A four-wheel alignment method, device, equipment and medium for a four-rotation four-wheel drive by-wire chassis

Abstract

The present application relates to a kind of four-wheel alignment method, device, equipment and medium of four-wheel drive-by-wire chassis, belong to four-wheel alignment technical field of chassis, the method includes: four-wheel alignment switch on central control screen receives the click operation of user, sends the instruction of entering four-wheel alignment mode to chassis domain controller;Chassis domain controller judges whether the level of ground where chassis is located meets preset requirement;If meet preset requirement, execute four-wheel alignment routine;Chassis domain controller reads the torque feedback value of four steering motors and four drive motors;The size of the torque feedback value of four steering motors and four drive motors is compared with the torque preset value of four steering motors and four drive motors to obtain comparison result;According to the relationship between comparison result and zero, it is judged whether there is the necessity of four-wheel alignment, if necessary, according to the relationship between comparison result and zero, adjust the zero of corresponding steering motor.The present application can quickly, efficiently complete four-wheel alignment work.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of drive-by-wire chassis four-wheel alignment, and particularly relates to a four-wheel alignment method, device, equipment and medium for a four-wheel drive drive-by-wire chassis. BACKGROUND

[0002] Drive-by-wire chassis technology has been widely used in commercial, military and civilian fields, and its high automation and precise control characteristics enable this type of chassis to perform well in various complex environments and strict conditions. Common drive-by-wire chassis is divided into two-wheel two-turn, two-wheel four-turn, and four-wheel four-drive. In the intelligent driving and unmanned driving scenarios, the drive-by-wire chassis often adopts a four-wheel four-drive structure to pursue the flexibility of chassis movement. It can monitor and control the actual torque, current size and motor temperature of the four-wheel drive motor and four steering motors in real time. This feature is of great significance for deep monitoring of chassis status, ensuring stable control of the chassis under various conditions.

[0003] The four-wheel four-drive drive-by-wire chassis has four steering motors, which brings flexible steering while also having higher requirements for the coordination of the steering system. Therefore, compared with traditional mechanical chassis or two-wheel two-turn drive-by-wire chassis, four-wheel four-drive chassis needs higher frequency four-wheel alignment maintenance to reduce tire wear and driving comfort problems caused by four-wheel steering misalignment. The current four-wheel alignment method for mechanical chassis and drive-by-wire chassis requires professional equipment and personnel to operate, and the maintenance steps are relatively complex. High-frequency maintenance calibration increases the use cost of the vehicle.

[0004] Therefore, there is a need for a four-wheel alignment method, device, electronic equipment and storage medium for a four-wheel four-drive drive-by-wire chassis that can solve the problem of the need for professional equipment and personnel to operate, the relatively complex maintenance steps, and the increased use cost of the vehicle caused by high-frequency maintenance calibration. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the application is to provide a four-wheel alignment method, device, electronic equipment and storage medium for a four-wheel four-drive drive-by-wire chassis, which eliminates the problem of the need for professional equipment and personnel to operate, the relatively complex maintenance steps, and the increased use cost of the vehicle caused by high-frequency maintenance calibration.

[0006] In a first aspect of the application, a four-wheel alignment method for a four-wheel four-drive drive-by-wire chassis is provided, comprising:

[0007] The user generates a four-wheel alignment intention, determines that the current ground is a smooth cement road, and clicks the four-wheel alignment switch on the central control screen;

[0008] The four-wheel alignment switch on the central control screen receives the click operation of the user, and sends an instruction to enter the four-wheel alignment mode to the chassis domain controller;

[0009] The chassis domain controller receives an instruction to enter the four-wheel alignment mode, and determines whether the level of the ground on which the chassis is located meets a preset requirement;

[0010] If the determination result is that the level of the ground on which the chassis is located meets the preset requirement, a four-wheel alignment routine is executed.

[0011] After the execution of the four-wheel alignment routine ends, the chassis domain controller reads torque feedback values of the four steering motors and the four drive motors.

[0012] The torque feedback values of the four steering motors and the four drive motors are compared with preset torque values of the four steering motors and the four drive motors to obtain eight comparison results.

[0013] According to the relationship between the eight comparison results and zero, it is determined whether it is necessary to perform four-wheel alignment. If the determination result is that it is necessary to perform four-wheel alignment, the zero position of the corresponding steering motor is adjusted according to the relationship between the eight comparison results and zero.

[0014] The execution of the four-wheel alignment routine includes: sending a zero angle instruction to the four steering motors and sending a torque instruction to the four drive motors, and adjusting the speed of the vehicle to be stable to a speed threshold value.

[0015] Further, in the four-wheel alignment method of the four-wheel drive-by-wire chassis, the determination of whether the level of the ground on which the chassis is located meets the preset requirement includes:

[0016] The feedback data of the inertial navigation measurement module are used to detect whether the current chassis pitch angle and roll angle are within an allowable range.

[0017] If the detection result is that the current chassis pitch angle and roll angle are within the allowable range, it is determined that the level of the ground on which the chassis is located meets the preset requirement. If the detection result is that the current chassis pitch angle and roll angle are not within the allowable range, it is determined that the level of the ground on which the chassis is located does not meet the preset requirement.

[0018] Further, the four-wheel alignment method of the four-wheel drive-by-wire chassis further includes:

[0019] If the determination result is that the level of the ground on which the chassis is located does not meet the preset requirement, the level of the ground on which the chassis is currently located and prompt information that the level of the ground on which the chassis is located does not meet the preset requirement are sent to the central control screen.

[0020] Further, the four-wheel alignment method of the four-wheel drive-by-wire chassis further includes: sending the eight comparison results and the process of adjusting the zero position of the corresponding steering motor to the central control screen.

