are multiple information transmission devices, the information transmission device may be provided on all braking devices of the braking system 110, or on some braking devices of the braking system 110. The configuration of the information transmission device may be adjusted according to actual circumstances, and this application does not impose any specific restrictions.

[0034] The information transmission device is connected to the control system 100 to transmit braking information from the braking system 110 to the control system 100. It is understood that braking devices in the braking system 110 that are not equipped with an information transmission device can be connected to braking devices equipped with an information transmission device to transmit braking information from each braking device to the control system 100.

[0035] The steering device is equipped with sensors for detecting steering, such as a steering sensor and a torque sensor. The steering sensor is used to collect information about the steering direction applied by the user to the steering device, while the torque sensor is used to detect the steering torque applied by the user to the steering device. It is understood that the steering sensor and torque sensor can be directly connected to the control system 100 to directly transmit the steering direction information and steering torque to the control system 100. Alternatively, the steering sensor and torque sensor can be connected to the control system 100 via an information transmission device to transmit the steering direction information and steering torque to the control system 100 via the information transmission device.

[0036] The brake trigger device is equipped with sensors for detecting brake stroke, such as pressure sensors and displacement sensors. The pressure sensor is used to detect the brake pressure applied by the user to the brake trigger device, while the displacement sensor is used to detect the brake stroke of the brake trigger device after the user-applied pressure is detected. It is understood that the pressure sensor and displacement sensor can be directly connected to the control system 100 to transmit pressure and stroke data directly to the control system 100. Alternatively, the pressure sensor and displacement sensor can be connected to the control system 100 via an information transmission device to transmit the pressure and stroke data to the control system 100 via the information transmission device.

[0037] It is understood that the brake pad may be provided with a brake feedback device for providing feedback on the actual braking information of the brake pad based on the actual braking action of the brake pad. It is understood that the brake feedback device may be directly connected to the control system 100 to transmit the actual braking information directly to the control system 100. The brake feedback device may also be connected to the control system 100 via an information transmission device to transmit the actual braking information to the control system 100 via the information transmission device.

[0038] The power system 120 may include an engine, a clutch, a transmission and other devices.

[0039] The power system 120 here is provided with an information receiving device, which is connected to the control system for receiving torque information sent by the information receiving device and realizing braking compensation for the wheels according to the torque information.

[0040] like Figure 2 The control system 100 may include a memory 111, a storage controller 112, a processor 113, a peripheral interface 114, and a display unit 115. It will be understood by those skilled in the art that Figure 2 The structure shown is only for illustration and does not limit the structure of the control system 100. For example, the control system 100 may also include Figure 2More or fewer components than shown, or with Figure 2 Different configurations shown.

[0041] The aforementioned memory 111, storage controller 112, processor 113, peripheral interface 114, and input and display unit 115 are electrically connected to each other, directly or indirectly, to enable data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines. The aforementioned processor 113 is used to execute the executable modules stored in the memory.

[0042] The memory 111 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 111 is used to store programs, and the processor 113 executes the programs after receiving an execution instruction. The method executed by the process-defined control system 100 disclosed in any embodiment of the present application can be applied to the processor 113 or implemented by the processor 113. The memory 111 can also be used to store pressure data, travel data, braking information, etc.

[0043] The processor 113 may be an integrated circuit chip with signal processing capabilities. The processor 113 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or any conventional processor.

[0044] The peripheral interface 114 couples various input / output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory controller 112 can be implemented in a single chip. In other embodiments, they can be implemented in separate chips.

[0045] It is understandable that the peripheral interface 114 may be connected to an information transmission device, or may be directly connected to an information collection device such as a pressure sensor, a travel sensor, etc. The braking system 110 transmits braking information to the control system 100 via the peripheral interface 114 .

[0046] The display unit 115 provides an interactive interface (e.g., a user interface) between the control system 100 and the user or is used to display image data for the user's reference. In this embodiment, the display unit can be a liquid crystal display or a touch display. If it is a touch display, it can be a capacitive touch screen or a resistive touch screen that supports single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations generated simultaneously from one or more locations on the touch display and pass the sensed touch operations to the processor for calculation and processing.

