A multi-mode control system, method, medium, and electronic device for a vehicle wheel

Abstract

The application provides a multi-mode control system, method, medium and electronic device of a vehicle wheel. 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 communicatively connected with the plurality of operation control modules respectively, and is configured to determine a wheel driving mode based on a received operation control signal, and generate a wheel control instruction for each of the plurality of wheel control modules based on the wheel driving mode; and the plurality of wheel control modules are communicatively connected with the robot control module and at least one wheel control motor respectively, and are configured to control the movement of the wheel control motor based on the wheel control instruction. The robot control module realizes accurate control of the plurality of wheel control motors through the plurality of wheel control modules, thereby enhancing the accuracy of vehicle control.

Description

TECHNICAL FIELD

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

[0002] With the development of automatic driving and intelligent vehicle technology, vehicle control systems are becoming more and more complex, for example, vehicles need to perform in-place rotation, Ackerman motion, lateral movement, four-wheel drive and four-wheel steering operation modes in different scenarios. It is necessary for the vehicle to achieve precise motion control in different modes.

[0003] However, the current multi-mode switching is not coordinated enough, and the efficiency is low, which cannot smoothly switch 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

[0005] The purpose of the present 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 technical problems. The specific scheme is as follows:

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

[0007] The plurality of operation control modules are configured to obtain operation control signals.

[0008] The robot control module is in communication connection with the plurality of operation control modules respectively, and is configured to determine a wheel driving mode based on the received operation control signals, and generate a wheel control instruction for each of the plurality of wheel control modules based on the wheel driving mode.

[0009] The plurality of wheel control modules are in communication connection with the robot control module and at least one wheel control motor respectively, and are configured to control the motion of the wheel control motor based on the wheel control instruction.

[0010] Optionally, 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 that brake each other.

[0011] Optionally, the plurality of wheel control modules comprises a plurality of brake control modules and a plurality of drive control modules; the plurality of wheel control motors comprises a plurality of drive motors, which are in one-to-one communication connection with the plurality of drive control modules.

[0012] The robot control module is further configured to generate a kinetic energy recovery mode recovery control instruction when all the plurality of brake control modules feed back brake failure signals.

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

[0014] Optionally, the plurality of operation control modules comprises an emergency stop control module; the plurality of wheel control motors comprises a plurality of wheel brake motors; the plurality of brake control modules are in one-to-one communication connection with the plurality of wheel brake motors or the plurality of wheel brake motor modules.

[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 of 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 brake strongly based on the maximum braking instruction.

[0018] Optionally, the wheel drive mode comprises a spot rotation mode, an Ackerman motion mode, a lateral shift mode, a four-wheel four-drive mode, and an oblique driving mode.

[0019] Optionally, the plurality of wheel control modules further comprises a plurality of steering control modules; the plurality of wheel control motors further comprises a plurality of steering control motors, which are in one-to-one communication connection with the plurality of steering control modules.

[0020] Optionally, the plurality of operation control modules further comprises a sub-gear switch module, a whole vehicle control module, and a steering control module.

[0021] According to the specific embodiment of the present application, in a second aspect, the present application provides a multi-mode control method for vehicle wheels, 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] generate wheel control instructions for each of the plurality of wheel control modules based on the wheel drive mode.

[0025] According to the specific embodiments of the present application, in a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the multi-mode control method of vehicle wheels according to any one of the above.

[0026] According to the specific embodiments of the present application, in a fourth aspect, the present application provides an electronic device comprising: one or more processors; and a storage device storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the multi-mode control method of vehicle wheels according to any one of the above.

[0027] Compared with the prior art, the above scheme of the embodiments 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 of vehicle wheels. 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 communicatively connected 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 plurality of wheel control modules are communicatively connected with the robot control module and at least one wheel control motor respectively, and are configured to control the movement of the wheel control motor based on the wheel control instructions. By switching the plurality of wheel drive modes through the robot control module, the vehicle can be quickly switched to the appropriate wheel drive mode in different scenarios, improving the adaptability of the vehicle in different road conditions and the flexibility of multi-mode driving. The robot control module realizes precise control of the plurality of wheel control motors through the plurality of wheel control modules, enhancing the precision of vehicle control. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0032] Figure 4A flowchart illustrating a method of multi-mode control of a vehicle wheel according to embodiments of the present application is shown. DETAILED DESCRIPTION

[0033] To make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application in detail with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

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

[0035] It should be understood that the term "and / or" used herein only describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

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

[0037] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined" or "if (a stated condition or event) is detected" can be interpreted as "when it is determined" or "in response to determining" or "when (a stated condition or event) is detected" or "in response to detecting (a stated condition or event)".

