Method for controlling wheels and related device

Abstract

The embodiment of the invention provides a method for controlling wheels and a related device. The method comprises the following steps: when a vehicle passes through an obstacle, determining torques corresponding to a plurality of wheels respectively; and according to the torques corresponding to the multiple wheels, the multiple motors control the multiple wheels to rotate. According to the embodiment of the invention, the plurality of motors are used for respectively controlling the plurality of wheels of the vehicle, so that the driving force of the whole vehicle is improved, and the control effect on the wheels is enhanced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method for controlling wheels and related devices. Background Art

[0002] When a vehicle is off-road, the vehicle needs to have enough driving force to make the wheels pass obstacles, and the driving force of the vehicle can be determined by the longitudinal force that each wheel in the vehicle can provide. Generally, the vehicle applies torque to the wheels through the motor, and the wheels provide forward longitudinal force based on the torque.

[0003] However, in special cases such as wheel slippage, the longitudinal force actually provided by the wheel is much smaller than the torque applied by the motor to the wheel, which will cause a waste of the motor output torque. In existing solutions, the driving force of the vehicle is usually increased by a differential lock. The differential lock is a device used to lock the differential. The function of the differential lock is to lock the differential when one wheel slips, so that the differential loses its differential effect, and the torque applied to the slipping wheel can be transferred to the non-slipping wheel on the other side. Thereby, a greater longitudinal force is provided by the non-slipping wheel on the other side according to the transferred torque, so that the torque output by the motor is more efficiently utilized. However, after locking the differential through the differential lock, the rotation speed of the wheels will be the same, which will affect the normal driving of the vehicle and increase the danger of off-road driving of the vehicle. Summary of the invention

[0004] The embodiment of the present application provides a method for controlling wheels and related devices, which improve the driving force of the entire vehicle by controlling multiple wheels separately.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling wheels, which is applied to a vehicle, wherein the vehicle includes a plurality of motors and a plurality of wheels, and the plurality of motors and the plurality of wheels have a one-to-one correspondence, and the method includes:

[0006] When the vehicle passes an obstacle, determining the torques respectively corresponding to the plurality of wheels;

[0007] The rotation of the multiple wheels is controlled respectively by the multiple motors according to the torques respectively corresponding to the multiple wheels.

[0008] In the above method, each wheel of the vehicle is controlled by a motor, so that the vehicle can control the torque applied to each wheel separately. The power output of the vehicle can be maximized, and the performance of the vehicle when passing obstacles is improved. Compared with the existing solution of increasing the driving force of the vehicle by differential lock, the present application reasonably distributes the torque of each wheel, and improves the driving force of the whole vehicle on the basis of ensuring driving safety.

[0009] In an optional solution of the first aspect, determining the torques respectively corresponding to the plurality of wheels includes:

[0010] Determine load changes of the multiple wheels, wherein the load change is used to represent a change in the load of the wheel at a first moment compared to the load at a second moment;

[0011] The torques corresponding to the multiple wheels are determined respectively according to the load changes of the multiple wheels.

[0012] In the above method, since the longitudinal force that the wheel can provide is affected by the wheel load, the vehicle adjusts the wheel torque according to the change of the wheel load, so that the wheel can provide a greater longitudinal force. At the same time, determining the torque according to the actual load of the wheel is more in line with the actual working condition of the vehicle, so that the determined torque is more accurate.

[0013] In an optional solution of the first aspect, determining the load change of the plurality of wheels includes:

[0014] Obtaining the heights of the multiple wheels;

[0015] When the first height of the first wheel is greater than the second height, the load change of the first wheel is determined as an increase in the load of the first wheel, wherein the first wheel is one of the multiple wheels, the first height is the height of the first wheel at the first moment, the second height is the height of the first wheel at the second moment, and the increase in the load of the first wheel is used to indicate that the load of the first wheel at the first moment is greater than the load at the second moment.

[0016] In the above method, since the height of the wheel and the change in the wheel load have a certain relationship, the change in the wheel load can be determined more intuitively and simply according to the change in the wheel height. When the first height of the wheel is greater than the second height, it means that the wheel load has increased. This simplifies the process of determining the wheel torque.

[0017] In an optional solution of the first aspect, determining the torques respectively corresponding to the multiple wheels according to the load changes of the multiple wheels includes:

[0018] When the load on the first wheel increases, the target torque of the first wheel is determined, wherein a proportion of the target torque of the first wheel in the first total torque is greater than a proportion of the current torque of the first wheel in the second total torque, and the first total torque and the second total torque are the sum of the torques output by the vehicle on the multiple wheels.

[0019] In the above method, since the load on the wheel increases, the wheel can provide a greater longitudinal force. Therefore, in order for the whole vehicle to obtain a greater driving force, multiple wheels need to provide a greater longitudinal force. The vehicle can increase the longitudinal force provided by the wheel by applying a higher proportion of torque to the wheel with increased load, thereby increasing the driving force of the whole vehicle. The ability of the vehicle to pass obstacles, that is, off-road capability, is improved.

[0020] In an optional scheme of the first aspect, the multiple wheels include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, the first front wheel and the first rear wheel are on the same side of the vehicle, the second front wheel and the second rear wheel are on the same side of the vehicle, and the sum of the torque of the first front wheel and the torque of the first rear wheel is equal to the sum of the torque of the second front wheel and the second rear wheel.

[0021] In the above method, the sum of the torques of the left wheels and the right wheels of the vehicle are set to be equal. This is to allow the vehicle to travel in a straight line during driving, reduce the probability of unexpected steering of the vehicle, and improve driving safety.

[0022] In an optional solution of the first aspect, determining the torques respectively corresponding to the plurality of wheels includes:

[0023] When the first front wheel passes over the obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle is increased, and the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle is reduced; or,

[0024] When the second front wheel passes over the obstacle, the first height of the second front wheel is greater than the second height of the second front wheel, and the first height of the first rear wheel is greater than the second height of the first rear wheel, increasing the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle, and decreasing the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0025] In the above method, a single wheel of the vehicle passes over an obstacle, that is, a single wheel overcoming an obstacle. When a single wheel passes over an obstacle, the vehicle can reasonably distribute the torque of multiple wheels according to the actual working conditions. This optimizes the distribution effect of the driving force and improves the obstacle overcoming ability of the vehicle.