[0047] It is understandable that in addition to controlling the brake trigger device to brake the vehicle, the user can also perform braking operations by clicking, moving, dragging, etc. on the brake operation button or the brake control personalized setting interface displayed in the display unit 115.

[0048] The control system 100 in this embodiment can be used to execute each step in each method provided in the embodiments of the present application. The following describes in detail the implementation process of the braking method of multiple independent drive motors through several embodiments.

[0049] The control system 100 in this embodiment can be used to execute each step of each method provided in the embodiments of this application. The following describes in detail the implementation process of the steering control method of multiple independent wheel drive motors through several embodiments.

[0050] See also Figure 3 , is a flow chart of the steering control method of the multi-wheel independent drive motor provided by the embodiment of the present application. Figure 3 The specific process shown is described in detail.

[0051] Step 201 : When a target vehicle has a brake system failure and deceleration braking and steering operations are performed on the target vehicle, a deceleration compensation torque is determined according to braking information.

[0052] It is understood that the target vehicle's brake system failure can be determined based on braking information fed back by the braking system, or based on the target vehicle's recorded braking status. For example, if the target vehicle is experiencing a first-time brake failure, the target vehicle's brake system failure can be determined based on the braking information fed back by the braking system. If, after determining that the target vehicle's brake system has failed, the brake system failure condition has not been overcome, the target vehicle's brake system failure can be determined based on the target vehicle's recorded brake system failure information.

[0053] The braking information here may include one or more information such as braking stroke, braking pressure and current braking force. It is understandable that the braking stroke can be obtained by a stroke sensor of a brake triggering device, and the braking pressure can be obtained by a pressure sensor of the brake triggering device.

[0054] In step 202 , the deceleration compensation torque is distributed to each wheel of the target vehicle to determine a reverse torque applied to the braking system of each wheel.

[0055] The reverse torque here is less than a torque threshold, which may be set in advance or determined based on the performance of the braking system.

[0056] Understandably, when the target vehicle's braking system fails, its braking capacity will be weakened. In this case, the braking signal actually input by the user cannot be fully converted by the braking system into braking force to control the target vehicle to brake according to the user's actual operation. To ensure that the target vehicle moves according to the user's actual operation, a reverse torque can be input into the power system of the target vehicle's wheels to control the power system to reduce the torque output in the forward direction of the target wheel. This reverse torque can reduce the power output of the power system, thereby reducing the forward speed of the target vehicle and achieving the purpose of braking the target vehicle. However, the reverse torque that each wheel's power system can withstand is limited. If the reverse torque the power system withstands exceeds its tolerance range, tire lock, steering loss, and other conditions may occur, and steering safety cannot be guaranteed. In this case, the target vehicle's deceleration compensation torque can be distributed according to the wheel's steering information to ensure that the deceleration compensation torque allocated to each wheel is within its tolerance range, reducing the occurrence of tire lock, steering loss, and other conditions, and ensuring steering safety.

[0057] Optionally, a vehicle includes multiple wheels, each of which is provided with a corresponding braking system. The braking systems of these wheels can be controlled independently or in conjunction with each other. The deceleration compensation torque allocated to the braking system of each wheel can be the same or different.

[0058] In some embodiments, if the brake system failure occurs at a wheel, the deceleration compensation torque may be distributed to the wheel of the target vehicle that has failed braking to determine the reverse torque applied to the brake system of the wheel that has failed braking. It will be appreciated that the reverse torque applied to the brake system of the wheel that has failed braking should also be less than a torque threshold.

[0059] Step 203: Control the steering of the wheels of the target vehicle according to the steering torque fed back by the steering device.

[0060] The steering torque here can be obtained by a torque sensor, and the steering torque is used to feedback the steering torque generated when the user controls the steering device.

[0061] It can be understood that the target vehicle includes multiple wheels, and all wheels of the target vehicle can be controlled to perform steering operations according to the steering torque fed back by the steering device.

