A distributed drive unmanned vehicle autonomous escape system and method

Abstract

The present invention discloses a distributed drive unmanned vehicle autonomous escape system and method. The system comprises: a distributed drive unmanned vehicle, a distress perception layer, an escape operation processing layer, and an escape execution layer; the distress perception layer is used to collect vehicle information of the distributed drive unmanned vehicle with the help of vehicle-mounted equipment; the escape operation processing layer is used to perform escape operation processing according to the collected vehicle information; the escape execution layer is used to implement control operations on the distributed drive unmanned vehicle according to the escape operation processing results output by the escape operation processing layer, so that the distributed drive unmanned vehicle can achieve autonomous escape.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned driving, and in particular relates to a distributed drive unmanned vehicle autonomous escape system and method. Background Art

[0002] During the driving process of the distributed drive unmanned vehicle, it is necessary to consider the problem of wheel slippage in muddy roads or icy and snowy roads. In the prior art, the control of vehicle slippage is usually determined by comparing the actual wheel speed difference with the theoretical wheel speed difference to determine the wheel slippage state. At the same time, based on the control of the continuously variable transmission (CVT) or the control of the differential lock, when it is determined that the wheel slippage exceeds the set threshold, the CVT control system can apply additional clamping pressure to the CVT pulley, or the differential lock control system controls the differential lock to lock to prevent slippage. However, the above method is not applicable to distributed drive unmanned vehicles, which has a serious impact on the anti-skid ability and reliability of distributed drive unmanned vehicles, and cannot provide the ability of distributed drive unmanned vehicles to escape autonomously. Summary of the invention

[0003] The present invention provides a distributed drive unmanned vehicle autonomous escape system, the system comprising: a distributed drive unmanned vehicle, a distress perception layer, an escape operation processing layer, and an escape execution layer;

[0004] The distributed drive unmanned vehicle includes multiple drive motors, a central charging and discharging system, and a thermal management system;

[0005] The distress perception layer is used to collect vehicle information of the distributed drive unmanned vehicle with the help of vehicle-mounted equipment, and send the vehicle information to the distress escape operation processing layer;

[0006] The escape operation processing layer is used to perform escape operation processing according to the collected vehicle information;

[0007] The escape execution layer is used to implement control operations on the drive motor control device, central charging and discharging system, and thermal management system of the distributed drive unmanned vehicle according to the escape operation processing results output by the escape operation processing layer, so that the distributed drive unmanned vehicle can escape autonomously.

[0008] Furthermore, the distress perception layer includes a speed collection unit for collecting the vehicle speed of the distributed drive unmanned vehicle, an angular velocity collection unit for collecting the angular velocity of each driving wheel, an angle collection unit for collecting the rotation angle of each driving wheel, an air pressure collection unit for collecting the pressure of each driving tire, and a pitch angle collection unit for collecting the horizontal pitch angle of the distributed drive unmanned vehicle.

[0009] Furthermore, the speed acquisition unit includes a GNSS device for acquiring the driving speed of the distributed drive unmanned vehicle based on the satellite positioning system. The angular velocity acquisition unit includes an encoder device for acquiring the angular velocity of each driving wheel of the distributed drive unmanned vehicle. , , …, ,in is the number of driving wheels of the distributed drive unmanned vehicle; the turning angle acquisition unit includes an angle sensor for acquiring the turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, The air pressure collection unit includes an air pressure sensor for obtaining the tire pressure of each driving wheel of the distributed drive unmanned vehicle. , , …, The pitch angle acquisition unit is used to obtain the pitch angle of the distributed drive unmanned vehicle. .

[0010] Further, the escape operation processing layer includes a slip ratio calculation unit and a control amount calculation unit;

[0011] The slip ratio calculation unit receives the driving speed of the distributed drive unmanned vehicle , the angular velocity of the driving wheels of the distributed drive unmanned vehicle , , …, , the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, , used to calculate the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, ;

[0012] The control amount calculation unit receives the slip ratios of the driving wheels of the distributed drive unmanned vehicle calculated by the slip ratio calculation unit. , , …, , the respective turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, , and the pitch angle of the distributed drive unmanned vehicle , calculate the escape operation processing result and send it to the escape execution layer.