[0038] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such product or device. Without more limitations, the element defined by the phrase "including a" does not exclude the presence of additional identical elements in the product or device including the element.

[0039] In particular, it should be noted that symbols and / or numbers present in the description, if not marked in the description of the drawings, are not drawing references.

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

[0041] The embodiments provided by the present application are embodiments of a multi-mode control system for vehicle wheels.

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

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

[0044] The plurality of 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 embodiments, the plurality of operation control modules include: a sub-gear switch module, a vehicle control module and a steering control module.

[0046] As shown in Figure 2 , the plurality of 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 sub-gear switch module obtains a sub-gear switch signal, and the robot control module obtains information that the wheel driving mode can be obtained according to the sub-gear switch signal.

[0048] The steering control module obtains brake pedal opening degree signals and steering wheel angle signals. It ensures the accurate execution of brake and steering operations.

[0049] The vehicle control module obtains drive pedal opening degree signals and gear state signals (including D, R, N and P), and can intelligently complete the coordination and optimization of power output and transmission system, realize accurate power regulation in different wheel driving modes, make the power transmission of the vehicle more efficient, and the driving experience more smooth.

[0050] The robot control module is in communication connection with the plurality of operation control modules, and is configured to: determine the wheel driving mode based on the received operation control signals, and generate wheel control instructions for each of the plurality of wheel control modules based on the wheel driving mode.

[0051] In some implementations, the wheel drive modes include: a spin-on-the-spot mode, an Ackerman motion mode, a crab mode, a four-wheel drive mode, and a slant mode.

[0052] In the spin-on-the-spot mode, the rotation angle of the wheels is determined according to the values of the wheelbase and the track. For example, the current rotation angle of the vehicle is that the left front wheel rotates 55° to the right, the right front wheel rotates 55° to the left, the right rear wheel rotates 55° to the right, and the left rear wheel rotates 55° to the left. When the gear state signal is a D signal, the vehicle rotates in a clockwise direction; when the gear state signal is an R signal, the vehicle rotates in an anticlockwise 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 the maximum allowable rotation speed is set to ensure safety, and the driving direction of the vehicle is controlled by selecting the gear state signal.

[0053] In the Ackerman motion mode, the left and right front wheels are controlled by the steering wheel angle signal. In this mode, it is ensured that 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 speed of the vehicle by adjusting the drive pedal opening signal and the brake pedal opening signal, and the driving direction of the vehicle is controlled by selecting the gear state signal.

[0054] In the crab 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 a D signal, the vehicle moves to the right; when the gear state signal is an R signal, the vehicle moves to the left. 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 the maximum allowable crab speed is set to ensure safety, and the driving direction of the vehicle is controlled by selecting the gear state signal.

[0055] In the four-wheel drive mode, the vehicle controls the steering of the wheels through a rotation center. The turning radius of the vehicle and the position of the rotation center are controlled by the steering wheel angle signal. When the rotation angle of the steering wheel angle signal is maintained at 3° or below, the vehicle will maintain a straight driving state, and as the steering wheel angle signal gradually increases, the turning radius gradually decreases from 10m to 4.5m, and at the same time, as the turning radius decreases, the rotation center of the vehicle also moves correspondingly. During the increase of the steering wheel angle signal, the rotation center gradually moves forward from the initial position, which is about 14° behind the geometric center of the vehicle (measured by a virtual angle based on the longitudinal axis of the vehicle), until it 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 the driving direction of the vehicle is controlled by selecting the gear state signal.

[0056] The crab 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 rotated to the left, the wheels will be rotated to the left by a certain angle accordingly. This synchronous rotation enables the vehicle to move smoothly along a diagonal path, rather than straight. 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 driving direction of the vehicle by the gear state signal.

