Vehicle cooperative control method and device, vehicle and medium

Abstract

The invention discloses a vehicle cooperative control method and device, a vehicle and a medium, and the vehicle cooperative control method comprises the steps that vehicle driving state data and control state data of an angle module are obtained, and the angle module is used for driving the vehicle to run, braking the vehicle and implementing steering; under the condition that it is determined that the vehicle needs to be subjected to cooperative control based on the multiple control modes, the cooperative mode of the multiple control modes is determined based on the vehicle driving state data and the control state data of the angle module; according to the cooperation mode of the multiple control modes, a corner module cooperation control instruction is generated based on the vehicle driving state data and the control state data of the corner module; and the angle module cooperative control instruction is sent to the angle module, so that the angle module drives the vehicle to run, brake and implement steering based on the angle module cooperative control instruction.

Description

Technical Field

[0001] The present application relates to technical fields such as vehicles, and in particular to a vehicle cooperative control method, device, vehicle and medium. Background Art

[0002] With the development of science and technology, vehicles are becoming more and more intelligent. How to make vehicles more flexible in realizing corresponding functions through control has become the focus of research.

[0003] The related technology mainly uses the wheel hub motor braking adjustment and supplemented by the electronic mechanical braking adjustment; it combines the braking strength advantage of the mechanical braking of the electronic mechanical brake, and the braking response and adjustable motor torque advantage of the motor braking of the wheel hub motor to perform comprehensive braking. When adjusting the wheel slip rate, the electronic mechanical brake provides a constant braking torque, which is superimposed with the adjustable motor braking torque to achieve wheel slip rate control with motor adjustment as the main method and electronic mechanical brake adjustment as the supplement. However, this technology has poor maneuverability and safety. Summary of the invention

[0004] The embodiments of the present application aim to solve at least one of the technical problems in the related art to a certain extent. To this end, the purpose of the embodiments of the present application is to propose a vehicle cooperative control method, device, vehicle and medium.

[0005] An embodiment of the present application provides a vehicle collaborative control method, which includes: acquiring vehicle driving status data and control status data of a corner module, wherein the corner module is used to drive the vehicle to drive, brake the vehicle, and implement steering; when it is determined that the vehicle needs to be collaboratively controlled based on multiple control methods, determining the collaborative mode of the multiple control methods based on the vehicle driving status data and the control status data of the corner module; generating a corner module collaborative control instruction based on the vehicle driving status data and the control status data of the corner module according to the collaborative mode of the multiple control methods; and sending the corner module collaborative control instruction to the corner module so that the corner module drives the vehicle to drive, brake the vehicle, and implement steering based on the corner module collaborative control instruction.

[0006] Exemplarily, the multiple control modes include at least two of a driving control mode, a braking control mode, a steering control mode, a feedback braking mode, and a friction braking mode, and the corner module collaborative control instruction includes at least one of a collaborative braking instruction and a collaborative steering instruction; according to the collaborative mode of the multiple control modes, based on the vehicle driving state data and the control state data of the corner module, a corner module collaborative control instruction is generated, including at least one of the following: according to at least one of the driving control mode, the steering control mode, the feedback braking mode, and the friction braking mode, based on the vehicle driving state data and the control state data of the corner module, a collaborative braking instruction is generated; according to the driving control mode and the braking control mode, based on the vehicle driving state data and the control state data of the corner module, a collaborative steering instruction is generated.

[0007] Exemplarily, the collaborative braking instruction includes at least one of a first collaborative braking instruction and a second collaborative braking instruction; according to at least one of the drive control mode, the steering control mode, the feedback braking mode and the friction braking mode, based on the vehicle driving state data and the control state data of the corner module, a collaborative braking instruction is generated, including at least one of the following: according to the feedback braking mode and the friction braking mode, based on the vehicle driving state data and the control state data of the corner module, a first collaborative braking instruction is generated; according to the drive control mode and the steering control mode, based on the vehicle driving state data and the control state data of the corner module, a second collaborative braking instruction is generated; in the event of a failure of the feedback braking mode and / or the friction braking mode, according to the drive control mode and the steering control mode, based on the vehicle driving state data and the control state data of the corner module.