[0062] In the above implementation, when the brake system fails, deceleration is performed, requiring the use of deceleration compensation torque to compensate for the reduced braking capacity caused by the brake system failure. During steering, if the deceleration compensation torque of the wheel power system is too large, tire lock and steering loss may occur. In this case, by distributing the deceleration compensation torque so that each wheel receives a deceleration compensation torque within a threshold range, tire lock and steering loss are reduced, thereby improving steering safety.

[0063] In a possible implementation, step 202 includes distributing the deceleration compensation torque to wheels other than the wheels that can be steered according to the steering torque.

[0064] For example, the first wheel is configured to steer according to the steering torque, and the second wheel is configured to decelerate according to the deceleration compensation torque. The first wheel can be a front wheel, a rear wheel, or another wheel, and the second wheel is a wheel other than the first wheel in the target vehicle. For example, if the first wheel is a front wheel and the second wheel is a wheel other than the front wheel in the target vehicle, the front wheel can be configured to steer according to the steering torque, and the wheels other than the front wheel can be configured to decelerate according to the deceleration compensation torque. The first wheel and the second wheel can be determined according to actual conditions, and this application does not impose any specific restrictions.

[0065] It is understandable that the first wheel only performs a steering operation and does not perform a deceleration operation. When performing deceleration compensation torque distribution, the first wheel does not perform deceleration compensation torque distribution, and the deceleration compensation torque is only distributed among the second wheels.

[0066] In the above implementation, the wheels of the target vehicle are divided into first and second wheels, where the first wheel is used to perform steering operations based on the steering torque, and the second wheel is used to perform deceleration based on the deceleration compensation torque. The deceleration compensation torque is then distributed among the wheels that only perform deceleration operations. By performing steering and deceleration operations on different wheels, the influence of the deceleration compensation torque on steering is reduced, thereby improving steering safety.

[0067] In one possible implementation, step 202 includes: inputting the deceleration compensation torque into a preset model; and distributing the deceleration compensation torque to each wheel of the target vehicle through the preset model to determine a reverse torque applied to the braking system of each wheel.

[0068] The preset model here can be a model generated based on rules or a model obtained through machine learning training. For example, a large amount of sample data is collected in advance. The sample data is vehicle operation data under a certain distribution method of the reverse torque on each wheel in a brake failure scenario. The sample data can be obtained through actual vehicle operation or through vehicle operation data of a vehicle simulated in a virtual scene under a certain distribution method of the reverse torque on each wheel in a brake failure scenario. The large amount of samples mentioned above is input into a neural network model for training to obtain the preset model. The preset model can be set in a control system. After determining the deceleration compensation torque, the control system inputs the deceleration compensation torque into the preset model so that the deceleration compensation torque is distributed to each wheel of the target vehicle through the preset model.

[0069] It can be understood that the preset model may include a model for distributing the deceleration compensation torque to all wheels of the target vehicle, and may also include a model for distributing the deceleration compensation torque to some wheels of the target vehicle.

[0070] In the above implementation process, the deceleration compensation torque is input into a preset model for distribution, and the model is used to distribute the deceleration compensation torque. Based on the advantages of fast and accurate model training, the speed and accuracy of the deceleration compensation torque distribution are improved.

[0071] In one possible implementation, step 202 includes: determining the steering state of the target vehicle based on the steering torque fed back by the steering device; distributing the deceleration compensation torque to each wheel of the target vehicle according to a preset algorithm of the steering state to determine the reverse torque applied to the braking system of each wheel.

[0072] The steering state here can include one or more states, such as a damping control state, a basic power assist control state, and a return control state. Each state is provided with a corresponding preset algorithm. After determining the steering state of the target vehicle, the preset algorithm corresponding to the steering state can be further determined based on the steering state. The deceleration compensation torque is calculated based on the preset algorithm to calculate the deceleration compensation torque allocated to each wheel of the target vehicle.

[0073] It can be understood that the preset algorithms here may include one or more algorithms such as a basic current algorithm, a control current algorithm, a damping control current algorithm, a basic torque algorithm, a control torque algorithm, and a damping control torque algorithm.