[0021] Further, in the four-wheel alignment method of the four-rotor four-wheel drive by wire chassis, eight comparison results are obtained by comparing the torque feedback values of the four steering motors and the four driving motors with the preset torque values of the four steering motors and the four driving motors, including:

[0022] The eight comparison results are obtained by subtracting the vector of the torque feedback values of the four steering motors and the four driving motors from the vector of the preset torque values of the four steering motors and the four driving motors, and taking the absolute value. The eight comparison results include: the comparison result of the first driving motor, the comparison result of the first steering motor, the comparison result of the second driving motor, the comparison result of the second steering motor, the comparison result of the third driving motor, the comparison result of the third steering motor, the comparison result of the fourth driving motor, and the comparison result of the fourth steering motor.

[0023] Further, in the four-wheel alignment method of the four-rotor four-wheel drive by wire chassis, whether it is necessary to perform four-wheel alignment is determined according to the relationship between the eight comparison results and zero, including:

[0024] When the comparison result of the first driving motor is greater than zero and the comparison result of the first steering motor is greater than zero, or when the comparison result of the first driving motor is greater than zero and the comparison result of the first steering motor is less than zero, or when the comparison result of the second driving motor is less than zero and the comparison result of the second steering motor is greater than zero, or when the comparison result of the second driving motor is less than zero and the comparison result of the second steering motor is less than zero, or when the comparison result of the third driving motor is greater than zero and the comparison result of the third steering motor is greater than zero, or when the comparison result of the third driving motor is greater than zero and the comparison result of the third steering motor is less than zero, or when the comparison result of the fourth driving motor is less than zero and the comparison result of the fourth steering motor is greater than zero, or when the comparison result of the fourth driving motor is less than zero and the comparison result of the fourth steering motor is less than zero, it is necessary to perform four-wheel alignment;

[0025] Otherwise, it is not necessary to perform four-wheel alignment.

[0026] Further, in the four-wheel alignment method of the four-rotor four-wheel drive by wire chassis, the zero position of the corresponding steering motor is adjusted according to the relationship between the eight comparison results and zero, including:

[0027] When the comparison result of the first driving motor is greater than zero and the comparison result of the first steering motor is greater than zero, the first steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the first steering motor;

[0028] When the comparison result of the first driving motor is greater than zero and the comparison result of the first steering motor is less than zero, the first steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the first steering motor;

[0029] When the comparison result of the second driving motor is less than zero and the comparison result of the second steering motor is greater than zero, the second steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the second steering motor;

[0030] When the comparison result of the second driving motor is less than zero and the comparison result of the second steering motor is less than zero, the second steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the second steering motor;

[0031] When the comparison result of the third driving motor is greater than zero and the comparison result of the third steering motor is greater than zero, the third steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the third steering motor;

[0032] When the comparison result of the third driving motor is greater than zero and the comparison result of the third steering motor is less than zero, the third steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the second steering motor;

[0033] When the comparison result of the fourth driving motor is less than zero and the comparison result of the fourth steering motor is greater than zero, the fourth steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the fourth steering motor;

[0034] When the comparison result of the fourth driving motor is less than zero and the comparison result of the fourth steering motor is less than zero, the fourth steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the fourth steering motor.

[0035] The second aspect of the application also provides a four-wheel alignment device for a four-wheel drive-by-wire chassis, comprising:

[0036] A determination module is configured to determine that the user has an intention to perform four-wheel alignment, that the current ground is a smooth cement road, and that the four-wheel alignment switch on the central control screen is clicked.

[0037] A sending module is configured to send an instruction to enter a four-wheel alignment mode to the chassis domain controller when the four-wheel alignment switch on the central control screen receives the click operation of the user.

[0038] A first judgment module is configured to determine whether the level of the ground where the chassis is located meets a preset requirement when the chassis domain controller receives the instruction to enter the four-wheel alignment mode.

[0039] An execution module is configured to execute a four-wheel alignment routine when the determination result is that the level of the ground where the chassis is located meets the preset requirement.

[0040] A reading module is configured to read the torque feedback values of the four steering motors and the four driving motors after the four-wheel alignment routine is executed.

[0041] The comparison module is configured to compare the torque feedback values of the four steering motors and the four driving motors with the torque preset values of the four steering motors and the four driving motors to obtain eight comparison results.

[0042] The second judging module and the adjusting module are configured to judge whether it is necessary to perform four-wheel alignment according to the relationship between the eight comparison results and zero, and adjust the zero position of the corresponding steering motor according to the relationship between the eight comparison results and zero if the judgment result is that it is necessary to perform four-wheel alignment.

[0043] The execution of the four-wheel alignment routine comprises: sending a zero angle instruction to the four steering motors and sending a torque instruction to the four driving motors, and adjusting the speed of the vehicle to a speed threshold.

[0044] The third aspect of the present application further provides an electronic device comprising: a processor and a memory.

[0045] The processor is configured to execute the four-wheel alignment method of the four-wheel drive-by-wire chassis according to any one of the above by calling the program or instruction stored in the memory.

[0046] The fourth aspect of the present application further provides a computer readable storage medium, which stores a program or instruction, and the program or instruction causes a computer to execute the four-wheel alignment method of the four-wheel drive-by-wire chassis according to any one of the above.