[0008] Exemplarily, based on the regenerative braking mode and the friction braking mode, based on the vehicle driving status data and the control status data of the angular module, a first collaborative braking instruction is generated, including at least one of the following: when the feedback braking force is greater than the target braking force, based on the vehicle driving status data and the control status data of the angular module, a feedback control signal is generated as the first collaborative braking instruction, wherein the angular module is capable of performing feedback braking based on the first collaborative braking instruction; when the feedback braking force is less than or equal to the target braking force, based on the vehicle driving status data and the control status data of the angular module, a collaborative braking signal is generated as the first collaborative braking instruction, wherein the angular module is capable of performing feedback braking based on the first collaborative braking instruction, and performing friction braking when the feedback braking is insufficient.

[0009] Exemplarily, the corner module includes multiple corner modules; the method also includes at least one of the following: when any one of the multiple corner modules performs regenerative braking based on the first collaborative braking instruction, if a regenerative braking fault occurs, the corner module performs friction braking, and other corner modules perform regenerative braking and perform friction braking when the regenerative braking is insufficient; the multiple corner modules include a first end angle module and a second end angle module, when any one of the first end angle modules performs friction braking based on the first collaborative braking instruction, if a friction braking fault occurs, the corner module performs regenerative braking, other corner modules in the first end angle module perform regenerative braking, and the second end angle module performs regenerative braking and performs friction braking when the regenerative braking is insufficient.

[0010] Exemplarily, the vehicle status data includes a steering wheel steering signal, a vehicle speed signal, and an accelerator pedal signal; according to the drive control mode and the steering control mode, based on the vehicle driving status data and the control status data of the angle module, a second collaborative braking instruction is generated, including: according to the drive control mode and the steering control mode, based on the steering wheel steering signal, the vehicle speed signal, the accelerator pedal signal and the control status data of the angle module, determining the target driving torque and the target steering force; based on the target driving force and the target steering force, generating a second collaborative braking instruction.

[0011] Exemplarily, the angle module includes at least one of a first end angle module and a second end angle module; based on the target driving force and the target steering force, a second collaborative braking instruction is generated, including at least one of the following: based on the target driving force for the first end angle module and the target steering force for the first end angle module, a second collaborative braking instruction is generated, wherein the second collaborative braking instruction is used to control the first end angle module to brake toward the middle direction of the vehicle or the outer direction of the vehicle; based on the target driving force for the second end angle module and the target steering force for the second end angle module, a second collaborative braking instruction is generated, wherein the second collaborative braking instruction is used to control the second end angle module to brake toward the middle direction of the vehicle or the outer direction of the vehicle; based on the target driving force for the first end angle module and the target steering force for the first end angle module, the target driving force for the second end angle module and the target steering force for the second end angle module, a second collaborative braking instruction is generated, wherein the second collaborative braking instruction is used to control the first end angle module to brake toward the middle direction of the vehicle and control the second end angle module to brake toward the outer direction of the vehicle, or the second collaborative braking instruction is used to control the first end angle module to brake toward the outer direction of the vehicle and control the second end angle module to brake toward the middle direction of the vehicle.

[0012] Exemplarily, the vehicle status data includes an accelerator pedal signal, a brake pedal signal, and a vehicle speed signal; according to the driving control mode and the braking control mode, based on the vehicle driving status data and the control status data of the angle module, a coordinated steering instruction is generated, including: according to the driving control mode and the braking control mode, based on the accelerator pedal signal, the vehicle speed signal and the control status data of the angle module, at least one of the target driving force and the target braking force is determined; based on at least one of the target driving force and the target braking force, a coordinated steering instruction is generated.

[0013] Exemplarily, the angle module includes at least one of a first side angle module and a second side angle module; based on at least one of the target driving force and the target braking force, a coordinated steering instruction is generated, including at least one of the following: based on the target driving force for the first side angle module and / or the target driving force for the second side angle module, a coordinated steering instruction is generated, wherein the coordinated steering instruction is used to control the driving force of the first side angle module to decrease and the driving force of the second side angle module to remain unchanged or increase, or the coordinated steering instruction is used to control the driving force of any one angle module of the first side angle module to decrease, or the coordinated steering instruction is used to control the driving force of any one angle module of the second side angle module to decrease; based on the target braking force for the first side angle module and / or the target braking force for the second side angle module, a coordinated steering instruction is generated, wherein the coordinated steering instruction is used to control the braking force of the first side angle module to increase and the braking force of the second side angle module to remain unchanged or decrease, or the coordinated steering instruction is used to control the braking force of any one angle module of the first side angle module to increase, or the coordinated steering instruction is used to control the braking force of any one angle module of the second side angle module to increase.