[0013] Furthermore, the slip ratio of each driving wheel of the distributed drive unmanned vehicle is calculated , , …, The specific method is:

[0014] , ;

[0015] in, For the The slip ratio of the driving wheels, For the The angular velocity of the driving wheel, For the The tire pressure of each driving wheel, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius;

[0016] The driving wheel radius calculation coefficient and the driving wheel radius calculation constant Obtained through empirical methods;

[0017] The escape calculation result includes the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , the specific method is:

[0018] Calculate the Longitudinal force of the driving wheel , specifically:

[0019] ;

[0020] in, , are the fitting control parameters obtained by empirical method, For the The slip ratio of the driving wheels, For the The turning angle of the driving wheels, The pitch angle of the distributed drive unmanned vehicle, is a natural constant;

[0021] Calculate the Adjust tire pressure for each driving wheel , specifically:

[0022]

[0023] Calculate the Breakaway torque of each drive wheel , specifically:

[0024]

[0025] in, For the The longitudinal force of the driving wheel to break free, For the The tire pressure of each driving wheel, For the Adjust tire pressure value for each driving wheel, is the transmission efficiency constant for driving the unmanned vehicle, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius;

[0026] The escape operation processing result also includes a thermal management system startup instruction;

[0027] According to the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, Whether the discrete degree exceeds the threshold value is used to determine whether to issue a thermal management system startup instruction. The specific method is:

[0028]

[0029] in, Indicates that a thermal management system startup command is issued. Indicates that no thermal management system startup command is issued. For the The slip ratio of the driving wheels, represents the average slip rate of the driving wheels of the distributed drive unmanned vehicle, is the judgment threshold.

[0030] Furthermore, the escape execution layer receives the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , controlling the drive motor control device and the central charging and discharging system of the distributed drive unmanned vehicle; the escape execution layer starts or shuts down the thermal management system according to whether a thermal management system start-up instruction is received.

[0031] The present invention also relates to a distributed drive unmanned vehicle autonomous escape method, which is applied to the above-mentioned distributed drive unmanned vehicle autonomous escape system, and comprises the following steps:

[0032] S1. The speed acquisition unit obtains the driving speed of the distributed drive unmanned vehicle ;

[0033] S2. The angular velocity acquisition unit obtains the angular velocity of each driving wheel of the distributed drive unmanned vehicle , , …, ,in The number of driving wheels for the distributed drive unmanned vehicle;

[0034] S3. The turning angle acquisition unit obtains the turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, ;

[0035] S4. The air pressure collection unit obtains the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, ;

[0036] S5. Pitch angle acquisition unit, obtains the pitch angle of the distributed drive unmanned vehicle ;

[0037] S6. The slip rate calculation unit receives the driving speed of the distributed drive unmanned vehicle , the angular velocity of the driving wheels of the distributed drive unmanned vehicle , , …, , the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, , calculate the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, ;

[0038] S7. The control amount calculation unit receives the slip ratio of each driving wheel of the distributed drive unmanned vehicle calculated by the slip ratio calculation unit. , , …, , the respective turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, , and the pitch angle of the distributed drive unmanned vehicle , calculating the escape operation processing result and sending it to the escape execution layer;

[0039] The escape calculation result includes the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , thermal management system startup instruction;

[0040] S8. The escape execution layer receives the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , control the drive motor control device and central charging and discharging system of the distributed drive unmanned vehicle; start or shut down the thermal management system based on whether a thermal management system start-up instruction is received.

[0041] Further, the step S6 specifically includes performing the following calculation:

[0042] ,

[0043] in, For the The slip ratio of the driving wheels, For the The angular velocity of the driving wheel, For the The tire pressure of each driving wheel, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius;

[0044] The step S7 specifically includes:

[0045] Calculate the Longitudinal force of the driving wheel , specifically:

[0046]

[0047] in, , are the fitting control parameters obtained by empirical method, For the The slip ratio of the driving wheels, For the The turning angle of the driving wheels, The pitch angle of the distributed drive unmanned vehicle, is a natural constant.

[0048] Calculate the Adjust tire pressure for each driving wheel , specifically:

[0049]

[0050] Calculate the Breakaway torque of each drive wheel , specifically:

[0051]

[0052] in, For the The longitudinal force of the driving wheel to break free, For the The tire pressure of each driving wheel, For the Adjust tire pressure value for each driving wheel, is the transmission efficiency constant for driving the unmanned vehicle, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius.