[0047] The beneficial effects of the present application are as follows: the present application generates a four-wheel alignment intention by a user, determines that the current ground is a smooth cement pavement, and performs a clicking operation on the four-wheel alignment switch on the center control screen; the four-wheel alignment switch on the center control screen receives the clicking operation of the user, sends an instruction to enter the four-wheel alignment mode to the chassis domain controller; the chassis domain controller receives the instruction to enter the four-wheel alignment mode, judges whether the level of the ground where the chassis is located meets the preset requirement; if the judgment result is that the level of the ground where the chassis is located meets the preset requirement, a four-wheel alignment routine is executed; after the execution of the four-wheel alignment routine, the chassis domain controller reads the torque feedback values of the four steering motors and the four driving motors; the comparison module is configured to compare the torque feedback values of the four steering motors and the four driving motors with the torque preset values of the four steering motors and the four driving motors to obtain eight comparison results; the second judging module and the adjusting module are configured to judge whether it is necessary to perform four-wheel alignment according to the relationship between the eight comparison results and zero, and adjust the zero position of the corresponding steering motor according to the relationship between the eight comparison results and zero if the judgment result is that it is necessary to perform four-wheel alignment. The present application estimates the four-wheel alignment deviation by the working current state of the drive-by-wire chassis driving motor and the steering motor under a specific working condition, and quickly completes the four-wheel alignment work without the need of additional high-precision equipment. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0049] Figure 1 A four-wheel alignment method for a four-wheel drive-by-wire chassis Figure 1 ;

[0050] Figure 2 A four-wheel alignment method for a four-wheel drive-by-wire chassis Figure 2 ;

[0051] Figure 3 A normal state schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0052] Figure 4 A first steering machine counterclockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0053] Figure 5 A first steering machine clockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0054] Figure 6 A second steering machine clockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0055] Figure 7 A second steering machine counterclockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0056] Figure 8 A third steering machine counterclockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0057] Figure 9 A third steering machine clockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0058] Figure 10 A fourth steering machine clockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0059] Figure 11 A fourth steering machine counterclockwise deflection schematic diagram of a four-wheel alignment method for a four-wheel drive-by-wire chassis

[0060] Figure 12 A four-wheel alignment device diagram of a four-wheel drive-by-wire chassis

[0061] Figure 13 A schematic block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all of the embodiments. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the scope of protection of the present invention.

[0063] Furthermore, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts disclosed in the present invention.

[0064] In the description of this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "mounted," "connected," and "connected" should be interpreted broadly, meaning, for example, fixed, removable, or integral; mechanical or electrical; direct or indirect through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this invention on a case-by-case basis.

[0065] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of methods and systems consistent with certain aspects of the present invention, as detailed in the appended claims.

[0066] The present invention proposes a four-wheel alignment method, device, electronic device and storage medium for a four-turn, four-wheel drive, wire-controlled chassis. The method estimates the four-wheel alignment deviation by analyzing the operating current states of the wire-controlled chassis drive motor and steering motor under specific working conditions, and quickly completes the four-wheel alignment work without the need for additional high-precision equipment.

[0067] Method Example

[0068] Figure 1 A four-wheel alignment method for a four-wheel drive, four-wheel drive, wire-controlled chassis provided by an embodiment of the present invention Figure 1 .

[0069] The first aspect of the present application provides a four-wheel alignment method for a four-wheel drive-by-wire chassis, which combines Figure 1 and includes seven steps S1 to S7:

[0070] S1: A user generates a four-wheel alignment intention, determines that the current ground is a smooth cement pavement, and clicks a four-wheel alignment switch on a central control screen.

[0071] Specifically, in the embodiment of the present application, after the user generates the four-wheel alignment intention, it is determined whether the current ground is a smooth cement pavement, and if the determination result is that the current ground is a smooth cement pavement, the four-wheel alignment switch on the central control screen is clicked. The clicking operation can be single-click, double-click, etc.

[0072] S2: The four-wheel alignment switch on the central control screen receives the clicking operation of the user, and sends an instruction to enter the four-wheel alignment mode to the chassis domain controller.

[0073] Specifically, in the embodiment of the present application, after the four-wheel alignment switch on the central control screen receives the single-click, double-click, etc. operation of the user, the central control screen sends an instruction to enter the four-wheel alignment mode to the chassis domain controller.

[0074] S3: The chassis domain controller receives the instruction to enter the four-wheel alignment mode, and determines whether the level of the ground where the chassis is located meets the preset requirement.

[0075] Specifically, in the embodiment of the present application, after the central control screen sends the instruction to enter the four-wheel alignment mode to the chassis domain controller, the chassis domain controller receives the instruction to enter the four-wheel alignment mode, and determines whether the level of the ground where the chassis is located meets the preset requirement. The specific determination method is to detect whether the current chassis pitch angle and roll angle are within the allowable range through the feedback data of the inertial navigation measurement module.

[0076] S4: If the determination result is that the level of the ground where the chassis is located meets the preset requirement, a four-wheel alignment routine is executed.

[0077] Specifically, in the embodiment of the present application, if it is determined through the feedback data of the inertial navigation measurement module that the current chassis pitch angle and roll angle are within the allowable range, that the level of the ground where the chassis is located meets the preset requirement, and the four-wheel alignment routine is executed. The four-wheel alignment routine is to respectively send a zero-angle instruction to the four steering motors and a torque instruction to the four drive motors, and adjust the speed of the vehicle to be stable to a speed threshold.

[0078] S5: After the four-wheel alignment routine is executed, the chassis domain controller reads the torque feedback values of the four steering motors and the four drive motors.

[0079] Specifically, in the embodiment of the present application, the execution of the four-wheel alignment routine is ended so that the speed of the vehicle is stabilized to a speed threshold value, which can be flexibly determined according to actual conditions, such as 1 m / s,

[0080] S6: Compare the torque feedback values of the four steering motors and the four driving motors with the torque preset values of the four steering motors and the four driving motors to obtain eight comparison results.