[0014] Exemplarily, the vehicle collaborative control method also includes: when it is determined that the vehicle needs to be controlled normally, generating a normal control instruction for the corner module based on the vehicle driving status data and the control status data of the corner module; sending the normal control instruction for the corner module to the corner module so that the corner module drives the vehicle based on the normal control instruction for the corner module.

[0015] Exemplarily, based on the vehicle driving state data and the control state data of the angular module, a general control instruction for the angular module is generated, including at least one of the following: the vehicle driving state data includes an accelerator pedal signal and a vehicle speed signal, the general control instruction for the angular module includes a general driving instruction for the angular module, based on the accelerator pedal signal, the vehicle speed signal and the control state data of the angular module, the required target driving force is determined, and based on the target driving force, the general driving instruction for the angular module is generated; the vehicle driving state data includes a steering wheel steering signal and a vehicle speed signal, the general control instruction for the angular module includes a general steering instruction for the angular module, based on the steering wheel steering signal, the vehicle speed signal and the control state data of the angular module, the target steering force required for the vehicle is determined, and based on the target steering force, the general steering instruction for the angular module is generated The angular module provides ordinary steering instructions; the vehicle driving status data includes a vehicle speed signal and an accelerator pedal signal, and the angular module ordinary control instructions include an angular module on-the-spot steering instructions. Based on the vehicle speed signal, the accelerator pedal signal and the control status data of the angular module, the target driving torque required by the vehicle is determined, and based on the target driving torque, the angular module on-the-spot steering instructions are generated; the vehicle driving status data includes a vehicle speed signal, an accelerator pedal signal and a steering wheel steering signal, and the angular module ordinary control instructions include an angular module translation instruction. Based on the vehicle speed signal, the accelerator pedal signal, the steering wheel steering signal and the control status data of the angular module, the target driving torque and target steering force required by the vehicle are determined, and based on the target driving torque and the target steering force, the angular module translation instruction is generated.

[0016] Exemplarily, the corner module includes at least one of a first end corner module, a second end corner module, a first side corner module, and a second side corner module; the method also includes at least one of the following: when any one of the first end corner modules is driven based on the normal driving instruction of the corner module, if a driving failure occurs, the second end corner module is driven; when any one of the first end corner modules is turned based on the normal steering instruction of the corner module, if a steering failure occurs, the second end corner module is turned; based on the corner module in-situ steering instruction, the first side corner module is driven forward and the second side corner module is driven reversely, and / or based on the corner module in-situ steering instruction, the first side corner module is driven reversely and the second side corner module is driven forward; based on the corner module translation instruction, the first end corner module and the second end corner module drive the vehicle to translate in a preset direction.

[0017] Another embodiment of the present application provides a vehicle cooperative control device, the vehicle cooperative control device includes: an acquisition module, used to acquire vehicle driving status data and control status data of an angle module, wherein the angle module is used to drive the vehicle to drive, brake the vehicle and implement steering; a determination module, used to determine the cooperative mode of multiple control modes based on the vehicle driving status data and the control status data of the angle module when it is determined that the vehicle needs to be cooperatively controlled based on multiple control modes; a generation module, used to generate an angle module cooperative control instruction based on the vehicle driving status data and the control status data of the angle module according to the cooperative mode of multiple control modes; a control module, used to send the angle module cooperative control instruction to the angle module, so that the angle module drives the vehicle to drive, brake the vehicle and implement steering based on the angle module cooperative control instruction.

[0018] Another embodiment of the present application provides a vehicle, including a vehicle controller and a corner module, the corner module including a corner module controller, a drive device, a braking device, a steering device, a suspension, and wheels, and the vehicle controller is used to execute the steps of the method of any of the above embodiments.

[0019] Another embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method of any of the above embodiments are implemented.

[0020] In the above implementation, the vehicle cooperative control method includes: obtaining vehicle driving state data and corner module control state data, and in the case of determining that the vehicle needs to be cooperatively controlled based on multiple control methods, determining the cooperative mode of multiple control methods based on the vehicle driving state data and the corner module control state data, and generating corner module cooperative control instructions based on the vehicle driving state data and the corner module control state data according to the cooperative mode of multiple control methods; sending the corner module cooperative control instructions to the corner module so that the corner module drives the vehicle to travel, brakes the vehicle and implements steering based on the corner module cooperative control instructions. Through the cooperative mode of multiple control methods, the longitudinal and lateral coordination of the vehicle is achieved, and the safety of the vehicle is improved; the flexibility and maneuverability of the vehicle are increased, and the purpose of changing the control method can be achieved only through software strategy without adding additional costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flow chart of a vehicle cooperative control method provided for an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the corner module structure provided for an embodiment of the present application;