[0053] According to the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, Whether the discrete degree exceeds the threshold value is used to determine whether to issue a thermal management system startup instruction. The specific method is:

[0054]

[0055] in, Indicates that a thermal management system startup command is issued. Indicates that no thermal management system startup command is issued. For the The slip ratio of the driving wheels, represents the average slip rate of the driving wheels of the distributed drive unmanned vehicle, is the judgment threshold.

[0056] The present invention also relates to a computer program product, which includes a computer program. The computer program is executed by a processor to execute the above-mentioned distributed drive unmanned vehicle autonomous escape method.

[0057] The present invention also relates to a computer-readable storage medium, which is used to store a computer program. The computer program is executed by a processor to execute the above-mentioned distributed drive unmanned vehicle autonomous escape method.

[0058] The technical solution of the present invention can collect vehicle information of a distributed drive unmanned vehicle, perform escape calculations, automatically implement control operations on the distributed drive unmanned vehicle, enable the distributed drive unmanned vehicle to escape autonomously, and prepare for high-torque operating conditions of the drive motor through a thermal management system. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 The present invention is a structural block diagram of a distributed drive unmanned vehicle autonomous escape system. DETAILED DESCRIPTION

[0060] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the scope of protection of the present invention. It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation of the present invention.

[0061] Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those generally understood by those of ordinary skill in the art to which the present invention belongs. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0062] Embodiment 1 of the present invention relates to a distributed drive unmanned vehicle autonomous escape system, as shown in the attached Figure 1 As shown, the system includes: a distributed drive unmanned vehicle, a distress perception layer, an escape operation processing layer, and an escape execution layer.

[0063] The distributed drive unmanned vehicle includes multiple drive motors, a central charging and discharging system, and a thermal management system.

[0064] The distress perception layer is used to collect vehicle information of the distributed drive unmanned vehicle with the help of vehicle-mounted equipment, and send the vehicle information to the distress escape operation processing layer.

[0065] The escape operation processing layer is used to perform escape operation processing based on the collected vehicle information.

[0066] The escape execution layer is used to implement control operations on the drive motor control device, central charging and discharging system, and thermal management system of the distributed drive unmanned vehicle according to the escape operation processing results output by the escape operation processing layer, so that the distributed drive unmanned vehicle can escape autonomously.

[0067] The distress perception layer includes a speed collection unit for collecting the vehicle speed of the distributed drive unmanned vehicle, an angular velocity collection unit for collecting the angular velocity of each drive wheel, an angle collection unit for collecting the rotation angle of each drive wheel, an air pressure collection unit for collecting the pressure of each drive tire, and a pitch angle collection unit for collecting the horizontal pitch angle of the distributed drive unmanned vehicle.

[0068] The speed acquisition unit includes a GNSS device for acquiring the driving speed of the distributed drive unmanned vehicle based on the satellite positioning system. .

[0069] The angular velocity acquisition unit includes an encoder device for acquiring the angular velocity of each driving wheel of the distributed drive unmanned vehicle. , , …, ,in The number of driving wheels of the distributed drive unmanned vehicle.

[0070] The angle acquisition unit includes an angle sensor for acquiring the angles of the driving wheels of the distributed drive unmanned vehicle. , , …, .

[0071] The air pressure collection unit includes an air pressure sensor for obtaining the tire pressure of each driving wheel of the distributed drive unmanned vehicle. , , …, .

[0072] The pitch angle acquisition unit is used to obtain the pitch angle of the distributed drive unmanned vehicle. .

[0073] The escape operation processing layer includes a slip ratio calculation unit and a control amount calculation unit.

[0074] The slip ratio calculation unit receives the driving speed of the distributed drive unmanned vehicle , the angular velocity of the driving wheels of the distributed drive unmanned vehicle , , …, , the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, , used to calculate the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, The specific method is:

[0075] ,

[0076] in, For the The slip ratio of the driving wheels, For the The angular velocity of the driving wheel, For the The tire pressure of each driving wheel, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius.

[0077] The driving wheel radius calculation coefficient and the driving wheel radius calculation constant Obtained through empirical methods.

