Multi-mode control system and method for vehicle wheels, medium and electronic equipment

Abstract

The invention provides a multi-mode control system and method for vehicle wheels, a medium and electronic equipment. The system comprises a plurality of wheel control motors, a plurality of operation control modules, a robot control module and a plurality of wheel control modules. The robot control module is in communication connection with the multiple operation control modules and is configured to determine a wheel driving mode based on the received operation control signals and generate respective wheel control instructions of the multiple wheel control modules based on the wheel driving mode; the wheel control modules are in communication connection with the robot control module and at least one wheel control motor and are configured to control movement of the wheel control motors based on the wheel control instructions. The robot control module achieves accurate control over a plurality of wheel control motors through a plurality of wheel control modules, and the vehicle control accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a multi-mode control system, method, medium and electronic device for vehicle wheels. Background Art

[0002] With the development of autonomous driving and intelligent vehicle technology, vehicle control systems are becoming more and more complex. For example, vehicles need to perform operation modes such as rotation on the spot, Ackerman motion, lateral movement, and four-wheel drive four-turn in different scenarios. The vehicle needs to achieve precise motion control in different modes.

[0003] However, the current multi-mode switching is not coordinated enough and has low efficiency. It is unable to switch smoothly between different driving modes flexibly and efficiently, resulting in poor control experience and affecting the driving experience.

[0004] Therefore, the present application provides a multi-mode control system for vehicle wheels to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide a multi-mode control system, method, medium and electronic device for vehicle wheels, which can solve at least one of the above-mentioned technical problems. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides a multi-mode control system for vehicle wheels, including: a plurality of wheel control motors, a plurality of operation control modules, a robot control module, and a plurality of wheel control modules;

[0007] A plurality of operation control modules, wherein the operation control modules are configured to obtain operation control signals;

[0008] a robot control module, which is in communication connection with the plurality of operation control modules respectively, and is configured to: determine a wheel drive mode based on the received operation control signal, and generate wheel control instructions for each of the plurality of wheel control modules based on the wheel drive mode;

[0009] The multiple wheel control modules are respectively communicatively connected with the robot control module and at least one wheel control motor, and are configured to control the movement of the wheel control motor based on the wheel control instruction.

[0010] Optionally, the multiple wheel control motors include a wheel brake motor module for rear wheels, and the wheel brake motor module includes two wheel brake motors with mutually exclusive braking.

[0011] Optionally, the multiple wheel control modules include multiple brake control modules and multiple drive control modules; the multiple wheel control motors include multiple drive motors, and the multiple drive motors are communicatively connected to the multiple drive control modules one by one;

[0012] The robot control module is further configured to: generate a recovery control instruction of a kinetic energy recovery mode when the multiple brake control modules all feedback a brake failure signal;

[0013] The drive control module is further configured to control the braking of the drive motor based on the recovery control instruction.

[0014] Optionally, the multiple operation control modules include an emergency stop control module; the multiple wheel control motors include multiple wheel brake motors; the multiple brake control modules are connected to the multiple wheel brake motors or the multiple wheel brake motor modules in a one-to-one communication manner;

[0015] The robot control module is further configured to: generate a drive power-off instruction and a maximum braking instruction when receiving an emergency stop signal sent by the emergency stop control module;

[0016] The drive control module is further configured to disconnect the power supply to the drive motor based on the drive power-off instruction;

[0017] The brake control module is further configured to control the wheel brake motor or the wheel brake motor module to perform strong braking based on the maximum braking instruction.

[0018] Optionally, the wheel drive modes include: in-place rotation mode, Ackerman movement mode, lateral shift mode, four-turn four-wheel drive mode and diagonal travel mode.

[0019] Optionally, the multiple wheel control modules also include multiple steering control modules; the multiple wheel control motors also include multiple steering control motors, and the multiple steering control motors are communicatively connected to the multiple steering control modules one by one.

[0020] Optionally, the multiple operation control modules also include: a sub-gear switch module, a vehicle control module and a steering control module.