[0023] Figure 3 A schematic diagram of the vehicle chassis structure provided in the embodiment of the present application;

[0024] Figure 4 A control principle diagram of a chassis control system provided for an embodiment of the present application;

[0025] Figure 5 A schematic diagram of the driving and steering coordinated control of the front wheel to brake toward the middle provided in an embodiment of the present application;

[0026] Figure 6 A schematic diagram of the driving and steering coordinated control of the rear wheels to brake outwards provided in an embodiment of the present application;

[0027] Figure 7 A schematic diagram of four-wheel braking with coordinated driving and steering control provided in an embodiment of the present application;

[0028] Figure 8 A schematic diagram of steering with reduced driving force on one side provided in an embodiment of the present application;

[0029] Fig. 9 A schematic diagram of steering provided by an embodiment of the present application, wherein the rear end driving force is kept consistent and the front end driving force is changed;

[0030] Fig.10 A schematic diagram of steering with increased braking force on one side provided in an embodiment of the present application;

[0031] Fig.11 A schematic diagram of steering by maintaining the same rear end braking force and changing the front end braking force provided in an embodiment of the present application;

[0032] Fig.12 A schematic diagram of a vehicle turning clockwise in situ provided in an embodiment of the present application;

[0033] Fig.13 A schematic diagram of a vehicle turning counterclockwise in situ provided in an embodiment of the present application;

[0034] Fig.14 A schematic diagram of vehicle translation provided for an embodiment of the present application;

[0035] Fig.15 A block diagram of a vehicle cooperative control device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0037] With the development of science and technology, vehicles are becoming more and more intelligent. How to make vehicles more flexible in realizing corresponding functions through control has become the focus of research.

[0038] The related technology mainly uses the wheel hub motor braking adjustment and supplemented by the electronic mechanical braking adjustment; it combines the braking strength advantage of the mechanical braking of the electronic mechanical brake, and the braking response and adjustable motor torque advantage of the motor braking of the wheel hub motor to perform comprehensive braking. When adjusting the wheel slip rate, the electronic mechanical brake provides a constant braking torque, which is superimposed with the adjustable motor braking torque to achieve wheel slip rate control with motor adjustment as the main method and electronic mechanical brake adjustment as the supplement. However, this technology has poor maneuverability and safety.

[0039] In some examples, the corner module integrates the vehicle's drive, brake, steering, suspension, wheels, and corner module controller, and is an important component for vehicle control. The corner module device consists of a drive unit, a suspension arm, a shock absorber, a steering drive component, etc., which can ensure that the upper and lower ends of the device are supported by the vehicle body. The solid structure achieves stable suspension and steering operations, but there is currently no chassis-related control method based on the corner module.

[0040] In view of this, an embodiment of the present application provides a vehicle cooperative control method, which improves the safety and flexibility of the vehicle by cooperatively controlling the longitudinal and lateral directions of the chassis.

[0041] Figure 1 A flow chart of the vehicle cooperative control method provided for an implementation manner of the present application.

[0042] like Figure 1 As shown, the vehicle cooperative control method 100 provided in the embodiment of the present application includes steps S110-S140, for example. The vehicle includes an autonomous driving vehicle, and the autonomous driving vehicle includes at least a vehicle controller and a corner module, wherein the vehicle cooperative control method 100 can be executed by the vehicle controller.

[0043] Step S110, obtaining vehicle driving state data and control state data of an angular module, wherein the angular module is used to drive the vehicle, brake the vehicle, and implement steering.

[0044] Exemplarily, the vehicle driving status data includes, for example, accelerator pedal signals, brake pedal signals, steering wheel steering signals, etc., and the control status data of the angle module includes actual status data such as driving, braking, steering, etc. in the angle module, such as motor speed, wheel angle, and current information, etc.

[0045] Step S120, when it is determined that the vehicle needs to be coordinated based on multiple control methods, determine the coordination mode of the multiple control methods based on the vehicle driving state data and the control state data of the corner module.

[0046] For example, it can be determined whether the vehicle needs to be coordinated based on multiple control methods based on the vehicle driving state data and the control state data of the corner module. It can also be determined whether the vehicle needs to be coordinated based on multiple control methods based on the received control instructions. The control instructions can be automatically generated by the vehicle based on the current driving situation, or they can come from external instructions, such as instructions input by the user during assisted driving.