[0074] In the above implementation, the steering state of the target vehicle is first determined using the steering torque. The deceleration compensation torque is then distributed to each wheel of the target vehicle according to different preset algorithms corresponding to different steering states. Because the deceleration compensation torque distribution is calculated based on the preset algorithms corresponding to the steering states of the target vehicle, the deceleration compensation torque distribution is more consistent with the actual state of the vehicle. The deceleration compensation torque distributed to each wheel based on the actual state of the vehicle is more reasonable, thereby improving the rationality and accuracy of the deceleration compensation torque distribution.

[0075] In one possible implementation, the steering state of the target vehicle is determined based on the steering torque fed back by the steering device, including: matching the steering torque with a preset steering torque; if the steering torque is less than the preset steering torque, matching the current speed fed back by the speed sensor with a speed threshold, and determining the steering state of the target vehicle based on the matching result between the current speed and the speed threshold; or, if the steering torque is greater than the preset steering torque, matching the steering device rotation direction fed back by the steering sensor with an angular velocity, and determining the steering state of the target vehicle based on the matching result between the rotation direction and the angular velocity.

[0076] The preset steering torque here may be a fixed steering torque set in advance, or may be a steering torque input by the steering device when the target vehicle just starts to assist.

[0077] As will be understood, a speed sensor is provided on the transmission of the power system to obtain the current speed of the target wheel. A steering sensor is provided on the steering device to collect information about the direction of rotation applied by the user to the steering device. Optionally, the speed sensor and steering sensor can be directly connected to the control system or connected to the control system via an information transmission device to transmit the current speed and movement information to the control system.

[0078] The action information here may be information such as the current speed of the target vehicle, the angular velocity of the steering device, and the rotation direction of the steering device.

[0079] The matching result between the current speed and the speed threshold may include the speed information being greater than the speed threshold, the speed information being less than the speed threshold, or the speed information being equal to the speed threshold. The matching result between the rotation direction and the angular velocity may include the angular velocity of the steering device being equal to the rotation direction of the steering device, or the angular velocity of the steering device being not equal to the rotation direction of the steering device.

[0080] Exemplarily, if the steering torque is less than the preset steering torque, the current speed is further matched with the speed threshold. At this time, if the speed information is greater than the speed threshold, the steering state of the target vehicle is determined to be a damping control state. If the steering torque is greater than the preset steering torque, the angular velocity of the steering device is further matched with the rotation direction of the steering device. If the angular velocity of the steering device is equal to the rotation direction of the steering device, the steering state of the target vehicle can be determined to be basic power-assisted control. If the angular velocity of the steering device is not equal to the rotation direction of the steering device, the steering state of the target vehicle can be determined to be a return-to-center control state. It can be understood that the steering state determination here is merely exemplary and can include more steering state determination methods than the exemplary ones, and this application does not impose specific restrictions.

[0081] In the above implementation process, the steering torque, speed information, steering information, etc. of the target vehicle are matched in sequence, and the steering of the target vehicle is divided into multiple states. Different preset algorithms are used according to different steering, thereby improving the rationality and accuracy of the distribution of the deceleration compensation torque.

[0082] In a possible implementation, the steering control method for multiple independent wheel drive motors further includes: obtaining actual brake pressure fed back by a brake device; and determining whether the brake system of the target vehicle has failed based on the brake pressure and the actual brake pressure.

[0083] It is understood that when the deviation between the feedback pressure value and the issued pressure value is within a threshold range, it is determined that the vehicle's brake system has not failed. When the deviation between the feedback pressure value and the issued pressure value exceeds a threshold, it is determined that the vehicle's brake system has failed.

[0084] The above-mentioned brake system failure can be categorized as either a complete brake system failure or a partial brake system failure. When the brake system failure is a complete brake system failure, the pressure value fed back by the vehicle's brake system is zero or the brake system does not feed back any pressure value. When the brake system failure is a partial brake system failure, the vehicle's brake system can feed back a portion of the pressure value.

[0085] In the above implementation process, by comparing the pressure value fed back by the braking system with the pressure value issued by the control system, the vehicle's braking system can be monitored, and the failure of the braking system can be understood in time to improve the compensation efficiency of the braking force when the braking system fails.