[0081] Specifically, in the embodiment of the present application, the method of comparing the torque feedback values of the four steering motors and the four driving motors with the torque preset values of the four steering motors and the four driving motors to obtain eight comparison results is described in detail below.

[0082] S7: Determine whether four-wheel alignment is necessary according to the relationship between the eight comparison results and zero, and if the determination result is that four-wheel alignment is necessary, adjust the zero position of the corresponding steering motor according to the relationship between the eight comparison results and zero.

[0083] Specifically, in the embodiment of the present application, the method of determining whether four-wheel alignment is necessary according to the relationship between the eight comparison results and zero, and if the determination result is that four-wheel alignment is necessary, adjusting the zero position of the corresponding steering motor according to the relationship between the eight comparison results and zero is described in detail below.

[0084] Figure 2 A four-wheel alignment method for a four-wheel four-drive drive-by-wire chassis is provided in the embodiment of the present application Figure 2 .

[0085] Further, in the above-mentioned four-wheel alignment method for a four-wheel four-drive drive-by-wire chassis, in combination with Figure 4 , the step S2 of determining whether the level of the ground where the chassis is located meets the preset requirement comprises:

[0086] S21: Detect whether the current pitch angle and roll angle of the chassis are within the allowable range through the feedback data of the inertial navigation measurement module;

[0087] S22: If the detection result is that the current pitch angle and roll angle of the chassis are within the allowable range, it is determined that the level of the ground where the chassis is located meets the preset requirement; if the detection result is that the current pitch angle and roll angle of the chassis are not within the allowable range, it is determined that the level of the ground where the chassis is located does not meet the preset requirement.

[0088] Specifically, in the embodiment of the present application, the feedback data of the inertial navigation measurement module is used to detect whether the current chassis pitch angle and roll angle are within the allowable range to determine whether the level of the ground where the chassis is located meets the preset requirement, if the level of the ground where the chassis is located meets the preset requirement, it is determined that the ground where the chassis is located is flat enough, and if the level of the ground where the chassis is located does not meet the preset requirement, it is determined that the ground where the chassis is located is not flat; in the case that the ground where the chassis is located is flat enough, the four-wheel alignment routine is executed.

[0089] Further, the four-wheel alignment method for the four-rotor four-wheel drive by wire chassis further comprises:

[0090] If the determination result is that the level of the ground where the chassis is located does not meet the preset requirement, the level of the ground where the current chassis is located and the prompt information that the level of the ground where the chassis is located does not meet the preset requirement are sent to the center control screen.

[0091] Specifically, in the embodiment of the present application, if the level of the ground where the chassis is located does not meet the preset requirement, it is determined that the ground where the chassis is located is not flat, the four-wheel alignment routine is not executed, and the level of the ground where the current chassis is located and the prompt information that the level of the ground where the chassis is located does not meet the preset requirement are sent to the center control screen, so that the user can take timely countermeasures according to the prompt information on the center control screen, thereby improving the user experience.

[0092] Further, the four-wheel alignment method for the four-rotor four-wheel drive by wire chassis further comprises: sending the eight comparison results and the process of adjusting the zero position of the corresponding steering motor to the center control screen.

[0093] Specifically, in the embodiment of the present application, the eight comparison results and the process of adjusting the zero position of the corresponding steering motor are sent to the center control screen, so that the user can understand the size of the torque feedback value of the four steering motors and the four drive motors and the torque preset value of the four steering motors and the four drive motors and the process of adjusting the zero position of the corresponding steering motor in time through the information on the center control screen.

[0094] Further, in the four-wheel alignment method for the four-rotor four-wheel drive by wire chassis, the eight comparison results are obtained by comparing the size of the torque feedback value of the four steering motors and the four drive motors with the torque preset value of the four steering motors and the four drive motors, including:

[0095] The eight comparison results are obtained by subtracting the vector of the torque feedback value of the four steering motors and the four drive motors from the vector of the torque preset value of the four steering motors and the four drive motors and taking the absolute value, and the eight comparison results include: the comparison result of the first drive motor, the comparison result of the first steering motor, the comparison result of the second drive motor, the comparison result of the second steering motor, the comparison result of the third drive motor, the comparison result of the third steering motor, the comparison result of the fourth drive motor, and the comparison result of the fourth steering motor.

[0096] Specifically, in the embodiment of the present application, the vector of the preset torque values of the four driving motors and the four steering motors is represented as:

[0097]

[0098] The vector of the torque feedback values of the four driving motors and the four steering motors is represented as:

[0099]

[0100] The vector of the torque feedback values of the four driving motors and the four steering motors is represented as:

[0101]

[0102]

[0103] That is, the comparison result T D 1 of the first driving motor is obtained by taking the absolute value of the difference between the torque feedback value T DV 1 of the first driving motor and the preset torque value T D 1 of the first driving motor; the comparison result T S 1 of the first steering motor is obtained by taking the absolute value of the difference between the torque feedback value T SV 1 of the first steering motor and the preset torque value T S 1 of the first steering motor; the comparison result T D 2 of the second driving motor is obtained by taking the absolute value of the difference between the torque feedback value T DV 2 of the second driving motor and the preset torque value T D 2 of the second driving motor; the comparison result T S 2 of the second steering motor is obtained by taking the absolute value of the difference between the torque feedback value T SV 2 of the second steering motor and the preset torque value T S 2 of the second steering motor; the comparison result T D 3 of the third driving motor is obtained by taking the absolute value of the difference between the torque feedback value T DV 3 of the third driving motor and the preset torque value T D 3 of the third driving motor; the comparison result T S 3 of the third steering motor is obtained by taking the absolute value of the difference between the torque feedback value T SV 3 of the third steering motor and the preset torque value T S 3 of the third steering motor; and the comparison result T D 4 of the fourth driving motor is obtained by taking the absolute value of the difference between the torque feedback value T DV4 get the comparison result T of the fourth drive motor D Δ4; torque feedback value T of the fourth steering motor S 4 preset torque value T of the fourth steering motor SV 4 get the comparison result T of the fourth steering motor by difference and absolute value S Δ4.