[0047] Step S130, generating a corner module collaborative control instruction based on the vehicle driving state data and the corner module control state data according to the collaborative mode of multiple control methods.

[0048] Exemplarily, the collaborative mode includes, for example, driving and steering to implement braking in coordination, or regenerative braking and friction braking to implement braking in coordination, and steering by driving or braking. The corner module collaborative control instruction is obtained by the vehicle controller through analysis, calculation, and decision-making based on the vehicle driving state data and the corner module control state data.

[0049] Step S140, sending the corner module cooperative control instruction to the corner module, so that the corner module drives the vehicle to travel, brakes the vehicle and implements steering based on the corner module cooperative control instruction.

[0050] Exemplarily, the vehicle controller sends the obtained corner module collaborative control instructions to the corner modules, issues instructions to the four corner module controllers, and issues control instructions to them individually or comprehensively for driving, steering, braking, etc., to control the vehicle's driving, steering, braking, and other actions.

[0051] In the above embodiments, through the collaborative mode of multiple control methods, the longitudinal and lateral coordination of the vehicle is achieved, the safety of the vehicle is improved; the flexibility and maneuverability of the vehicle are increased, and the purpose of changing the control method can be achieved only through software strategy without adding additional costs.

[0052] Figure 2 A schematic diagram of the corner module structure provided for an implementation manner of the present application.

[0053] like Figure 2 As shown, the vehicle's drive 21, brake 22, steering 23, suspension 24, wheel 25, corner module controller 26, etc. are integrated into a corner module 20. The corner modules 20 are respectively placed at multiple wheel ends of the vehicle chassis. The multiple wheel ends may include two, three, four, etc. This application is explained by taking the example of placing the corner modules at the four wheel ends of the vehicle chassis.

[0054] Figure 3 A simplified schematic diagram of the vehicle chassis structure provided for an embodiment of the present application.

[0055] like Figure 3As shown, the vehicle chassis system includes corner modules, vehicle controller, power battery, storage battery, etc. The black dotted box represents the corner module.

[0056] Figure 4 A control schematic diagram of a chassis control system provided for an embodiment of the present application.

[0057] like Figure 4 As shown, the chassis control system involves the vehicle controller, four corner module controllers, brake pedal signal, accelerator pedal signal, vehicle speed signal, steering wheel signal, special function signal, etc. Special function signals are used to determine the in-situ steering and vehicle translation. The special function switch is divided into three positions: normal working position, at which time the vehicle is the same as other vehicles; in-situ steering position judgment: when the vehicle speed is 0 and the switch is in the in-situ steering position, the driver turns the steering wheel to the left to implement the left in-situ steering; vehicle translation judgment: when the vehicle speed is 0 and the switch is in the vehicle translation position, the driver turns the steering wheel to the left to implement the left front vehicle translation.

[0058] The vehicle controller receives brake pedal signals, accelerator pedal signals, vehicle speed signals, steering wheel signals, special function signals and CAN bus information of the four corner module controllers, analyzes, calculates and makes decisions on them, and then issues instructions to the four corner module controllers to implement driving, steering, braking and other control instructions individually or in combination to control the vehicle's driving, steering, braking and other actions.

[0059] The multiple control modes include at least two of the driving control mode, the braking control mode, the steering control mode, the feedback braking mode, and the friction braking mode, and the corner module collaborative control instructions include at least one of the collaborative braking instructions and the collaborative steering instructions; according to the collaborative mode of the multiple control modes, the corner module collaborative control instructions are generated based on the vehicle driving status data and the control status data of the corner module, including at least one of the following: according to at least one of the driving control mode, the steering control mode, the feedback braking mode, and the friction braking mode, based on the vehicle driving status data and the control status data of the corner module, a collaborative braking instruction is generated; according to the driving control mode and the braking control mode, based on the vehicle driving status data and the control status data of the corner module, a collaborative steering instruction is generated.

[0060] Regenerative braking is a type of energy recovery braking. When the speed of the motor rotor exceeds the synchronous speed, the motor enters the power generation state and converts mechanical energy into electrical energy through electromagnetic induction. The electrical energy is then fed back to the power grid or energy storage device through a power conversion device.

[0061] Friction brakes rely on friction to consume the kinetic energy of a moving object, thereby slowing down or stopping the object. Common types of brakes are disc brakes and drum brakes. Disc brakes use the brake caliper to clamp the brake disc and use the friction between the two. Drum brakes use the contact and friction between the brake shoe and the brake drum to convert the kinetic energy of the vehicle into heat energy.