[0086] In a possible implementation, step 201 includes: determining a target deceleration braking force of the braking system according to the braking stroke; and determining a deceleration compensation torque input to the power system according to the target deceleration braking force and the current braking force fed back by the braking system.

[0087] The target deceleration braking force here is the braking force corresponding to the stroke depth of the braking stroke when the braking system does not fail.

[0088] Due to the failure of the braking system, there is still a difference between the current braking force fed back by the braking system and the target deceleration braking force. It is necessary to apply a reverse deceleration braking torque to the power system to compensate for the difference caused by the failure of the braking system to ensure that the target vehicle can decelerate to a speed corresponding to the stroke depth of the braking stroke when the braking system has not failed.

[0089] In the above implementation, the target deceleration braking force is determined based on the braking stroke. Since the braking stroke directly reflects the braking force applied by the user, the target deceleration braking force can be more accurately reflected. Furthermore, since the deceleration braking torque is determined by the target deceleration braking force and the current braking force, and the current braking force is directly fed back by the braking system, the accuracy of the current braking force is guaranteed, thereby improving the accuracy of the deceleration braking force and enhancing the deceleration compensation effect.

[0090] Based on the same application concept, the embodiment of the present application also provides a steering control device for a multi-wheel independent drive motor corresponding to the steering control method for a multi-wheel independent drive motor. Since the principle of solving the problem by the device in the embodiment of the present application is similar to that of the aforementioned steering control method embodiment for a multi-wheel independent drive motor, the implementation of the device in this embodiment can refer to the description in the embodiment of the above-mentioned method, and the repeated parts will not be repeated.

[0091] See also Figure 4 , is a functional module diagram of the steering control device for multiple independent wheel drive motors provided in an embodiment of the present application. Each module in the steering control device for multiple independent wheel drive motors in this embodiment is used to perform each step in the above method embodiment. The steering control device for multiple independent wheel drive motors includes a first determination module 301, a second determination module 302, and a control module 303; wherein,

[0092] The first determining module 301 is configured to determine a deceleration compensation torque according to braking information when deceleration braking and steering operations are performed on the target vehicle in the event of a brake system failure of the target vehicle.

[0093] The second determining module 302 is configured to distribute the deceleration compensation torque to each wheel of the target vehicle to determine a reverse torque applied to the braking system of each wheel, wherein the reverse torque is less than a torque threshold.

[0094] The control module 303 is configured to control the steering of the target wheel according to the steering torque fed back by the steering device.

[0095] In a possible implementation manner, the second determining module 302 is further configured to: distribute the deceleration compensation torque to wheels other than the wheels that can be steered according to the steering torque.

[0096] In one possible implementation, the second determination module 302 is further configured to: input the deceleration compensation torque into a preset model; and distribute the deceleration compensation torque to each wheel of the target vehicle through the preset model to determine the reverse torque applied to the braking system of each wheel.

[0097] In one possible implementation, the second determination module 302 is further used to: determine the steering state of the target vehicle based on the steering torque fed back by the steering device; and distribute the deceleration compensation torque to each wheel of the target vehicle according to a preset algorithm of the steering state to determine the reverse torque applied to the braking system of each wheel.

[0098] In one possible implementation manner, the second determination module 302 is specifically used to: match the steering torque with a preset steering torque; if the steering torque is less than the preset steering torque, match the current speed fed back by the speed sensor with a speed threshold, and determine the steering state of the target vehicle based on the matching result of the current speed and the speed threshold; or, if the steering torque is greater than the preset steering torque, match the steering device rotation direction fed back by the steering sensor with an angular velocity, and determine the steering state of the target vehicle based on the matching result of the rotation direction and the angular velocity. In one possible implementation manner, the steering control device of the multi-wheel independent drive motor includes a third determination module, which is used to: obtain the actual braking pressure fed back by the braking device; and determine whether the braking system of the target vehicle has failed based on the braking pressure and the actual braking pressure.

[0099] In a possible implementation, the first determination module 301 is further used to: determine the target deceleration braking force of the braking system according to the braking stroke; determine the deceleration compensation torque input to the power system according to the target deceleration braking force and the current braking force fed back by the braking system.