[0078] The control amount calculation unit receives the slip ratios of the driving wheels of the distributed drive unmanned vehicle calculated by the slip ratio calculation unit. , , …, , the respective turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, , and the pitch angle of the distributed drive unmanned vehicle , calculate the escape operation processing result and send it to the escape execution layer.

[0079] The escape calculation result includes the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, The specific method is:

[0080] Calculate the Longitudinal force of the driving wheel , specifically:

[0081]

[0082] in, , are the fitting control parameters obtained by empirical method, For the The slip ratio of the driving wheels, For the The turning angle of the driving wheels, The pitch angle of the distributed drive unmanned vehicle, is a natural constant.

[0083] Calculate the Adjust tire pressure for each driving wheel , specifically:

[0084]

[0085] Calculate the Breakaway torque of each drive wheel , specifically:

[0086]

[0087] in, For the The longitudinal force of the driving wheel to break free, For the The tire pressure of each driving wheel, For the Adjust tire pressure value for each driving wheel, is the transmission efficiency constant for driving the unmanned vehicle, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius.

[0088] The escape operation processing result also includes a thermal management system startup instruction.

[0089] According to the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, Whether the discrete degree exceeds the threshold value is used to determine whether to issue a thermal management system startup instruction. The specific method is:

[0090]

[0091] in, Indicates that a thermal management system startup command is issued. Indicates that no thermal management system startup command is issued. For the The slip ratio of the driving wheels, represents the average slip rate of the driving wheels of the distributed drive unmanned vehicle, is the judgment threshold.

[0092] The escape execution layer receives the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , controls the drive motor control device and central charging and deflation system of the distributed drive unmanned vehicle.

[0093] The escape execution layer starts or shuts down the thermal management system according to whether a thermal management system start-up instruction is received.

[0094] Embodiment 2 of the present invention relates to a distributed drive unmanned vehicle autonomous escape system, and the method is implemented by the system of embodiment 1, comprising the following steps:

[0095] S1. The speed acquisition unit obtains the driving speed of the distributed drive unmanned vehicle .

[0096] S2. The angular velocity acquisition unit obtains the angular velocity of each driving wheel of the distributed drive unmanned vehicle , , …, ,in The number of driving wheels of the distributed drive unmanned vehicle.

[0097] S3. The turning angle acquisition unit obtains the turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, .

[0098] S4. The air pressure collection unit obtains the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, .

[0099] S5. Pitch angle acquisition unit, obtains the pitch angle of the distributed drive unmanned vehicle .

[0100] S6. The slip rate calculation unit receives the driving speed of the distributed drive unmanned vehicle , the angular velocity of the driving wheels of the distributed drive unmanned vehicle , , …, , the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, , calculate the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, .

[0101] The step S6 specifically includes performing the following calculation:

[0102] ,

[0103] in, For the The slip ratio of the driving wheels, For the The angular velocity of the driving wheel, For the The tire pressure of each driving wheel, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius.

[0104] S7. The control amount calculation unit receives the slip ratio of each driving wheel of the distributed drive unmanned vehicle calculated by the slip ratio calculation unit. , , …, , the respective turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, , and the pitch angle of the distributed drive unmanned vehicle , calculating the escape operation processing result and sending it to the escape execution layer;

[0105] The escape calculation result includes the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , thermal management system startup instructions.

[0106] The step S7 specifically includes:

[0107] Calculate the Longitudinal force of the driving wheel , specifically:

[0108]

[0109] in, , are the fitting control parameters obtained by empirical method, For the The slip ratio of the driving wheels, For the The turning angle of the driving wheels, The pitch angle of the distributed drive unmanned vehicle, is a natural constant.

[0110] Calculate the Adjust tire pressure for each driving wheel , specifically:

[0111]

[0112] Calculate the Breakaway torque of each drive wheel , specifically:

[0113]

[0114] in, For the The longitudinal force of the driving wheel to break free, For the The tire pressure of each driving wheel, For the Adjust tire pressure value for each driving wheel, is the transmission efficiency constant for driving the unmanned vehicle, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius.