[0021] According to a specific implementation of the present application, in a second aspect, the present application provides a multi-mode control method for vehicle wheels, which is applied to a robot control module, comprising:

[0022] Receiving an operation control signal sent by an operation control module;

[0023] determining a wheel drive mode based on the operation control signal;

[0024] Wheel control instructions for each of the plurality of wheel control modules are generated based on the wheel drive mode.

[0025] According to a specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the multi-mode control method for vehicle wheels as described in any one of the above items is implemented.

[0026] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the multi-mode control method of the vehicle wheels as described in any of the above items.

[0027] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0028] The present application provides a multi-mode control system, method, medium and electronic device for vehicle wheels. The system includes: multiple wheel control motors, multiple operation control modules, a robot control module and multiple wheel control modules; the robot control module is respectively connected to the multiple operation control modules in communication, and is configured to: determine the wheel drive mode based on the received operation control signal, and generate wheel control instructions for each of the multiple wheel control modules based on the wheel drive mode; the multiple wheel control modules, the wheel control module is respectively connected to the robot control module and at least one wheel control motor in communication, and is configured to control the movement of the wheel control motor based on the wheel control instruction. The robot control module switches multiple wheel drive modes uniformly, and can quickly switch to the appropriate wheel drive mode in different scenarios, thereby improving the adaptability of the vehicle under different road conditions and the flexibility of multi-mode driving. The robot control module realizes precise control of multiple wheel control motors through multiple wheel control modules, thereby enhancing the accuracy of vehicle control. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A module block diagram of a multi-mode control system for vehicle wheels according to an embodiment of the present application is shown;

[0030] Figure 2 A connection diagram of a multi-mode control system for vehicle wheels according to an embodiment of the present application is shown;

[0031] Figure 3 A control schematic diagram of a multi-mode control system for vehicle wheels according to an embodiment of the present application is shown;

[0032] Figure 4A flow chart of a multi-mode control method for vehicle wheels according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0034] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0035] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0036] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0037] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0038] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0039] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0040] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0041] The present application provides an embodiment, namely, an embodiment of a multi-mode control system for vehicle wheels.

[0042] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0043] The present application provides a multi-mode control system for vehicle wheels, including: multiple wheel control motors, multiple operation control modules, a robot control module and multiple wheel control modules, such as Figure 1 shown.

[0044] A plurality of operation control modules are provided, wherein the operation control modules are configured to obtain operation control signals. The operation control signals obtained by the operation control modules are generated by the operation behavior of the driver.

[0045] In some specific implementations, the multiple operation control modules include: a secondary gear switch module, a vehicle control module and a steering control module.

[0046] like Figure 2 As shown, the multiple operation control modules include: a sub-gear switch module, a steering control module, a vehicle control module and an emergency stop control module.

[0047] The auxiliary gear switch module obtains the auxiliary gear switch signal, and the robot control module obtains information that can obtain the wheel drive mode according to the auxiliary gear switch signal.

[0048] The steering control module obtains the brake pedal opening signal and the steering wheel angle signal to ensure the precise execution of braking and steering operations.

[0049] The vehicle control module obtains the drive pedal opening signal and gear status signal (including D gear, R gear, N gear and P gear), and can intelligently complete the coordinated optimization of power output and transmission system, and realize precise power adjustment under different wheel drive modes, making the vehicle's power transmission more efficient and the driving experience smoother.

[0050] The robot control module is respectively connected to the plurality of operation control modules for communication, and is configured to: determine a wheel drive mode based on a received operation control signal, and generate wheel control instructions for each of the plurality of wheel control modules based on the wheel drive mode.

[0051] In some specific implementations, the wheel drive modes include: in-situ rotation mode, Ackerman movement mode, lateral shift mode, four-turn four-wheel drive mode and diagonal travel mode.

[0052] In the in-situ rotation mode, the wheels will determine the rotation angle according to the values ​​of the wheelbase and track. For example, the current rotation angle of the vehicle is 55° for the left front wheel to the right, 55° for the right front wheel to the left, 55° for the right rear wheel to the right, and 55° for the left rear wheel to the left. When the gear status signal is the D gear signal, the vehicle rotates in a clockwise direction; when the gear status signal is the R gear signal, the vehicle rotates in a counterclockwise direction. In this mode, the driver can control the speed of the vehicle by adjusting the drive pedal opening signal and the brake pedal opening signal, and set the maximum allowable rotation speed to ensure safety, and control the driving direction of the vehicle by selecting the gear status signal.