[0026] In an optional solution of the first aspect, determining the torques respectively corresponding to the plurality of wheels includes:

[0027] When the first front wheel and the second front wheel pass over the obstacle, the first height of the first rear wheel is greater than the second height of the first rear wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, thereby increasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle.

[0028] In the above method, the two wheels of the vehicle pass the obstacle at the same time, that is, the double-wheel obstacle crossing. When the double wheels pass the obstacle, the vehicle can reasonably distribute the torque of multiple wheels according to the actual working conditions. The distribution effect of the driving force is optimized and the obstacle crossing ability of the vehicle is improved.

[0029] In an optional solution of the first aspect, determining the torques respectively corresponding to the plurality of wheels includes:

[0030] When the first rear wheel and the second rear wheel pass over the obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second front wheel is greater than the second height of the second front wheel, thereby increasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0031] In the above method, the two wheels of the vehicle pass the obstacle at the same time, that is, the double-wheel obstacle crossing. When the double wheels pass the obstacle, the vehicle can reasonably distribute the torque of multiple wheels according to the actual working conditions. The distribution effect of the driving force is optimized and the obstacle crossing ability of the vehicle is improved.

[0032] In a second aspect, an embodiment of the present application provides a device for controlling a wheel, characterized in that the device comprises:

[0033] A determination unit, used to determine the torques corresponding to the multiple wheels respectively when the vehicle passes an obstacle;

[0034] The processing unit is used to control the rotation of the multiple wheels through multiple motors according to the torques respectively corresponding to the multiple wheels.

[0035] In an optional solution of the second aspect, the determination unit, specifically configured to determine the torques respectively corresponding to the plurality of wheels, includes:

[0036] Determine load changes of the multiple wheels, wherein the load change is used to represent a change in the load of the wheel at a first moment compared to the load at a second moment;

[0037] The torques corresponding to the multiple wheels are determined respectively according to the load changes of the multiple wheels.

[0038] In an optional solution of the second aspect, the determining unit, specifically used for determining the load change of the plurality of wheels, includes:

[0039] Obtaining the heights of the multiple wheels;

[0040] When the first height of the first wheel is greater than the second height, the load change of the first wheel is determined as an increase in the load of the first wheel, wherein the first wheel is one of the multiple wheels, the first height is the height of the first wheel at the first moment, the second height is the height of the first wheel at the second moment, and the increase in the load of the first wheel is used to indicate that the load of the first wheel at the first moment is greater than the load at the second moment.

[0041] In an optional solution of the second aspect, the determination unit is specifically configured to determine the torques corresponding to the multiple wheels respectively according to load changes of the multiple wheels, including:

[0042] When the load on the first wheel increases, the target torque of the first wheel is determined, wherein a proportion of the target torque of the first wheel in the first total torque is greater than a proportion of the current torque of the first wheel in the second total torque, and the first total torque and the second total torque are the sum of the torques output by the vehicle on the multiple wheels.

[0043] In an optional scheme of the second aspect, the multiple wheels include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, the first front wheel and the first rear wheel are on the same side of the vehicle, the second front wheel and the second rear wheel are on the same side of the vehicle, and the sum of the torque of the first front wheel and the torque of the first rear wheel is equal to the sum of the torque of the second front wheel and the second rear wheel.

[0044] In an optional solution of the second aspect, the determination unit, specifically configured to determine the torques respectively corresponding to the plurality of wheels, includes:

[0045] When the first front wheel passes over the obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle is increased, and the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle is reduced; or,

[0046] When the second front wheel passes over the obstacle, the first height of the second front wheel is greater than the second height of the second front wheel, and the first height of the first rear wheel is greater than the second height of the first rear wheel, increasing the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle, and decreasing the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0047] In an optional solution of the second aspect, the determination unit is specifically configured to determine the torques respectively corresponding to the plurality of wheels, including:

[0048] When the first front wheel and the second front wheel pass over the obstacle, the first height of the first rear wheel is greater than the second height of the first rear wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, thereby increasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle.

[0049] In an optional solution of the second aspect, the determination unit, specifically configured to determine the torques respectively corresponding to the plurality of wheels, includes:

[0050] When the first rear wheel and the second rear wheel pass over the obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second front wheel is greater than the second height of the second front wheel, thereby increasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0051] In a third aspect, an embodiment of the present application provides a vehicle, comprising a processor and a memory, wherein the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the vehicle executes the method described in any one of the first aspects above.

[0052] In a fourth aspect, an embodiment of the present application provides a computing device, comprising a processor and a memory; the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program so that the computing device executes the method described in any one of the first aspects above.

[0053] Optionally, the computing device further comprises a communication interface, wherein the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0054] It should be noted that the above embodiment is described by taking a processor (or general-purpose processor) that executes the method by calling a computer specification as an example. In the specific implementation process, the processor can also be a dedicated processor, in which case the computer instructions have been pre-loaded in the processor. Optionally, the processor can also include both a dedicated processor and a general-purpose processor.

[0055] Optionally, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0056] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer or a processor, the method described in any one of the first aspects above is implemented.

[0057] The beneficial effects of the technical solutions provided in the second to fifth aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The following is a brief introduction to the drawings required for describing the embodiments.

[0059] Figure 1 is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0060] Figure 2 is a schematic diagram of a motor provided in an embodiment of the present application;

[0061] Figure 3 It is a schematic flow chart of a method for controlling a wheel provided in an embodiment of the present application;

[0062] Figure 4 is a schematic diagram of a right front wheel passing an obstacle provided by an embodiment of the present application;

[0063] Figure 5 is a schematic diagram of determining wheel height provided in an embodiment of the present application;

[0064] Figure 6 This is a schematic diagram of a single wheel passing an obstacle provided by an embodiment of the present application;

[0065] Figure 7 This is a schematic diagram of another single wheel passing an obstacle provided by an embodiment of the present application;

[0066] Figure 8 is a schematic diagram of a front wheel passing an obstacle provided by an embodiment of the present application;

[0067] Fig. 9is a schematic diagram of a rear wheel passing an obstacle provided by an embodiment of the present application;

[0068] Fig.10 This is a schematic diagram of a process flow when a vehicle passes an obstacle provided by an embodiment of the present application;

[0069] Fig.11 It is a schematic diagram of a process of a vehicle entering a rock mode provided by an embodiment of the present application;

[0070] Fig.12 is a schematic diagram of a flow chart of controlling multiple motors provided in an embodiment of the present application;

[0071] Fig.13 This is a block diagram of the functional units of a device for controlling a wheel provided in an embodiment of the present application;

[0072] Fig.14 It is a structural diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0074] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0075] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0076] See also Figure 1 , Figure 1 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 1 As shown, the vehicle 10 includes a motor 101, a motor 102, a motor 103, and a motor 104. It should be noted that the number and position of the motors in the vehicle 10 include but are not limited to Figure 1 The situation shown.