[0100] In addition, an embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the steering control method of multiple independent drive motors described in the above method embodiment are executed.

[0101] The computer program product of the steering control method for multiple independently driven motors provided in the embodiments of the present application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the steering control method for multiple independently driven motors described in the above method embodiments. For details, please refer to the above method embodiments and will not be repeated here.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0103] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0104] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk. It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to encompass 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 expressly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0105] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0106] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A steering control method for multiple wheel independent drive motors, characterized in that: include: When a target vehicle has a brake system failure and deceleration braking and steering operations are performed on the target vehicle, a deceleration compensation torque is determined according to braking information; the target vehicle includes a plurality of wheels, and the plurality of wheels are respectively provided with corresponding braking systems; distributing the deceleration compensation torque to each wheel of the target vehicle to determine a reverse torque applied to a braking system of each wheel, wherein the reverse torque is less than a torque threshold; and Controlling the steering of the wheels of the target vehicle according to the steering torque fed back by the steering device; The step of distributing the deceleration compensation torque to each wheel of the target vehicle includes: The deceleration compensation torque is distributed to wheels other than the wheels that can be steered according to the steering torque; wherein the first wheel steers according to the steering torque and the second wheel decelerates according to the deceleration compensation torque; the deceleration compensation torque is configured to be distributed to the second wheel.

2. The method according to claim 1, characterized in that The step of distributing the deceleration compensation torque to each wheel of the target vehicle to determine a counter torque applied to a braking system of each wheel includes: inputting the deceleration compensation torque into a preset model; The deceleration compensation torque is distributed to each wheel of the target vehicle through the preset model to determine the counter torque applied to the braking system of each wheel.

3. The method according to claim 1, characterized in that The step of distributing the deceleration compensation torque to each wheel of the target vehicle to determine a counter torque applied to a braking system of each wheel includes: determining a steering state of the target vehicle according to a steering torque fed back by a steering device; The deceleration compensation torque is distributed to each wheel of the target vehicle according to a preset algorithm of the steering state to determine a counter torque applied to the braking system of each wheel.

4. The method according to claim 3, characterized in that The determining the steering state of the target vehicle according to the steering torque fed back by the steering device includes: matching the steering torque with a preset steering torque; if the steering torque is less than the preset steering torque, matching the current speed fed back by the speed sensor with a speed threshold, and determining the steering state of the target vehicle based on the matching result between the current speed and the speed threshold; Alternatively, if the steering torque is greater than the preset steering torque, the steering device rotation direction fed back by the steering sensor is matched with the angular velocity, and the steering state of the target vehicle is determined according to the matching result of the rotation direction and the angular velocity.

5. The method according to claim 1, characterized in that The braking information includes braking pressure, and the method further includes: Obtain actual brake pressure feedback from the brake device; A brake system failure of the target vehicle is determined based on the brake pressure and the actual brake pressure.

6. The method according to claim 1, characterized in that The braking information includes a braking stroke, and determining the deceleration compensation torque according to the braking information includes: determining a target deceleration braking force of the braking system according to the braking stroke; The deceleration compensation torque input to the power system is determined according to the target deceleration braking force and the current braking force fed back by the braking system.

7. A steering control device with multiple independent drive motors, characterized in that: include: A first determining module is configured to determine a deceleration compensation torque based on braking information when deceleration braking and steering operations are performed on a target vehicle in the event of a brake system failure of the target vehicle; the target vehicle includes a plurality of wheels, each of the plurality of wheels being provided with a corresponding brake system; a second determining module configured to distribute the deceleration compensation torque to each wheel of the target vehicle to determine a reverse torque applied to a braking system of each wheel, wherein the reverse torque is less than a torque threshold; and A control module is configured to control the steering of the target vehicle according to the steering torque fed back by the steering device; The second determination module is further configured to distribute the deceleration compensation torque to a wheel other than the wheel that can be steered according to the steering torque; wherein the first wheel steers according to the steering torque and the second wheel decelerates according to the deceleration compensation torque; and the deceleration compensation torque is configured to be distributed to the second wheel.

8. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of any one of the methods according to claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the method according to any one of claims 1 to 6.

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