[0053] Ackerman Sport mode controls the left and right front wheels through the steering wheel angle signal. In this mode, the two front wheels share the same rotation center and the maximum rotation angle of the wheels is limited to 25°. In addition, the driver can control the vehicle speed by adjusting the drive pedal opening signal and the brake pedal opening signal, and select the direction of the vehicle through the gear status signal.

[0054] In the lateral shift mode, the wheels rotate according to the following rules: the left front wheel rotates 90° to the right, the right front wheel rotates 90° to the left, the right rear wheel rotates 90° to the right, and the left rear wheel rotates 90° to the left. When the gear state signal is the D gear signal, the vehicle moves to the right; when the gear state signal is the R gear signal, the vehicle moves to the left. In addition, the driver can control the vehicle's speed by adjusting the drive pedal opening signal and the brake pedal opening signal, and set the maximum allowable lateral shift speed to ensure safety. At the same time, the gear state signal is used to select and control the vehicle's driving direction.

[0055] In the four-turn four-wheel drive mode, the vehicle controls the steering of the wheels through the rotation center. The turning radius and the position of the rotation center of the vehicle are controlled by the steering wheel angle signal. When the rotation angle of the steering wheel angle signal is maintained at 3° or less, the vehicle will maintain a straight-line driving state. When the steering wheel angle signal gradually increases, the rotation radius gradually decreases from 10m to 4.5m. At the same time, with the reduction of the turning radius, the rotation center of the vehicle will also move accordingly. In the process of increasing the steering wheel angle signal, the rotation center will gradually move forward from the initial position, that is, about 14° behind the vehicle's geometric center (measured in virtual angles based on the vehicle's longitudinal axis), until it finally approaches the actual geometric center of the vehicle. It should be noted that the maximum rotation angle of the four wheels cannot exceed 25°. In addition, the driver can control the speed of the vehicle by adjusting the drive pedal opening signal and the brake pedal opening signal, and select the direction of the vehicle's travel through the gear state signal.

[0056] In the diagonal mode, the wheels are adjusted synchronously according to the steering wheel angle signal, so that the vehicle can move in a diagonal direction. For example, when the steering wheel is turned to the left, the wheels will rotate to the left at a specific angle accordingly. This synchronous rotation allows the vehicle to move smoothly along a diagonal path instead of driving in a straight line. In addition, the driver can control the vehicle's speed by adjusting the drive pedal opening signal and the brake pedal opening signal, and control the vehicle's driving direction through the gear state signal.

[0057] A plurality of wheel control modules are respectively communicatively connected with the robot control module and at least one wheel control motor, and are configured to control the movement of the wheel control motor based on the wheel control instruction.

[0058] like Figure 2 As shown, the plurality of wheel control modules include: a plurality of brake control modules, a plurality of drive control modules and a plurality of steering control modules. For example, for a four-wheel drive vehicle, Figure 3 As shown, the multiple wheel control modules include: 4 brake control modules, 4 drive control modules and 4 steering control modules. The multiple wheel control modules can accurately control the steering, drive and braking operations of the four wheels of the vehicle.

[0059] In some specific implementations, the plurality of wheel control motors include a wheel brake motor module for rear wheels, and the wheel brake motor module includes two wheel brake motors with mutually exclusive braking.

[0060] The braking mutual exclusion means that at least one of the two wheel brake motors can always work normally.

[0061] For example, Figure 3 As shown, a four-wheel drive vehicle uses a wheel brake motor module for each rear wheel.

[0062] In this specific embodiment, when one wheel brake motor in the wheel brake motor module fails, the other wheel brake motor can immediately take over, thereby ensuring that the wheel brake motor module of the rear wheel is always in a reliable state and ensuring the safety of vehicle driving.