[0077] The vehicle 10 may be a vehicle driven by electric energy or a vehicle driven by new energy hybrid power. For example, when the vehicle 10 is a vehicle driven by electric energy, it may be a new energy vehicle, such as a pure electric vehicle, an extended-range electric vehicle, a hybrid vehicle, a fuel cell electric vehicle, etc. When the vehicle 10 is a car, it may be a sedan, an off-road vehicle, a truck, a bus, or a van, etc.

[0078] The motor, such as motor 101, motor 102, motor 103 and motor 104, is usually a power source of the vehicle 10 and is a device that converts electrical energy into mechanical energy. The motor is located between the wheels of the vehicle 10 or at the bottom of the chassis of the vehicle 10. The location and arrangement of the motor may vary depending on the design and layout of the vehicle 10. The vehicle 10 generates a driving force applied to the wheels by controlling the speed and / or torque of the motor, thereby driving the vehicle.

[0079] The motor 101 is located at the front axle of the vehicle 10 and is used to drive the left front wheel of the vehicle 10 to rotate. The vehicle 10 can determine the load change of the left front wheel according to the height of the left front wheel, and determine the target torque of the left front wheel according to the load change of the left front wheel. Then, the motor 101 controls the rotation of the left front wheel according to the target torque of the left front wheel.

[0080] The motor 102 is located at the front axle of the vehicle 10 and is used to drive the right front wheel of the vehicle 10 to rotate. The vehicle 10 can determine the load change of the right front wheel according to the height of the right front wheel, and determine the target torque of the right front wheel according to the load change of the right front wheel. Then, the motor 102 controls the rotation of the right front wheel according to the target torque of the right front wheel.

[0081] The motor 103 is located at the rear axle of the vehicle 10 and is used to drive the left rear wheel of the vehicle 10 to rotate. The vehicle 10 can determine the load change of the left rear wheel according to the height of the left rear wheel, and determine the target torque of the left rear wheel according to the load change of the left rear wheel. Then, the motor 103 controls the rotation of the left rear wheel according to the target torque of the left rear wheel.

[0082] The motor 104 is located at the rear axle of the vehicle 10 and is used to drive the right rear wheel of the vehicle 10 to rotate. The vehicle 10 can determine the load change of the right rear wheel according to the height of the right rear wheel, and determine the target torque of the right rear wheel according to the load change of the right rear wheel. Then, the motor 104 controls the rotation of the right rear wheel according to the target torque of the right rear wheel.

[0083] See also Figure 2 , Figure 2 is a schematic diagram of a motor provided in an embodiment of the present application. Figure 2 As shown, Figure 2(a) is an example diagram of a left front drive motor and a right front drive motor. The left front drive motor is used to control the rotation of the left front wheel, and the right front drive motor is used to control the rotation of the right front wheel. Figure 2 (b) is an example diagram of a left rear drive motor and a right rear drive motor. The left rear drive motor is used to control the rotation of the left rear wheel, and the right rear drive motor is used to control the rotation of the right rear wheel.

[0084] The method of the embodiment of the present application is described in detail below.

[0085] See also Figure 3 , Figure 3 is a schematic flow chart of a method for controlling a wheel provided in an embodiment of the present application, and the method is applied to Figure 1 The vehicle shown. Figure 3 As shown, the method includes but is not limited to the following steps:

[0086] Step S301, when the vehicle passes an obstacle, determining the torques corresponding to the multiple wheels respectively.

[0087] Specifically, when a vehicle passes an obstacle, it usually needs to have sufficient driving force to reduce the probability of wheel slippage, thereby increasing the possibility and safety of the vehicle passing the obstacle. For example, when a vehicle is off-road, the vehicle may be driving on terrain where there are no paved roads or the road conditions are poor. This usually occurs in various complex terrains such as rugged, muddy, sandy, and rivers. In these terrains, the vehicle may need to pass over obstacles such as rocks. Therefore, when the vehicle passes an obstacle, the vehicle can first determine the torque corresponding to each of the multiple wheels.

[0088] In a possible implementation, the vehicle determines load changes of the multiple wheels, and then determines torques corresponding to the multiple wheels respectively according to the load changes of the multiple wheels.

[0089] The change of load is used to indicate the change of the load of the wheel at the first moment compared with the load at the second moment. For example, if the first moment is after the second moment, the load of the wheel at the first moment is load 1, and the load of the wheel at the second moment is load 2. When load 1 is greater than load 2, the change of the load of the wheel is that the load of the wheel increases. When load 1 is equal to load 2, the change of the load of the wheel is that the load of the wheel remains unchanged. When load 1 is less than load 2, the change of the load of the wheel is that the load of the wheel decreases.

[0090] Specifically, since the driving force of the vehicle is determined by the longitudinal force of multiple wheels, if the vehicle needs to obtain greater driving force, the multiple wheels of the vehicle need to provide greater longitudinal force. In addition, since the total torque output by the vehicle through the motor can be determined by the depth of the accelerator pedal, the deeper the user steps on the accelerator pedal, the greater the total torque output by the vehicle through the motor. Therefore, how to reasonably distribute the total torque output by the motor to multiple wheels so that the longitudinal force provided by multiple wheels is as large as possible, so that the vehicle can obtain greater driving force.

[0091] In a possible implementation, the longitudinal force that the wheel can provide is related to the load of the wheel. When the vertical load of the wheel increases, the maximum longitudinal force that the wheel can provide will increase.