[0104] Further, in the above-mentioned four-wheel alignment method of four-wheel drive-by-wire chassis, whether it is necessary to perform four-wheel alignment is determined according to the relationship between the eight comparison results and zero, including:

[0105] When the comparison result T of the first drive motor is greater than zero and the comparison result T of the first steering motor is greater than zero, the first steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the first steering motor. D Δ1 greater than zero and the comparison result T of the first steering motor S Δ1 greater than zero, or, when the comparison result T of the first drive motor D Δ1 greater than zero and the comparison result T of the first steering motor S Δ1 less than zero, or, when the comparison result T of the second drive motor D Δ2 less than zero and the comparison result T of the second steering motor S Δ2 greater than zero, or, when the comparison result T of the second drive motor D Δ2 less than zero and the comparison result T of the second steering motor S Δ2 less than zero, or, when the comparison result T of the third drive motor D Δ3 greater than zero and the comparison result T of the third steering motor S Δ3 greater than zero, or, when the comparison result T of the third drive motor D Δ3 greater than zero and the comparison result T of the third steering motor S Δ3 less than zero, or, when the comparison result T of the fourth drive motor D Δ4 less than zero and the comparison result T of the fourth steering motor S Δ4 greater than zero, or, when the comparison result T of the fourth drive motor D Δ4 less than zero and the comparison result T of the fourth steering motor S Δ4 less than zero, it is necessary to perform four-wheel alignment;

[0106] Otherwise, it is not necessary to perform four-wheel alignment.

[0107] Further, in the above-mentioned four-wheel alignment method of four-wheel drive-by-wire chassis, the zero position of the corresponding steering motor is adjusted according to the relationship between the eight comparison results and zero, including the following eight cases:

[0108] The first case: when the comparison result of the first drive motor is greater than zero and the comparison result of the first steering motor is greater than zero, the first steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the first steering motor.

[0109] Figure 4 A first steering machine counterclockwise deflection schematic diagram of a four-wheel four-drive by wire chassis is provided for the embodiment of the present application.

[0110] Specifically, combined with Figure 4 At this time, the left front wheel deviates from the zero position counterclockwise, and the offset data is fed back to the center control screen in real time. Meanwhile, the left front wheel steering machine, i.e., the first steering motor, adjusts the steering angle clockwise according to the instruction of the chassis domain controller, so that the state of the left front wheel is adjusted from Figure 3 the middle wheel state to Figure 5 the middle wheel state.

[0111] The second case: when the comparison result of the first drive motor is greater than zero and the comparison result of the first steering motor is less than zero, the first steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the first steering motor.

[0112] Figure 5 A first steering machine clockwise deflection schematic diagram of a four-wheel four-drive by wire chassis is provided for the embodiment of the present application.

[0113] Specifically, combined with Figure 5 At this time, the left front wheel deviates from the zero position clockwise, and the offset data is fed back to the center control screen in real time. Meanwhile, the left front wheel steering machine, i.e., the first steering motor, adjusts the steering angle counterclockwise according to the instruction of the chassis domain controller, so that the state of the left front wheel is adjusted from Figure 3 the middle wheel state to Figure 6 the middle wheel state.

[0114] The third case: when the comparison result of the second drive motor is less than zero and the comparison result of the second steering motor is greater than zero, the second steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the second steering motor.

[0115] Figure 6 A second steering machine clockwise deflection schematic diagram of a four-wheel four-drive by wire chassis is provided for the embodiment of the present application.

[0116] Specifically, combined with Figure 6 At this time, the right front wheel deviates from the zero position clockwise, and the offset data is fed back to the center control screen in real time. Meanwhile, the right front wheel steering machine, i.e., the second steering motor, adjusts the steering angle counterclockwise according to the instruction of the chassis domain controller, so that the state of the right front wheel is adjusted from Figure 3 the middle wheel state to Figure 7 the middle wheel state.

[0117] The fourth case: when the comparison result of the second drive motor is less than zero and the comparison result of the second steering motor is less than zero, the second steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the second steering motor.

[0118] Figure 7A fourth four-wheel drive chassis second steering machine counterclockwise deflection schematic diagram provided for the embodiment of the application.

[0119] Specifically, combined with Figure 7 At this time, the right front wheel deviates from the zero position counterclockwise, and the offset data is fed back to the center control screen in real time. At the same time, the right front wheel steering motor, i.e. the second steering motor, adjusts the steering angle clockwise according to the instruction of the chassis domain controller, so that the right front wheel state is adjusted from Figure 3 The middle wheel state is adjusted to Figure 8 The middle wheel state.

[0120] The fifth case: when the comparison result of the third drive motor is greater than zero and the comparison result of the third steering motor is greater than zero, the third steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the third steering motor.

[0121] Figure 8 A fourth four-wheel drive chassis third steering machine counterclockwise deflection schematic diagram provided for the embodiment of the application.

[0122] Specifically, combined with Figure 8 At this time, the left rear wheel deviates from the zero position clockwise, and the offset data is fed back to the center control screen in real time. At the same time, the left rear wheel steering motor, i.e. the third steering motor, adjusts the steering angle counterclockwise according to the instruction of the chassis domain controller, so that the left rear wheel state is adjusted from Figure 3 The middle wheel state is adjusted to Figure 9 The middle wheel state.