[0063] In some specific implementations, the multiple wheel control modules include multiple brake control modules and multiple drive control modules; the multiple wheel control motors include multiple drive motors, and the multiple drive motors are communicatively connected to the multiple drive control modules one by one.

[0064] For example, Figure 3As shown, for a four-wheel drive vehicle, the multiple wheel control modules include four brake control modules and four drive control modules, the multiple wheel control motors include four drive motors, and each drive control module is connected to a drive motor in communication. It is ensured that each drive motor can be controlled by an independent drive control module to avoid centralized control by one drive control module. Once the centralized drive control module fails, it will cause great safety hazards, thereby ensuring driving safety.

[0065] The robot control module is further configured to generate a recovery control instruction for a kinetic energy recovery mode when the multiple brake control modules all feed back brake failure signals.

[0066] The drive control module is further configured to control the braking of the drive motor based on the recovery control instruction.

[0067] In this specific embodiment, once all the brake control modules feed back brake failure signals, the robot control module utilizes the kinetic energy recovery mode of the drive motor to perform braking operations to ensure safe deceleration of the vehicle.

[0068] In some specific implementations, the multiple operation control modules also include an emergency stop control module; the multiple wheel control motors include multiple wheel brake motors; and the multiple brake control modules are communicatively connected one by one with the multiple wheel brake motors or the multiple wheel brake motor modules.

[0069] Emergency stop control module, obtains emergency stop control signal.

[0070] For example, Figure 3 As shown, for a four-wheel drive vehicle, it includes 4 wheel brake motors; each front wheel brake control module is communicatively connected with a wheel brake motor, and each rear wheel brake control module is communicatively connected with a wheel brake motor module.

[0071] The robot control module is further configured to generate a drive power-off instruction and a maximum braking instruction when receiving an emergency stop signal sent by the emergency stop control module.

[0072] The drive control module is further configured to disconnect the power supply to the drive motor based on the drive power-off instruction.

[0073] The brake control module is further configured to control the wheel brake motor or the wheel brake motor module to perform strong braking based on the maximum braking instruction.

[0074] In this specific embodiment, when the driver presses the emergency stop button, the emergency stop control module transmits the emergency stop control signal to the robot control module, and the robot control module immediately takes a series of safety measures. First, the robot control module notifies the drive control module to cut off the power supply of the drive motor through the drive power-off instruction, so that the drive motor is disabled, thereby preventing the vehicle from continuing to accelerate. At the same time, the robot control module notifies the brake control module of the front wheel through the maximum braking instruction, controls the wheel brake motor of the front wheel to brake strongly, and the robot control module notifies the brake control module of the rear wheel through the maximum braking instruction, controls the wheel brake motor module of the rear wheel to brake strongly. Ensure that emergency braking can be quickly taken in an emergency state to prevent accidents.

[0075] In some specific implementations, the multiple wheel control modules further include multiple steering control modules; the multiple wheel control motors further include multiple steering control motors, and the multiple steering control motors are communicatively connected to the multiple steering control modules one by one.

[0076] For example, Figure 3 As shown, for a four-wheel drive vehicle, the multiple wheel control modules include four steering control modules, the multiple wheel control motors include four steering control motors, and each steering control module is connected to a steering control motor in communication. It is ensured that each steering control motor can be controlled by an independent steering control module to avoid centralized control by one steering control module. Once the centralized steering control module fails, it will cause great safety hazards, thereby ensuring driving safety.

[0077] The system described in the embodiment of the present application includes: multiple wheel control motors, multiple operation control modules, a robot control module and multiple wheel control modules; the robot control module is respectively connected in communication with the multiple operation control modules and configured to: determine the wheel drive mode based on the received operation control signal, and generate wheel control instructions for each of the multiple wheel control modules based on the wheel drive mode; the multiple wheel control modules, the wheel control module is respectively connected in communication with the robot control module and at least one wheel control motor, and configured to control the movement of the wheel control motor based on the wheel control instruction. The robot control module can switch the multiple wheel drive modes uniformly, and can quickly switch to the appropriate wheel drive mode in different scenarios, thereby improving the adaptability of the vehicle under different road conditions and the flexibility of multi-mode driving. The robot control module realizes precise control of multiple wheel control motors through multiple wheel control modules, thereby enhancing the accuracy of vehicle control.