[0092] Specifically, the increase in the vertical load of the wheel means that the vertical load of the wheel at the first moment is greater than the vertical load of the wheel at the second moment. The reason why the wheel load changes is that the load is transferred during the vehicle's driving. When the load is transferred, the longitudinal force of the wheel will also change accordingly. For example, according to the following expression (1):

[0093] F max =Wμ (1)

[0094] Among them, F max is the maximum longitudinal force that a single wheel can provide, W is the vertical load of the wheel, and μ is the adhesion coefficient between the wheel and the road surface.

[0095] Expression (1) is the approximate relationship between the maximum longitudinal force that a wheel can provide and the vertical load of the wheel when the wheel is in pure rolling. According to expression (1), when the adhesion coefficient μ between the wheel and the road remains unchanged, the greater the vertical load W of the wheel, the greater the maximum longitudinal force F that the wheel can provide. max Therefore, the vehicle can determine the longitudinal force that the wheel can provide according to the change of wheel load. In this way, the total torque of the vehicle can be reasonably distributed to multiple wheels, that is, the torque corresponding to multiple wheels can be determined according to the change of multiple wheel loads to improve the driving force of the whole vehicle and improve the performance of the vehicle in passing obstacles.

[0096] In a possible implementation manner, the vehicle acquires heights of a plurality of wheels, and determines load changes of the plurality of wheels respectively according to the heights of the plurality of wheels.

[0097] Specifically, taking the first wheel as an example, the first wheel is one of the multiple wheels of the vehicle. The vehicle can obtain the first height of the first wheel at the first moment and the second height of the first wheel at the second moment, the first moment being after the second moment. Then, the vehicle can determine the load change of the first wheel according to the following expression (2):

[0098] ΔW=k×Δh (2)

[0099] Wherein, ΔW is the change in the vertical load of the first wheel, which is used to indicate the load change of the first wheel. K is the suspension stiffness corresponding to the first wheel, and Δh is the height change of the first wheel.

[0100] For example, from the above expression (2), it can be seen that when the suspension stiffness K corresponding to the first wheel remains unchanged, when the first height of the first wheel is greater than the second height, the first wheel jumps up, and the height change Δh of the first wheel is positive. Therefore, the change ΔW of the vertical load of the first wheel becomes larger, and the load change of the first wheel is that the load of the first wheel increases.

[0101] For example, when the suspension stiffness K corresponding to the first wheel remains unchanged, when the first height of the first wheel is less than the second height, the first wheel jumps down, and the height change Δh of the first wheel is negative. Therefore, the vertical load change ΔW of the first wheel decreases, and the load change of the first wheel is that the load of the first wheel decreases.

[0102] Exemplarily, when the suspension stiffness K corresponding to the first wheel remains unchanged, when the first height of the first wheel is equal to the second height, the height change Δh of the first wheel is zero. Therefore, the vertical load change ΔW of the first wheel is zero, and the load change of the first wheel is that the load of the first wheel remains unchanged.

[0103] In a possible implementation, the height of the wheel when the vehicle is stationary is set as a threshold value. When the height of the wheel is greater than the threshold value, it can be regarded as a wheel jump. For example, when the wheel needs to pass an obstacle, the height of the wheel on the obstacle will increase, and the wheel jumps. According to the above expression (2), at this time, the height change of the wheel Δh is positive, and the load change of the wheel is an increase in load.

[0104] For example, see Figure 4 , Figure 4 Schematic diagram of a right front wheel passing an obstacle provided by an embodiment of the present application. Figure 4 As shown, the right front wheel of the vehicle is pressing on the obstacle and the right front wheel of the vehicle is passing the obstacle. Since the obstacle has a certain height, the right front wheel pressing on the obstacle will be lifted to a certain height. At this time, the height of the right front wheel is greater than the threshold, and the right front wheel is in a state of jumping up, so the load change of the right front wheel is an increase in load.

[0105] Exemplarily, when the height of the wheel is less than a threshold value, it is determined that the load change condition of the wheel is a decrease in the load of the wheel.

[0106] Specifically, when the height of the wheel is less than the threshold, it can be regarded as the wheel jumping down. According to the above expression (2), at this time, the height change Δh of the wheel is negative, and the load change of the wheel is load reduction.

[0107] Exemplarily, when the height of the wheel is equal to a threshold value, it is determined that the load change of the wheel is constant.

[0108] Specifically, when the wheel height is equal to the threshold, the wheel height is consistent with the wheel height when the vehicle is stationary. According to the above expression (2), the wheel height change Δh is 0, and the wheel load change is constant.

[0109] In a possible implementation, the vehicle determines the height of the wheel through a height sensor. For example, a height sensor is installed between the control arm corresponding to the wheel of the vehicle and the frame to collect the height of the wheel.

[0110] For example, in an adjustable active suspension, a height sensor is installed between the control arm corresponding to each wheel of the vehicle and the frame. The adjustable active suspension includes but is not limited to air suspension or hydraulic suspension, which is not limited here.

[0111] For example, see Figure 5 , Figure 5 Schematic diagram of determining wheel height provided in an embodiment of the present application. Figure 5 As shown, the height sensor connecting rod 501 is connected to the height sensor connecting rod 502. The height sensor connecting rod 501 is connected to the bracket 503 at the wheel swing arm end, and the height sensor connecting rod 502 is connected to the bracket 504 at the frame end. When the wheel moves up and down, that is, when the height of the wheel changes, the bracket 503 at the wheel swing arm end will also swing accordingly. The swing of the bracket 503 at the wheel swing arm end will drive the height sensor connecting rod 501 to move, so that the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502 changes.

[0112] For example, when the wheel jumps up, that is, when the height of the wheel increases, the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502 will decrease. When the wheel jumps down, that is, when the height of the wheel decreases, the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502 will increase. When the height of the wheel does not change, the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502 does not change. Therefore, the vehicle can determine the height of the wheel according to the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502. That is, when the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502 decreases, the height of the wheel increases. When the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502 increases, the height of the wheel decreases. When the angle between the height sensor connecting rod 501 and the height sensor connecting rod 502 does not change, the height of the wheel does not change.

[0113] In a possible implementation, when the load of the first wheel increases, the target torque of the first wheel is determined. The proportion of the target torque of the first wheel in the first total torque is greater than the proportion of the current torque of the first wheel in the second total torque. The first total torque and the second total torque are the sum of the torques output by the vehicle on multiple wheels.