[0123] The sixth case: when the comparison result of the third drive motor is greater than zero and the comparison result of the third steering motor is less than zero, the third steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the third steering motor.

[0124] Figure 9 A fourth four-wheel drive chassis third steering machine clockwise deflection schematic diagram provided for the embodiment of the application.

[0125] Specifically, combined with Figure 9 At this time, the left rear wheel deviates from the zero position counterclockwise, and the offset data is fed back to the center control screen in real time. At the same time, the left rear wheel steering motor, i.e. the third steering motor, adjusts the steering angle clockwise according to the instruction of the chassis domain controller, so that the left rear wheel state is adjusted from Figure 3 The middle wheel state is adjusted to Figure 10 The middle wheel state.

[0126] The seventh case: when the comparison result of the fourth drive motor is less than zero and the comparison result of the fourth steering motor is greater than zero, the fourth steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the fourth steering motor.

[0127] Figure 10A fourth steering machine clockwise deflection schematic diagram of a four-turn four-drive by wire chassis is provided for the embodiment of the present application.

[0128] Specifically, in combination with Figure 10 At this time, the right rear wheel deviates from the zero position counterclockwise, and the offset data is fed back to the center control screen in real time. Meanwhile, the right rear wheel steering motor, i.e., the fourth steering motor, adjusts the steering angle clockwise according to the instruction of the chassis domain controller, so that the state of the right rear wheel is adjusted from Figure 3 the state of the middle wheel to Figure 11 the state of the middle wheel.

[0129] The eighth case: when the comparison result of the fourth driving motor is less than zero and the comparison result of the fourth steering motor is less than zero, the fourth steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the fourth steering motor.

[0130] Figure 11 A fourth steering machine counterclockwise deflection schematic diagram of a four-turn four-drive by wire chassis is provided for the embodiment of the present application.

[0131] Specifically, in combination with Figure 11 , the right rear wheel deviates from the zero position clockwise, and the offset data is fed back to the center control screen in real time. Meanwhile, the right rear wheel steering motor, i.e., the fourth steering motor, adjusts the steering angle counterclockwise according to the instruction of the chassis domain controller, so that the state of the right rear wheel is adjusted from Figure 3 the state of the middle wheel to Figure 12 the state of the middle wheel.

[0132] Here, the relationship between the adjustment amount and T S Δ1, T S Δ2, T S Δ3, T S Δ4 is a nonlinear relationship, and the specific relationship needs to be obtained through statistical test under the four-wheel positioning routine condition, for example, the corresponding relationship between the adjustment amount of the first steering motor of a certain four-turn four-drive by wire chassis and T S Δ1 is as follows:

[0133]

[0134] Device embodiment

[0135] Figure 12 A four-wheel positioning device diagram of a four-turn four-drive by wire chassis is provided for the embodiment of the present application.

[0136] The second aspect of the present application also proposes a four-wheel positioning device of a four-turn four-drive by wire chassis, in combination with Figure 13 , comprising:

[0137] The determining module 121 is configured to generate a four-wheel positioning intention by a user, determine that the current ground is a smooth cement road, and click the four-wheel positioning switch on the center control screen.

[0138] The sending module 122 is configured to send, to the chassis domain controller, an instruction of entering a four-wheel alignment mode when the four-wheel alignment switch on the central control screen receives a click operation of the user.

[0139] The first judging module 123 is configured to judge whether the level of the ground where the chassis is located meets a preset requirement when the chassis domain controller receives the instruction of entering the four-wheel alignment mode.

[0140] The executing module 124 is configured to execute a four-wheel alignment routine when the judging result is that the level of the ground where the chassis is located meets the preset requirement.

[0141] The reading module 125 is configured to read torque feedback values of the four steering motors and the four driving motors after the four-wheel alignment routine is executed.

[0142] The comparing module 126 is configured to compare the torque feedback values of the four steering motors and the four driving motors with preset torque values of the four steering motors and the four driving motors to obtain eight comparison results.

[0143] The second judging module 127 and the adjusting module 128 are configured to judge whether it is necessary to perform four-wheel alignment according to the relationship between the eight comparison results and zero, and adjust the zero position of the corresponding steering motor according to the relationship between the eight comparison results and zero when the judging result is that it is necessary to perform four-wheel alignment.

[0144] The executing the four-wheel alignment routine includes: sending a zero angle instruction to the four steering motors and sending a torque instruction to the four driving motors, and adjusting the speed of the vehicle to a speed threshold value.

[0145] The third aspect of the present application further provides an electronic device, comprising: a processor and a memory.

[0146] The processor is configured to execute the four-wheel alignment method of the four-wheel drive chassis according to any one of the above embodiments by calling the program or the instruction stored in the memory.

[0147] The fourth aspect of the present application further provides a computer readable storage medium, which stores a program or an instruction, and the program or the instruction makes the computer execute the four-wheel alignment method of the four-wheel drive chassis according to any one of the above embodiments.

[0148] Figure 13 is a schematic block diagram of an electronic device provided by an embodiment of the present application.

[0149] As Figure 13As shown, the electronic device includes at least one processor 1301, at least one memory 1302 and at least one communication interface 1303. The various components in the electronic device are coupled together by a bus system 1304. The communication interface 1303 is configured to perform information transmission between the electronic device and an external device. It can be understood that the bus system 1304 is configured to realize the connection communication between the components. In addition to the data bus, the bus system 1304 also includes a power bus, a control bus and a status signal bus. However, for the purpose of clear illustration, all the buses are marked as the bus system 1304 in the ​

[0150] It can be understood that the memory 1302 in the embodiment can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.