[0078] The present application also provides a method embodiment that is based on the above embodiment. The explanation based on the same name meaning is the same as that of the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0079] like Figure 4 As shown, the present application provides a multi-mode control method for vehicle wheels, which is applied to a robot control module, comprising:

[0080] Step S401, receiving an operation control signal sent by an operation control module;

[0081] Step S402, determining a wheel driving mode based on the operation control signal;

[0082] Step S403: generating wheel control instructions for each of the plurality of wheel control modules based on the wheel driving mode.

[0083] The method described in the embodiment of the present application includes: receiving an operation control signal sent by an operation control module; determining a wheel drive mode based on the operation control signal; and generating wheel control instructions for each of the multiple wheel control modules based on the wheel drive mode. The robot control module uniformly switches multiple wheel drive modes, and can quickly switch to a suitable wheel drive mode in different scenarios, thereby improving the adaptability of the vehicle under different road conditions and the flexibility of multi-mode driving. The robot control module achieves precise control of multiple wheel control motors through multiple wheel control modules, thereby enhancing the accuracy of vehicle control.

[0084] Example 3

[0085] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0086] Example 4

[0087] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0088] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0089] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-mode control system for vehicle wheels, characterized in that: include: Multiple wheel control motors; A plurality of operation control modules, wherein the operation control modules are configured to obtain operation control signals; a robot control module, which is in communication connection with the plurality of operation control modules respectively, and is configured to: determine a wheel drive mode based on the received operation control signal, and generate wheel control instructions for each of the plurality of wheel control modules based on the wheel drive mode; The multiple wheel control modules are respectively communicatively connected with the robot control module and at least one wheel control motor, and are configured to control the movement of the wheel control motor based on the wheel control instruction.

2. The system according to claim 1, characterized in that The plurality of wheel control motors include a wheel brake motor module for rear wheels, and the wheel brake motor module includes two wheel brake motors with mutually exclusive braking.

3. The system according to claim 1, characterized in that The multiple wheel control modules include multiple brake control modules and multiple drive control modules; the multiple wheel control motors include multiple drive motors, and the multiple drive motors are connected to the multiple drive control modules in a one-to-one communication manner; The robot control module is further configured to: generate a recovery control instruction of a kinetic energy recovery mode when the multiple brake control modules all feedback a brake failure signal; The drive control module is further configured to control the braking of the drive motor based on the recovery control instruction.

4. The system according to claim 3, characterized in that The multiple operation control modules include an emergency stop control module; the multiple wheel control motors include multiple wheel brake motors; the multiple brake control modules are connected to the multiple wheel brake motors or the multiple wheel brake motor modules in a one-to-one communication manner; The robot control module is further configured to: generate a drive power-off instruction and a maximum braking instruction when receiving an emergency stop signal sent by the emergency stop control module; The drive control module is further configured to disconnect the power supply to the drive motor based on the drive power-off instruction; The brake control module is further configured to control the wheel brake motor or the wheel brake motor module to perform strong braking based on the maximum braking instruction.

5. The system according to claim 1, characterized in that The wheel driving modes include: in-situ rotation mode, Ackerman movement mode, lateral shift mode, four-turn four-wheel drive mode and oblique travel mode.

6. The system according to claim 3, characterized in that The multiple wheel control modules also include multiple steering control modules; the multiple wheel control motors also include multiple steering control motors, and the multiple steering control motors are communicatively connected with the multiple steering control modules one by one.

7. The system according to claim 4, characterized in that The multiple operation control modules also include: a secondary gear switch module, a vehicle control module and a steering control module.

8. A multi-mode control method for vehicle wheels, applied to a robot control module, characterized in that: include: Receiving an operation control signal sent by an operation control module; determining a wheel drive mode based on the operation control signal; Wheel control instructions for each of the plurality of wheel control modules are generated based on the wheel drive mode.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to claim 8 is implemented.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in claim 8.

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