[0114] Specifically, when the load on the first wheel increases, the vehicle can increase the torque of the first wheel to obtain greater driving force for the entire vehicle. For example, the total torque of the vehicle at the second moment is the second total torque, and the proportion of the first wheel in the second moment to the second total torque is the second proportion. The total torque of the vehicle at the first moment is the first total torque, and the proportion of the first wheel in the first moment to the first total torque is the first proportion. Therefore, when the load of the first wheel at the first moment is greater than the load at the second moment, the target torque of the first vehicle can be determined by increasing the second proportion to the first proportion. It can also be understood that the current torque is the torque applied to the first wheel during the process of the vehicle traveling from the second moment to the first moment. The target torque is the torque applied to the first wheel when the vehicle travels from the first moment to the next moment.

[0115] It should be noted here that the height of the wheel is used to measure the load change of the wheel, so when the load change of the wheel is that the load increases, the proportion of the torque allocated to the wheel in the total torque is increased. It can be understood that when the height of the wheel increases, that is, when the wheel jumps up, the vehicle can increase the proportion of the torque allocated to the wheel in the total torque.

[0116] When the load change of the wheel is an increase in load, the reason for increasing the proportion of the torque allocated to the wheel in the total torque is that the wheel usually rotates based on the torque output by the motor, and then the wheel will rub against the road surface during the rotation process, thereby generating a longitudinal force. Then, the longitudinal force provided by the wheel to the vehicle may be less than the torque output by the motor to the wheel, resulting in a waste of the vehicle's output power. Even if the vehicle increases the torque for the wheel at this time, the wheel can still only provide a small longitudinal force, which still leads to a waste of power. Therefore, the vehicle can apply this part of the wasted power to other wheels in the form of torque, that is, increase the torque of other wheels. Other wheels can provide greater longitudinal force based on the increased torque, thereby improving the driving force of the entire vehicle and efficiently applying the power output by the vehicle. Among them, according to expression (1), it can be seen that when the load of the wheel is greater, the maximum longitudinal force that the wheel can provide is greater. Therefore, when the load change of the wheel is an increase in load, the longitudinal force that the wheel can provide will also increase accordingly. If at this time, the vehicle applies more driving force to the wheel with increased load, the wheel will provide greater longitudinal force, so that the driving force obtained by the entire vehicle is also greater. The performance of the vehicle passing obstacles is improved and the off-road capability of the vehicle is enhanced. Therefore, when the load change of the wheel is an increase in load, the vehicle can increase the proportion of the torque distributed to the wheel in the total torque.

[0117] In one possible embodiment, the multiple wheels include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, the first front wheel and the first rear wheel are on the same side of the vehicle, the second front wheel and the second rear wheel are on the same side of the vehicle, and the sum of the torque of the first front wheel and the torque of the first rear wheel is equal to the sum of the torque of the second front wheel and the second rear wheel.

[0118] Specifically, when distributing torques to multiple wheels, the vehicle makes the sum of the torques of the left wheels equal to the sum of the torques of the right wheels. For example, the sum of the torques of the first front wheel and the first rear wheel is equal to the sum of the torques of the second front wheel and the second rear wheel. The purpose of the vehicle making the sum of the torques of the left wheels equal to the sum of the torques of the right wheels is to avoid abnormal steering movement caused by the difference in driving force on the left and right sides.

[0119] For example, when the right front wheel of the vehicle passes over an obstacle, the vehicle will increase the ratio of the torque of the right front wheel and the torque of the left rear wheel in the total torque. At the same time, the ratio of the torque of the left front wheel and the torque of the right rear wheel in the total torque will be reduced accordingly. The sum of the torque of the right front wheel and the torque of the right rear wheel is equal to the sum of the torque of the left front wheel and the torque of the left rear wheel. At this time, the torque of the whole vehicle rotating around the center of mass remains unchanged, and the torque change is 0. The vehicle will not produce abnormal steering movement, ensuring the safety of the vehicle off-road.

[0120] In a possible implementation, when the first front wheel of the vehicle passes over an obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel. The vehicle can increase the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle, and reduce the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle.

[0121] Specifically, according to the above Figure 4 According to the analysis, when the first front wheel passes over an obstacle, the first height of the first front wheel will be greater than the second height, that is, the first front wheel jumps up. According to the dynamics principle of the vehicle, when the first front wheel jumps up, the second rear wheel will also jump up, that is, the first height of the second rear wheel is greater than the second height of the second rear wheel. According to the dynamics principle of the vehicle, the second front wheel and the first rear wheel will jump down, that is, the first height of the second front wheel is less than the second height of the second front wheel, and the first height of the first rear wheel is less than the second height of the second front wheel.

[0122] Furthermore, when the first height of the wheel is greater than the second height, the load change of the wheel is an increase in load. Therefore, when the load of the wheel increases, the vehicle increases the torque distribution ratio for the wheel, which can improve the driving force of the whole vehicle. Therefore, when the first front wheel passes over an obstacle, the vehicle can increase the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle, and reduce the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle.

[0123] For example, see Figure 6 , Figure 6 Schematic diagram of a single wheel passing an obstacle provided in an embodiment of the present application. Figure 6 As shown, the right front wheel of the vehicle is taken as the first front wheel for explanation. When the right front wheel of the vehicle passes over an obstacle, the right front wheel and the left rear wheel jump up, and the left front wheel and the right rear wheel jump down. Therefore, the vehicle can increase the proportion of the torque of the right front wheel and the left rear wheel in the total torque, while reducing the proportion of the torque of the left front wheel and the right rear wheel in the total torque.

[0124] In one possible implementation, when the second front wheel passes over an obstacle, the first height of the second front wheel is greater than the second height of the second front wheel, and the first height of the first rear wheel is greater than the second height of the first rear wheel, thereby increasing the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0125] Specifically, according to the above Figure 4According to the analysis, when the second front wheel passes over an obstacle, the first height of the second front wheel will be greater than the second height, that is, the second front wheel jumps up. According to the dynamics principle of the vehicle, when the second front wheel jumps up, the first rear wheel will also jump up, that is, the first height of the first rear wheel is greater than the second height of the first rear wheel. According to the dynamics principle of the vehicle, the first front wheel and the second rear wheel will jump down, that is, the first height of the first front wheel is less than the second height of the first front wheel, and the first height of the second rear wheel is less than the second height of the second front wheel.