[0151] In some embodiments, the memory 1302 stores the following elements, executable units or data structures, or a subset of them, or an extended set of them: an operating system and an application program.

[0152] The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer and the like, for implementing various basic services and processing hardware-based tasks. The application program includes various application programs, such as a media player (Media Player), a browser (Browser) and the like, for implementing various application services. The program for implementing any of the methods of the four-wheel alignment method of the four-wheel drive chassis provided by the embodiment of the application can be included in the application program.

[0153] In the embodiment of the application, the processor 1301 processes the steps of each embodiment of the four-wheel alignment method of the four-wheel drive chassis provided by the embodiment of the application by calling the program or instruction stored in the memory 1302, specifically, the program or instruction stored in the application program.

[0154] The user generates a four-wheel alignment intention, determines that the current ground is a smooth cement pavement, and performs a click operation on the four-wheel alignment switch on the central control screen;

[0155] The four-wheel alignment switch on the central control screen receives the click operation of the user, and sends an instruction for entering the four-wheel alignment mode to the chassis domain controller;

[0156] The chassis domain controller receives the instruction for entering the four-wheel alignment mode, and judges whether the level of the ground where the chassis is located meets the preset requirement;

[0157] If the judgment result is that the level of the ground where the chassis is located meets the preset requirement, a four-wheel alignment routine is executed;

[0158] ​After the four-wheel alignment routine is executed, the chassis domain controller reads torque feedback values of the four steering motors and the four drive motors;

[0159] The eight comparison results are obtained by comparing the torque feedback values of the four steering motors and the four drive motors with preset torque values of the four steering motors and the four drive motors.

[0160] According to the relationship between the eight comparison results and zero, it is determined whether the four-wheel alignment is necessary, and if the determination result is that the four-wheel alignment is necessary, the zero position of the corresponding steering motor is adjusted according to the relationship between the eight comparison results and zero.

[0161] The four-wheel alignment routine includes: sending a zero angle instruction to the four steering motors and sending a torque instruction to the four drive motors, and adjusting the speed of the vehicle to be stable to a speed threshold.

[0162] Any of the four-wheel alignment methods of the four-wheel drive-by-wire chassis provided by the embodiments of the present application can be applied to the processor 1301 or implemented by the processor 1301. The processor 1301 can be an integrated circuit chip with a signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor 1301. The processor 1301 can be a general-purpose processor, 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, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0163] The steps of any of the four-wheel alignment methods of the four-wheel drive-by-wire chassis provided by the embodiments of the present application can be directly embodied as hardware decoding processor execution completion or combined execution completion by hardware and software units in the decoding processor. The software units can be located in the mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in the storage 1302, and the processor 1301 reads the information in the storage 1302, and combines the hardware to complete the steps of the method.

[0164] Those skilled in the art will appreciate that the features of the various embodiments can be combined with each other, as appropriate, without departing from the scope of the application as claimed.

[0165] Those skilled in the art will appreciate that the description of various embodiments have been for illustrative purposes only, and that various modifications and changes in light thereof will be obvious to those skilled in the art.

[0166] Although the application has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations as fall within the scope of the application. Although specific terms have been employed herein, such terms are intended in a descriptive sense only and not for purposes of limitation. The scope of the application is to be afforded the broadest interpretation so as to encompass all compatible technologies.

[0167] Although the application has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations as fall within the scope of the application. Although specific terms have been employed herein, such terms are intended in a descriptive sense only and not for purposes of limitation. The scope of the application is to be afforded the broadest interpretation so as to encompass all compatible technologies.

Claims

1. A four-wheel alignment method for a four-motor four-wheel drive by wire chassis, characterized by, The method comprises the following steps: A user generates a four-wheel alignment intention, determines that the current ground is a smooth cement road, and clicks a four-wheel alignment switch on a central control screen; The four-wheel alignment switch on the central control screen receives the click operation of the user, and sends an instruction for entering a four-wheel alignment mode to a chassis domain controller; The chassis domain controller receives the instruction for entering the four-wheel alignment mode, and judges whether the level of the ground where the chassis is located meets a preset requirement; If the result of the judgment is that the level of the ground where the chassis is located meets the preset requirement, a four-wheel alignment routine is executed; After the execution of the four-wheel alignment routine is completed, the chassis domain controller reads torque feedback values of four steering motors and four drive motors; Eight comparison results are obtained by comparing the torque feedback values of the four steering motors and the four drive motors with preset torque values of the four steering motors and the four drive motors; According to the relationship between the eight comparison results and zero, it is judged whether it is necessary to perform four-wheel alignment, and if the result of the judgment is that it is necessary to perform four-wheel alignment, the zero position of the corresponding steering motor is adjusted according to the relationship between the eight comparison results and zero; The execution of the four-wheel alignment routine comprises the following steps: sending a zero-angle instruction to the four steering motors and sending a torque instruction to the four drive motors, and adjusting the speed of the vehicle to be stable to a speed threshold value; The eight comparison results obtained by comparing the torque feedback values of the four steering motors and the four drive motors with preset torque values of the four steering motors and the four drive motors comprise the following steps: The eight comparison results are obtained by subtracting the vector of the torque feedback values of the four steering motors and the four drive motors from the vector of the preset torque values of the four steering motors and the four drive motors and taking the absolute value; The eight comparison results comprise a comparison result of a first drive motor, a comparison result of a first steering motor, a comparison result of a second drive motor, a comparison result of a second steering motor, a comparison result of a third drive motor, a comparison result of a third steering motor, a comparison result of a fourth drive motor, and a comparison result of a fourth steering motor; According to the relationship between the eight comparison results and zero, it is judged whether it is necessary to perform four-wheel alignment, which comprises the following steps: When the comparison result of the first drive motor is greater than zero and the comparison result of the first steering motor is greater than zero, or when the comparison result of the first drive motor is greater than zero and the comparison result of the first steering motor is less than zero, or when the comparison result of the second drive motor is less than zero and the comparison result of the second steering motor is greater than zero, or when the comparison result of the second drive motor is less than zero and the comparison result of the second steering motor is less than zero, or when the comparison result of the third drive motor is greater than zero and the comparison result of the third steering motor is greater than zero, or when the comparison result of the third drive motor is greater than zero and the comparison result of the third steering motor is less than zero, or when the comparison result of the fourth drive motor is less than zero and the comparison result of the fourth steering motor is greater than zero, or when the comparison result of the fourth drive motor is less than zero and the comparison result of the fourth steering motor is less than zero, it is necessary to perform four-wheel alignment; Otherwise, it is not necessary to perform four-wheel alignment.