[0115] According to the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, Whether the discrete degree exceeds the threshold value is used to determine whether to issue a thermal management system startup instruction. The specific method is:

[0116]

[0117] in, Indicates that a thermal management system startup command is issued. Indicates that no thermal management system startup command is issued. For the The slip ratio of the driving wheels, represents the average slip rate of the driving wheels of the distributed drive unmanned vehicle, is the judgment threshold.

[0118] S8. The escape execution layer receives the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , control the drive motor control device and central charging and discharging system of the distributed drive unmanned vehicle; start or shut down the thermal management system based on whether a thermal management system start-up instruction is received.

[0119] Embodiment 3 of the present invention relates to a computer program product, which includes a computer program. The computer program is executed by a processor to execute a distributed drive unmanned vehicle autonomous escape method of embodiment 2.

[0120] Embodiment 4 of the present invention relates to a computer-readable storage medium, which is used to store a computer program. The computer program is executed by a processor to execute a distributed drive unmanned vehicle autonomous escape method of embodiment 2.

[0121] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A distributed drive unmanned vehicle autonomous escape system, characterized in that: The system includes: a distributed drive unmanned vehicle, a distress perception layer, an escape operation processing layer, and an escape execution layer; The distributed drive unmanned vehicle includes multiple drive motors, a central charging and discharging system, and a thermal management system; The distress perception layer is used to collect vehicle information of the distributed drive unmanned vehicle with the help of vehicle-mounted equipment, and send the vehicle information to the distress escape operation processing layer; The escape operation processing layer is used to perform escape operation processing according to the collected vehicle information; The escape execution layer is used to control the drive motor control device, the central gas charging and discharging system, and the thermal management system of the distributed drive unmanned vehicle according to the escape operation processing result output by the escape operation processing layer, so that the distributed drive unmanned vehicle can escape autonomously; The distress perception layer includes a speed acquisition unit for acquiring the vehicle speed of the distributed drive unmanned vehicle, an angular velocity acquisition unit for acquiring the angular velocity of each driving wheel, an angle acquisition unit for acquiring the rotation angle of each driving wheel, an air pressure acquisition unit for acquiring the pressure of each driving tire, and a pitch angle acquisition unit for acquiring the horizontal pitch angle of the distributed drive unmanned vehicle; The speed acquisition unit includes a GNSS device for acquiring the driving speed of the distributed drive unmanned vehicle based on the satellite positioning system. The angular velocity acquisition unit includes an encoder device for acquiring the angular velocity of each driving wheel of the distributed drive unmanned vehicle. , , …, ,in is the number of driving wheels of the distributed drive unmanned vehicle; the turning angle acquisition unit includes an angle sensor for acquiring the turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, The air pressure collection unit includes an air pressure sensor for obtaining the tire pressure of each driving wheel of the distributed drive unmanned vehicle. , , …, The pitch angle acquisition unit is used to obtain the pitch angle of the distributed drive unmanned vehicle. ; The escape operation processing layer includes a slip ratio calculation unit and a control amount calculation unit; The slip ratio calculation unit receives the driving speed of the distributed drive unmanned vehicle , the angular velocity of the driving wheels of the distributed drive unmanned vehicle , , …, , the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, , used to calculate the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, ; The control amount calculation unit receives the slip ratios of the driving wheels of the distributed drive unmanned vehicle calculated by the slip ratio calculation unit. , , …, , the respective turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, , and the pitch angle of the distributed drive unmanned vehicle , calculating the escape operation processing result and sending it to the escape execution layer; Calculate the slip rate of each drive wheel of a distributed drive unmanned vehicle , , …, The specific method is: ； in, For the The slip ratio of the driving wheels, For the The angular velocity of the driving wheel, For the The tire pressure of each driving wheel, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius; The driving wheel radius calculation coefficient and the driving wheel radius calculation constant Obtained through empirical methods; The escape calculation result includes the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , the specific method is: Calculate the Longitudinal force of the driving wheel , specifically: ； in, , are the fitting control parameters obtained by empirical method, For the The slip ratio of the driving wheels, For the The turning angle of the driving wheels, The pitch angle of the distributed drive unmanned vehicle, is a natural constant; Calculate the Adjust tire pressure for each driving wheel , specifically: ； Calculate the Breakaway torque of each drive wheel , specifically: ； in, For the The longitudinal force of the driving wheel to break free, For the The tire pressure of each driving wheel, For the Adjust tire pressure value for each driving wheel, is the transmission efficiency constant for driving the unmanned vehicle, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius; The escape operation processing result also includes a thermal management system startup instruction; According to the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, Whether the discrete degree exceeds the threshold value, it is judged whether to issue a thermal management system start instruction. The specific method is as follows: ； in, Indicates that a thermal management system startup command is issued. Indicates that no thermal management system startup command is issued. For the The slip ratio of the driving wheels, represents the average slip rate of the driving wheels of the distributed drive unmanned vehicle, is the judgment threshold.