[0126] Furthermore, when the first height of the wheel is greater than the second height, the load change of the wheel is an increase in load. Therefore, when the load of the wheel increases, the vehicle increases the torque distribution ratio for the wheel, which can improve the driving force of the whole vehicle. Therefore, when the second front wheel passes an obstacle, the vehicle can increase the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle, and reduce the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0127] For example, see Figure 7 , Figure 7 Schematic diagram of another single wheel passing an obstacle provided in the embodiment of the present application. Figure 7 As shown, taking the left front wheel of the vehicle as the second front wheel as an example, when the left front wheel of the vehicle passes over an obstacle, the left front wheel and the right rear wheel jump up, and the right front wheel and the left rear wheel jump down. Therefore, the vehicle can increase the proportion of the torque of the left front wheel and the right rear wheel in the total torque, while reducing the proportion of the torque of the right front wheel and the left rear wheel in the total torque.

[0128] In one possible implementation, when the first front wheel and the second front wheel pass over an obstacle, the first height of the first rear wheel is greater than the second height of the first rear wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, thereby increasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle.

[0129] Specifically, according to the dynamics principle of the vehicle, when the first front wheel and the second front wheel of the vehicle pass an obstacle at the same time, the front of the vehicle will be lifted up, and the load of the vehicle will be transferred backwards, that is, at this time, the load of the first rear wheel and the load of the second rear wheel will increase. Therefore, the vehicle can increase the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle, and reduce the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle.

[0130] For example, see Figure 8 , Figure 8 Schematic diagram of a front wheel passing an obstacle provided by an embodiment of the present application. Figure 8As shown, when the first front wheel and the second front wheel of the vehicle pass over an obstacle, the first front wheel and the second front wheel jump down, and the first rear wheel and the second rear wheel jump up. Therefore, the vehicle can increase the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle, and reduce the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle, so as to improve the driving force of the whole vehicle.

[0131] In one possible implementation, when the first rear wheel and the second rear wheel pass over an obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second front wheel is greater than the second height of the second front wheel, thereby increasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0132] Specifically, according to the dynamics principle of the vehicle, when the first rear wheel and the second rear wheel of the vehicle pass an obstacle at the same time, the rear end of the vehicle will be lifted up, and the load of the vehicle will be transferred forward, that is, at this time, the load of the first front wheel and the load of the second front wheel will increase. Therefore, the vehicle can increase the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle, and reduce the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0133] For example, see Fig. 9 , Fig. 9 Schematic diagram of a rear wheel passing an obstacle provided by an embodiment of the present application. Fig. 9 As shown, when the first rear wheel and the second rear wheel of the vehicle pass over an obstacle, the first front wheel and the second front wheel jump up, and the first rear wheel and the second rear wheel jump down. Therefore, the vehicle can increase the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle, and reduce the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle, so as to improve the driving force of the whole vehicle.

[0134] Step S302: Controlling the rotation of the multiple wheels through the multiple motors respectively according to the torques respectively corresponding to the multiple wheels.

[0135] Specifically, since the multiple wheels have a one-to-one correspondence with the multiple motors, each wheel can be controlled by one of the multiple motors. After the vehicle determines the torques corresponding to the multiple wheels, the vehicle can send corresponding torque signals to the multiple motors. After receiving the torque signal, the motor can output the torque corresponding to the torque signal to the wheel.

[0136] For example, the vehicle includes a first motor for controlling the first front wheel, a second motor for controlling the second front wheel, a third motor for controlling the first rear wheel, and a fourth motor for controlling the second rear wheel. The vehicle determines that the torque of the first front wheel is the first torque, the torque of the second front wheel is the second torque, the torque of the first rear wheel is the third torque, and the torque of the second rear wheel is the fourth torque. Therefore, the vehicle can send a signal of the first torque to the first motor, a signal of the second torque to the second motor, a signal of the third torque to the third motor, and a signal of the fourth torque to the fourth motor. The vehicle controls the rotation of the first front wheel according to the signal of the first torque through the first motor, the vehicle controls the rotation of the second front wheel according to the signal of the second torque through the second motor, the vehicle controls the rotation of the first rear wheel according to the signal of the third torque through the third motor, and the vehicle controls the rotation of the second rear wheel according to the signal of the fourth torque through the fourth motor.

[0137] For example, see Fig.10 , Fig.10 1 is a flow chart of a vehicle passing an obstacle provided in an embodiment of the present application. Fig.10 As shown, the specific process includes one or more steps in S101-S104, which are as follows:

[0138] S101, entering rock mode. The user can enter the rock mode of the vehicle through the center console of the vehicle. In the rock mode, the vehicle can better pass obstacles. After the central control unit of the vehicle receives the signal of entering rock mode from the center console, the vehicle can start the rock mode.

[0139] S102, obtaining wheel heights. The vehicle may collect the heights of multiple wheels through a height sensor, and the central control unit of the vehicle receives a suspension height signal from the height sensor.

[0140] S103, determining the torque of multiple wheels. The vehicle determines the torque of the wheels according to the heights of the multiple wheels. For example, when the wheel jumps up, the proportion of the wheel torque in the total torque is increased. When the wheel jumps down, the proportion of the wheel torque in the total torque is reduced. When the height of the wheel remains unchanged, the proportion of the wheel torque in the total torque remains unchanged.

[0141] S104, control multiple wheels respectively through multiple motors. The vehicle sends corresponding torque signals to the multiple motors through the motor control module. For example, when the multiple motors include a left front motor, a right front motor, a left rear motor, and a right rear motor, the vehicle sends corresponding torque signals to the left front motor, the right front motor, the left rear motor, and the right rear motor respectively through the motor control module.

[0142] See also Fig.11 , Fig.11 1 is a flow chart of a vehicle entering rock mode provided by an embodiment of the present application. Fig.11 As shown, the specific process includes one or more steps in S111-S113, which are as follows:

[0143] S111, entering rock mode. When the vehicle passes an obstacle, the user may input the rock mode through the center console of the vehicle, and the central control unit of the vehicle may activate the rock mode after receiving a signal for entering the rock mode from the center console.

[0144] S112, the motor enters the rock mode. The vehicle sends a rock mode instruction to the motor control module through the central control unit, and the motor control module controls multiple motors of the vehicle to enter the rock mode.