2. The four-wheel alignment method of a four-motor four-wheel drive by wire chassis according to claim 1, wherein, The judgment of whether the level of the ground where the chassis is located meets the preset requirement comprises the following steps: Detect whether the current chassis pitch angle and roll angle are within the allowable range through feedback data of the inertial navigation measurement module; If the detection result is that the current chassis pitch angle and roll angle are within the allowable range, it is determined that the level of the ground where the chassis is located meets the preset requirement; if the detection result is that the current chassis pitch angle and roll angle are not within the allowable range, it is determined that the level of the ground where the chassis is located does not meet the preset requirement.

3. The four-wheel alignment method of a four-motor four-wheel drive by wire chassis according to claim 1, wherein, The method further includes: If the determination result is that the level of the ground where the chassis is located does not meet the preset requirement, the level of the ground where the current chassis is located and prompt information that the level of the ground where the chassis is located does not meet the preset requirement are sent to the central control screen.

4. The four-wheel alignment method of a four-motor four-wheel drive by wire chassis according to claim 1, wherein, The method further includes: sending the eight comparison results and the process of adjusting the zero positions of the corresponding steering motors to the central control screen.

5. The four-wheel alignment method of a four-motor four-wheel drive by wire chassis according to claim 1, wherein, The adjusting of the zero positions of the corresponding steering motors according to the relationship between the eight comparison results and zero includes: When the comparison result of the first drive motor is greater than zero and the comparison result of the first steering motor is greater than zero, the first steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the first steering motor; When the comparison result of the first drive motor is greater than zero and the comparison result of the first steering motor is less than zero, the first steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the first steering motor; When the comparison result of the second drive motor is less than zero and the comparison result of the second steering motor is greater than zero, the second steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the second steering motor; When the comparison result of the second drive motor is less than zero and the comparison result of the second steering motor is less than zero, the second steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the second steering motor; When the comparison result of the third drive motor is greater than zero and the comparison result of the third steering motor is greater than zero, the third steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the third steering motor; When the comparison result of the third drive motor is greater than zero and the comparison result of the third steering motor is less than zero, the third steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the third steering motor; When the comparison result of the fourth drive motor is less than zero and the comparison result of the fourth steering motor is greater than zero, the fourth steering motor is adjusted clockwise, and the adjustment amount is related to the comparison result of the fourth steering motor; When the comparison result of the fourth drive motor is less than zero and the comparison result of the fourth steering motor is less than zero, the fourth steering motor is adjusted counterclockwise, and the adjustment amount is related to the comparison result of the fourth steering motor.

6. A four-turn four-wheel drive-by-wire chassis four-wheel alignment device applied to the alignment method of claims 1-5, characterized in that, It includes: A determination module is configured to determine that the current ground is a smooth cement road surface and click a four-wheel alignment switch on a central control screen when a user generates a four-wheel alignment intention; A sending module is configured to send an instruction to enter a four-wheel alignment mode to a chassis domain controller when the four-wheel alignment switch on the central control screen receives the click operation of the user; A first determination module is configured to determine whether the level of the ground where the chassis is located meets a preset requirement when the chassis domain controller receives the instruction to enter the four-wheel alignment mode; An execution module is configured to execute a four-wheel alignment routine when the determination result is that the level of the ground where the chassis is located meets the preset requirement. a reading module, configured to read torque feedback values of the four steering motors and the four driving motors after the four-wheel alignment routine is executed; a comparison module, configured to compare the torque feedback values of the four steering motors and the four driving motors with preset torque values of the four steering motors and the four driving motors to obtain eight comparison results; a second judging module and an adjusting module, configured to judge whether it is necessary to perform the four-wheel alignment according to the relationship between the eight comparison results and zero, and adjust the zero position of the corresponding steering motor according to the relationship between the eight comparison results and zero if it is necessary to perform the four-wheel alignment. The execution of the four-wheel alignment routine comprises: sending a zero angle instruction to the four steering motors and sending a torque instruction to the four driving motors, and adjusting the speed of the vehicle to a speed threshold.

7. An electronic device, comprising: comprise: a processor and a memory; the processor is configured to execute the four-wheel alignment method of the four-wheel drive by-wire chassis according to any one of claims 1 to 5 by calling programs or instructions stored in the memory.

8. A computer-readable storage medium, characterized in that, the computer readable storage medium stores programs or instructions, which enable the computer to execute the four-wheel alignment method of the four-wheel drive by-wire chassis according to any one of claims 1 to 5.

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