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

[0058] As shown in Figure 2 , 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, as shown in Figure 3 , the plurality of wheel control modules include 4 brake control modules, 4 drive control modules, and 4 steering control modules. The plurality of wheel control modules can accurately control the steering, driving, and braking operations of the four wheels of the vehicle.

[0059] In some embodiments, the plurality of wheel control motors include a wheel brake motor module for the rear wheels, and the wheel brake motor module includes two wheel brake motors that are mutually exclusive.

[0060] The mutual exclusivity of braking means that one of the two wheel brake motors is always in normal operation.

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

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

[0063] In some embodiments, the plurality of wheel control modules include a plurality of brake control modules and a plurality of drive control modules; and the plurality of wheel control motors include a plurality of drive motors, which are connected in one-to-one communication with the plurality of drive control modules.

[0064] For example, as shown in Figure 3As shown, a four-wheel drive vehicle has multiple wheel control modules, including four brake control modules and four drive control modules, and multiple wheel control motors, including four drive motors. Each drive control module is communicatively connected to one drive motor. This ensures that each drive motor can be controlled by an independent drive control module, avoiding centralized control by a single drive control module. A malfunction in a centrally controlled drive control module would pose a significant safety hazard, thus ensuring driving safety.

[0065] The robot control module is further configured to generate a kinetic energy recovery control command when all of the plurality of braking control modules return a braking failure signal.

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

[0067] In this specific embodiment, once all braking control modules report a braking failure signal, the robot control module uses the kinetic energy recovery mode of the drive motor to perform braking operations, ensuring the vehicle decelerates safely.

[0068] In some specific implementations, the plurality of operation control modules further include an emergency stop control module; the plurality of wheel control motors include a plurality of wheel brake motors; and the plurality of brake control modules are communicatively connected to each of the plurality of wheel brake motors or the plurality of wheel brake motor modules.

[0069] The emergency stop control module acquires the emergency stop control signal.

[0070] For example, such as Figure 3 As shown, a four-wheel drive vehicle includes four wheel brake motors; the brake control module of each front wheel is communicatively connected to one wheel brake motor, and the brake control module of each rear wheel is communicatively connected to one wheel brake motor module.

[0071] The robot control module is further configured to generate a drive power-off command and a maximum braking command when it receives an emergency stop signal from the emergency stop control module.

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

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

[0074] In this specific embodiment, when the driver presses the emergency stop button, the emergency stop control module transmits an emergency stop control signal to the robot control module, which immediately takes a series of safety measures. First, the robot control module instructs the drive control module to cut off the power supply to the drive motor via a drive power-off command, disabling the drive motor and preventing the vehicle from continuing to accelerate. Simultaneously, the robot control module instructs the front wheel brake control module via a maximum braking command, controlling the front wheel brake motors to apply strong braking. The robot control module also instructs the rear wheel brake control module via a maximum braking command, controlling the rear wheel brake motor modules to apply strong braking. This ensures rapid emergency braking in an emergency situation, preventing accidents.

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

[0076] For example, such as Figure 3 As shown, a four-wheel drive vehicle has multiple wheel control modules, including four steering control modules and multiple wheel control motors, including four steering control motors. Each steering control module is communicatively connected to one steering control motor. This ensures that each steering control motor can be controlled independently by a steering control module, avoiding centralized control by a single module. A malfunction in a centrally controlled steering control module would pose a significant safety hazard, thus ensuring driving safety.

[0077] The system described in this application includes: multiple wheel control motors, multiple operation control modules, a robot control module, and multiple wheel control modules. The robot control module is communicatively connected to each of the multiple operation control modules and is configured to: determine the wheel drive mode based on received operation control signals, and generate wheel control commands for each of the multiple wheel control modules based on the wheel drive mode. Each of the multiple wheel control modules is communicatively connected to the robot control module and at least one wheel control motor, and is configured to control the movement of the wheel control motors based on the wheel control commands. By uniformly switching between multiple wheel drive modes through the robot control module, the system can quickly switch to the appropriate wheel drive mode in different scenarios, improving the vehicle's adaptability to different road conditions and enhancing the flexibility of multi-mode driving. The robot control module achieves precise control of the multiple wheel control motors through the multiple wheel control modules, enhancing the accuracy of vehicle control.

[0078] This application also provides method embodiments that follow the above embodiments. The interpretation of the same names is the same as that of the above embodiments, and they have the same technical effects as those of the above embodiments. They will not be repeated here.