[0145] S113, raising the height of the vehicle. In order to reduce the probability of the vehicle colliding with obstacles on the road, the height of the vehicle can be raised. For example, the active suspension of the vehicle raises the driving height of the vehicle through an air pump or an oil pump. This increases the clearance of the vehicle from the ground and reduces the probability of the vehicle colliding with obstacles when passing over them. The main suspension of the vehicle includes but is not limited to air suspension or hydraulic suspension, which is not limited here.

[0146] See also Fig.12 , Fig.12 is a schematic diagram of a flow chart of controlling multiple motors provided in an embodiment of the present application. Fig.12 As shown, the specific process includes one or more steps in S121-S125, which are as follows:

[0147] S121, obtaining the heights of multiple wheels. The vehicle obtains the height of the left front wheel through the left front height sensor, obtains the height of the right front wheel through the right front height sensor, obtains the height of the left rear wheel through the left rear height sensor, and obtains the height of the right rear wheel through the right rear height sensor.

[0148] S122, determine whether the left rear wheel and the right front wheel jump up. The vehicle determines whether the left rear wheel and the right front wheel jump up based on the height of multiple wheels. If the left rear wheel and the right front wheel jump up, the motor of the left rear wheel and the motor of the right front wheel are controlled to increase the output ratio. If not, enter S123.

[0149] S123, determine whether the left front wheel and the right rear wheel jump up. The vehicle determines whether the left front wheel and the right rear wheel jump up based on the height of multiple wheels. If the left front wheel and the right rear wheel jump up, the motor of the left front wheel and the motor of the right rear wheel are controlled to increase the output ratio. If not, enter S124.

[0150] S124, determine whether the left rear wheel and the right rear wheel jump up. The vehicle determines whether the left rear wheel and the right rear wheel jump up based on the height of multiple wheels. If the left rear wheel and the right rear wheel jump up, the motor of the left rear wheel and the motor of the right rear wheel are controlled to increase the output ratio. If not, enter S125.

[0151] S125, determining whether the left front wheel and the right front wheel have jumped. The vehicle determines whether the left front wheel and the right front wheel have jumped according to the height of the multiple wheels. If the left front wheel and the right front wheel have jumped, the motor of the left front wheel and the motor of the right front wheel are controlled to increase the output ratio. If not, the multiple motors are controlled to maintain the original output ratio.

[0152] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0153] See also Fig.13 , Fig.13 1 is a block diagram of the functional units of a wheel control device provided in an embodiment of the present application. The wheel control device 130 may include a determination unit 1301 and a processing unit 1302. The wheel control device 130 is used to implement the aforementioned wheel control method, for example Figure 3 Parking method shown.

[0154] It should be noted that the division of the above-mentioned multiple units is only a logical division based on functions, and does not limit the specific structure of the device for controlling the wheel 130. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into one functional module.

[0155] In a possible implementation, the determination unit 1301 is specifically configured to determine the torques corresponding to the multiple wheels respectively when the vehicle passes an obstacle;

[0156] The processing unit 1302 is used to control the rotation of the multiple wheels through the multiple motors according to the torques respectively corresponding to the multiple wheels.

[0157] In a possible implementation manner, the determination unit 1301 is specifically configured to determine the torques corresponding to the multiple wheels respectively, including:

[0158] Determine load changes of a plurality of wheels, wherein the load change is used to indicate a change in the load of the wheel at a first moment compared to the load at a second moment;

[0159] The torques corresponding to the multiple wheels are determined respectively according to the load changes of the multiple wheels.

[0160] In a possible implementation manner, the determining unit 1301 is specifically configured to determine load changes of multiple wheels, including:

[0161] Get the height of multiple wheels;

[0162] When the first height of the first wheel is greater than the second height, the load change of the first wheel is determined as an increase in the load of the first wheel, wherein the first wheel is one of a plurality of wheels, the first height is a height of the first wheel at a first moment, the second height is a height of the first wheel at a second moment, and the increase in the load of the first wheel is used to indicate that the load of the first wheel at the first moment is greater than the load at the second moment.

[0163] In a possible implementation manner, the determination unit 1301 is specifically configured to determine the torques corresponding to the multiple wheels respectively according to the load changes of the multiple wheels, including:

[0164] When the load on the first wheel increases, the target torque of the first wheel is determined, wherein the proportion of the target torque of the first wheel in the first total torque is greater than the proportion of the current torque of the first wheel in the second total torque, and the first total torque and the second total torque are the sum of the torques output by the vehicle on multiple wheels.

[0165] In one possible embodiment, the multiple wheels include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, the first front wheel and the first rear wheel are on the same side of the vehicle, the second front wheel and the second rear wheel are on the same side of the vehicle, and the sum of the torque of the first front wheel and the torque of the first rear wheel is equal to the sum of the torque of the second front wheel and the second rear wheel.

[0166] In a possible implementation manner, the determination unit 1301 is specifically configured to determine the torques corresponding to the multiple wheels respectively, including:

[0167] When the first front wheel passes over an obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, increasing the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle, and decreasing the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle; or,

[0168] When the second front wheel passes over an obstacle, the first height of the second front wheel is greater than the second height of the second front wheel, and the first height of the first rear wheel is greater than the second height of the first rear wheel, increasing the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle, and reducing the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0169] In a possible implementation manner, the determination unit 1301 is specifically configured to determine the torques corresponding to the multiple wheels respectively, including:

[0170] When the first front wheel and the second front wheel pass over an obstacle, the first height of the first rear wheel is greater than the second height of the first rear wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, thereby increasing the proportion of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle and decreasing the proportion of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle.

[0171] In a possible implementation manner, the determination unit 1301 is specifically configured to determine the torques corresponding to the multiple wheels respectively, including:

[0172] When the first rear wheel and the second rear wheel pass over an obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second front wheel is greater than the second height of the second front wheel, thereby increasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle.

[0173] It should be noted that in the embodiments of the present application, the specific implementation and technical effects of each unit can also refer to Figure 3 The corresponding description of the method embodiment shown in .

[0174] The present application also provides a vehicle, the vehicle includes a processor and a memory, the processor is coupled to the memory, the memory is used to store a computer program, the processor is used to call and run the computer program, so that the vehicle executes the above-mentioned method of controlling the wheel, for example Figure 3 method.