2. A distributed drive unmanned vehicle autonomous escape system according to claim 1, characterized in that: The escape execution layer receives the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , controlling the drive motor control device and the central charging and discharging system of the distributed drive unmanned vehicle; the escape execution layer starts or shuts down the thermal management system according to whether a thermal management system start-up instruction is received.

3. A distributed drive unmanned vehicle autonomous escape method, the method is applied to the distributed drive unmanned vehicle autonomous escape system according to claim 1 or 2, characterized in that: The method comprises the following steps: S1. The speed acquisition unit obtains the driving speed of the distributed drive unmanned vehicle ; S2. The angular velocity acquisition unit obtains the angular velocity of each driving wheel of the distributed drive unmanned vehicle , , …, ,in The number of driving wheels for the distributed drive unmanned vehicle; S3. The turning angle acquisition unit obtains the turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, ; S4. The air pressure collection unit obtains the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, ; S5. Pitch angle acquisition unit, obtains the pitch angle of the distributed drive unmanned vehicle ; S6. The slip rate calculation unit receives the driving speed of the distributed drive unmanned vehicle , the angular velocity of the driving wheels of the distributed drive unmanned vehicle , , …, , the tire pressure of each driving wheel of the distributed drive unmanned vehicle , , …, , calculate the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, ; S7. The control amount calculation unit receives the slip ratio of each driving wheel of the distributed drive unmanned vehicle calculated by the slip ratio calculation unit. , , …, , the respective turning angles of the driving wheels of the distributed drive unmanned vehicle , , …, , and the pitch angle of the distributed drive unmanned vehicle , calculating the escape operation processing result and sending it to the escape execution layer; The escape calculation result includes the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , thermal management system startup instruction; S8. The escape execution layer receives the escape torque of each driving wheel of the unmanned vehicle. , , …, , the tire pressure values ​​of the driving wheels of the unmanned vehicle are adjusted , , …, , control the drive motor control device and central charging and discharging system of the distributed drive unmanned vehicle; start or shut down the thermal management system according to whether the thermal management system start command is received; The step S6 specifically includes performing the following calculations: ； in, For the The slip ratio of the driving wheels, For the The angular velocity of the driving wheel, For the The tire pressure of each driving wheel, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius; The step S7 specifically includes: Calculate the Longitudinal force of the driving wheel , specifically: ； in, , are the fitting control parameters obtained by empirical method, For the The slip ratio of the driving wheels, For the The turning angle of the driving wheels, The pitch angle of the distributed drive unmanned vehicle, is a natural constant; Calculate the Adjust tire pressure for each driving wheel , specifically: ； Calculate the Breakaway torque of each drive wheel , specifically: ； in, For the The longitudinal force of the driving wheel to break free, For the The tire pressure of each driving wheel, For the Adjust tire pressure value for each driving wheel, is the transmission efficiency constant for driving the unmanned vehicle, is the driving wheel radius calculation coefficient, Calculate the constant for the drive wheel radius; According to the slip rate of each driving wheel of the distributed drive unmanned vehicle , , …, Whether the discrete degree exceeds the threshold value, it is judged whether to issue a thermal management system start instruction. The specific method is as follows: ； in, Indicates that a thermal management system startup command is issued. Indicates that no thermal management system startup command is issued. For the The slip ratio of the driving wheels, represents the average slip rate of the driving wheels of the distributed drive unmanned vehicle, is the judgment threshold.

4. A computer program product, characterized in that The computer program product includes a computer program, which is executed by a processor to execute the distributed drive unmanned vehicle autonomous escape method as described in claim 3.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is executed by a processor to execute the distributed drive unmanned vehicle autonomous escape method described in claim 3.

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