[0079] As Figure 4 The application provides a multi-mode control method of a vehicle wheel, applied to a robot control module, comprising the following steps:

[0080] In step S401, an operation control signal sent by an operation control module is received.

[0081] In step S402, a wheel driving mode is determined based on the operation control signal.

[0082] In step S403, a plurality of wheel control instructions of a plurality of wheel control modules are generated based on the wheel driving mode.

[0083] The method provided by the application comprises the following steps: receiving an operation control signal sent by an operation control module; determining a wheel driving mode based on the operation control signal; and generating a plurality of wheel control instructions of a plurality of wheel control modules based on the wheel driving mode. Through the robot control module, the plurality of wheel driving modes are switched, so that the vehicle can be quickly switched to a suitable wheel driving mode in different scenes, the adaptability of the vehicle in different road conditions is improved, and the flexibility of multi-mode driving is improved. The robot control module realizes accurate control of a plurality of wheel control motors through the plurality of wheel control modules, and the accuracy of vehicle control is improved.

[0084] Embodiment 3

[0085] The embodiment provides an electronic device, which comprises at least one processor and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method steps of the above embodiments.

[0086] Embodiment 4

[0087] The embodiment of the application provides a non-volatile computer storage medium, which stores computer executable instructions, and the computer executable instructions can execute the method steps of the above embodiments.

[0088] Finally, it should be noted that: in the specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to.

[0089] The above examples are only used to illustrate the technical solutions of the present application, but not to limit the same; although the present application has been described in detail with reference to the foregoing examples, it should be understood by those of ordinary skill in the art that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-mode control system for a vehicle wheel, characterized by, The method comprises the following steps: a plurality of wheel control motors, wherein the plurality of wheel control motors comprise a wheel brake motor module for rear wheels, and the wheel brake motor module comprises two wheel brake motors that brake each other; a plurality of operation control modules configured to obtain operation control signals; a robot control module in communication with the plurality of operation control modules, and configured to determine a wheel driving mode based on the received operation control signals, and to generate wheel control instructions for each of the plurality of wheel control modules based on the wheel driving mode, wherein the plurality of wheel control modules comprise a plurality of brake control modules and a plurality of drive control modules, and the plurality of wheel control motors comprise a plurality of drive motors in one-to-one communication with the plurality of drive control modules; the plurality of wheel control modules in communication with the robot control module and at least one wheel control motor, and configured to control the motion of the wheel control motor based on the wheel control instructions; wherein the robot control module is further configured to generate a recovery control instruction of a kinetic energy recovery mode when all the plurality of brake control modules feed back brake failure signals; the drive control module is further configured to control the drive motor to brake based on the recovery control instruction.

2. The system of claim 1, wherein, The plurality of operation control modules comprise an emergency stop control module, the plurality of wheel control motors comprise a plurality of wheel brake motors, and the plurality of brake control modules are in one-to-one communication with the plurality of wheel brake motors or the plurality of wheel brake motor modules; the robot control module is further configured to generate a drive power-off instruction and a maximum braking instruction when an emergency stop signal from the emergency stop control module is received; the drive control module is further configured to disconnect the power supply of 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 brake strongly based on the maximum braking instruction.

3. The system of claim 1, wherein, The wheel driving mode comprises a spot rotation mode, an Ackerman motion mode, a lateral shifting mode, a four-wheel four-drive mode, and an oblique driving mode.

4. The system of claim 1, wherein, The plurality of wheel control modules further comprise a plurality of steering control modules, and the plurality of wheel control motors further comprise a plurality of steering control motors in one-to-one communication with the plurality of steering control modules.

5. The system of claim 2, wherein, The plurality of operation control modules further comprise a sub-gear switch module, a whole vehicle control module, and a steering control module.

6. A method of multi-mode control of a vehicle wheel, applied to the robot control module in the system according to any one of claims 1-5, characterized in that, The method comprises the following steps: receiving operation control signals from the operation control module; determining a wheel driving mode based on the operation control signals; generating wheel control instructions for each of the plurality of wheel control modules based on the wheel driving mode.

7. A computer readable storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to implement the method of claim 6.

8. An electronic device, comprising: The method comprises the following steps: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method of claim 6.

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