[0175] See also Fig.14 , Fig.14 Schematic diagram of a computing device provided in an embodiment of the present application. Fig.14 As shown, the computing device 140 may include: one or more processors 1401, one or more memories 1402, and one or more communication interfaces 1403. These components may be connected via a bus 1404 or other means. Fig.14 Take the connection through bus 1404 as an example. Among them:

[0176] The communication interface 1403 may be used for the computing device 140 to communicate with other communication devices, such as other computing devices. Specifically, the communication interface 1403 may be a wired interface.

[0177] The memory 1402 can be coupled to the processor 1401 through the bus 1404 or the input and output ports, and the memory 1402 can also be integrated with the processor 1401. The memory 1402 is used to store various software programs and / or multiple sets of instructions or data. Specifically, the memory 1402 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1402 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices. The memory 1402 may store an operating system (hereinafter referred to as system), such as an embedded operating system such as uCOS, VxWorks, RTLinux, etc. The memory 1402 may also store a network communication program, which may be used to communicate with one or more additional devices, one or more user devices, or one or more terminals. The memory 1402 may be independent and connected to the processor 1401 via a bus 1404. The memory 1402 may also be integrated with the processor 1401.

[0178] The memory 1402 is used to store application code for executing the above solution, and the execution is controlled by the processor 1401. The processor 1401 is used to execute the application code stored in the memory 1402.

[0179] Processor 1401 may be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 1401 may also be a combination that implements a certain function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.

[0180] The present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on at least one processor, the aforementioned method of controlling a wheel is implemented, for example Figure 3 method.

[0181] The present application also provides a computer program product, which includes computer instructions, and when executed by a computing device, implements the aforementioned method of controlling a wheel, for example Figure 3 method.

[0182] In the embodiments of the present application, the words "for example" or "such as" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "such as" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the words "for example" or "such as" is intended to present related concepts in a specific way.

[0183] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0184] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first device and the second device are only for the convenience of description, and do not represent the difference in structure, importance, etc. between the first device and the second device. In some embodiments, the first device and the second device can also be the same device.

[0185] In the above embodiments, the term "when..." can be interpreted as meaning "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the concept and principle of the present application shall be included in the protection scope of the present application.

[0186] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0187] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for controlling a wheel, characterized in that: Applied to a vehicle, the vehicle comprises a plurality of motors and a plurality of wheels, the plurality of motors and the plurality of wheels having a one-to-one correspondence, the method comprising: When the vehicle passes an obstacle, determining the torques respectively corresponding to the plurality of wheels; The rotation of the multiple wheels is controlled respectively by the multiple motors according to the torques respectively corresponding to the multiple wheels.

2. The method according to claim 1, characterized in that The determining the torques respectively corresponding to the plurality of wheels comprises: Determine load changes of the multiple wheels, wherein the load change is used to indicate a change in the load of the wheel at a first moment compared to the load at a second moment; The torques corresponding to the multiple wheels are determined respectively according to the load changes of the multiple wheels.

3. The method according to claim 2, characterized in that The determining of the load change of the plurality of wheels comprises: Obtaining the heights of the multiple wheels; When the first height of the first wheel is greater than the second height, the load change of the first wheel is determined as an increase in the load of the first wheel, wherein the first wheel is one of the multiple wheels, the first height is the height of the first wheel at the first moment, the second height is the height of the first wheel at the second moment, and the increase in the load of the first wheel is used to indicate that the load of the first wheel at the first moment is greater than the load at the second moment.

4. The method according to claim 3, characterized in that The step of determining the torques respectively corresponding to the plurality of wheels according to the load changes of the plurality of wheels comprises: When the load on the first wheel increases, the target torque of the first wheel is determined, wherein a proportion of the target torque of the first wheel in the first total torque is greater than a proportion of the current torque of the first wheel in the second total torque, and the first total torque and the second total torque are the sum of the torques output by the vehicle on the multiple wheels.

5. The method according to any one of claims 1 to 4, characterized in that: The multiple wheels include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, the first front wheel and the first rear wheel are on the same side of the vehicle, the second front wheel and the second rear wheel are on the same side of the vehicle, and the sum of the torque of the first front wheel and the torque of the first rear wheel is equal to the sum of the torque of the second front wheel and the second rear wheel.

6. The method according to claim 5, characterized in that The determining the torques respectively corresponding to the plurality of wheels comprises: When the first front wheel passes over the obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle is increased, and the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle is reduced; or, When the second front wheel passes over the obstacle, the first height of the second front wheel is greater than the second height of the second front wheel, and the first height of the first rear wheel is greater than the second height of the first rear wheel, increasing the ratio of the torque of the second front wheel and the torque of the first rear wheel in the total torque of the vehicle, and decreasing the ratio of the torque of the first front wheel and the torque of the second rear wheel in the total torque of the vehicle.

7. The method according to claim 5 or 6, characterized in that: The determining the torques respectively corresponding to the plurality of wheels comprises: When the first front wheel and the second front wheel pass over the obstacle, the first height of the first rear wheel is greater than the second height of the first rear wheel, and the first height of the second rear wheel is greater than the second height of the second rear wheel, thereby increasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle.

8. The method according to any one of claims 5 to 7, characterized in that: The determining the torques respectively corresponding to the plurality of wheels comprises: When the first rear wheel and the second rear wheel pass over the obstacle, the first height of the first front wheel is greater than the second height of the first front wheel, and the first height of the second front wheel is greater than the second height of the second front wheel, thereby increasing the ratio of the torque of the first front wheel and the torque of the second front wheel in the total torque of the vehicle and decreasing the ratio of the torque of the first rear wheel and the torque of the second rear wheel in the total torque of the vehicle.

9. A device for controlling a wheel, characterized in that: The device comprises: A determination unit, used to determine the torques corresponding to the multiple wheels respectively when the vehicle passes an obstacle; The processing unit is used to control the rotation of the multiple wheels through multiple motors according to the torques respectively corresponding to the multiple wheels.

10. A vehicle, characterized in that: The vehicle comprises a processor and a memory, wherein the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the vehicle executes the method according to any one of claims 1 to 8.

11. A computing device, characterized in that: The method comprises a processor coupled to a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the computing device executes the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 8.

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