[0062] The coordinated braking instruction includes at least one of a first coordinated braking instruction and a second coordinated braking instruction; the coordinated braking instruction is generated according to at least one of a driving control mode, a steering control mode, a feedback braking mode and a friction braking mode, based on the vehicle driving state data and the control state data of the angle module, and includes at least one of the following:

[0063] Generate a first coordinated braking instruction based on the vehicle driving state data and the control state data of the angle module according to the feedback braking mode and the friction braking mode;

[0064] Generate a second coordinated braking instruction based on the vehicle driving state data and the control state data of the angle module according to the driving control mode and the steering control mode;

[0065] In the event of a failure in the regenerative braking mode and / or the friction braking mode, a second cooperative braking instruction is generated according to the drive control mode and the steering control mode based on the vehicle driving state data and the control state data of the angle module.

[0066] Exemplarily, based on the regenerative braking mode and the friction braking mode, based on the vehicle driving state data and the control state data of the angle module, generating the first coordinated braking instruction includes at least one of the following:

[0067] When the regenerative braking force is greater than the target braking force, a regenerative control signal is generated as a first coordinated braking instruction based on the vehicle driving state data and the control state data of the angular module, wherein the angular module can perform regenerative braking based on the first coordinated braking instruction;

[0068] When the feedback braking force is less than or equal to the target braking force, a collaborative braking signal is generated as a first collaborative braking instruction based on the vehicle driving status data and the control status data of the angular module, wherein the angular module can perform feedback braking based on the first collaborative braking instruction and perform friction braking when the feedback braking is insufficient.

[0069] For example, when the vehicle brakes, the vehicle controller receives the brake pedal signal and the vehicle speed signal, calculates the braking torque required for the vehicle, and sends instructions to each corner module according to the required braking force to brake the vehicle; when the feedback braking force is greater than the required braking force, the vehicle controller sends a feedback signal to control the four corner module controllers to implement feedback braking; when the feedback braking force is less than the required braking force, the vehicle controller controls the four corner module controllers to prioritize feedback braking, and the shortfall is compensated by friction braking.

[0070] The corner module includes a plurality of corner modules; the method further includes at least one of the following:

[0071] When any one of the plurality of corner modules performs regenerative braking based on the first coordinated braking instruction, if a regenerative braking failure occurs, the corner module performs friction braking, and the other corner modules perform regenerative braking and perform friction braking when the regenerative braking is insufficient;

[0072] The multiple angle modules include a first end angle module and a second end angle module. When any one of the first end angle modules performs friction braking based on a first collaborative braking instruction, if a friction braking failure occurs, the angle module performs feedback braking, the other angle modules in the first end angle module perform feedback braking, and the second end angle module performs feedback braking and performs friction braking when the feedback braking is insufficient.

[0073] For example, when the regenerative braking of a corner module fails, the vehicle controller controls the controller of the corner module to implement friction braking, and the braking parts of other corner modules give priority to regenerative braking, and the insufficient part is compensated by friction braking; when the friction braking of a corner module fails, the vehicle controller controls the controller of the corner module to implement regenerative braking, and the corner module at the same end (for example, the front wheel) also only implements regenerative braking; the braking part of the corner module at the remaining end (rear wheel) gives priority to regenerative braking, and the insufficient part is compensated by friction braking.

[0074] In the above embodiments, the regenerative braking and friction braking of the vehicle cooperate with each other to ensure the braking effect to the maximum extent, and the two methods complement each other, making the vehicle braking more flexible and saving resources.

[0075] When the vehicle's regenerative braking or friction braking fails, the steering part and the driving part of the angle module are used to coordinate control and implement braking.

[0076] The vehicle status data includes a steering wheel steering signal, a vehicle speed signal, and an accelerator pedal signal; according to the drive control mode and the steering control mode, based on the vehicle driving status data and the control status data of the angle module, a second collaborative braking instruction is generated, including: according to the drive control mode and the steering control mode, based on the steering wheel steering signal, the vehicle speed signal, the accelerator pedal signal and the control status data of the angle module, determining the target driving torque and the target steering force; based on the target driving force and the target steering force, a second collaborative braking instruction is generated.

[0077] Exemplarily, the angle module includes at least one of a first end angle module and a second end angle module; based on the target driving force and the target steering force, generating a second coordinated braking instruction includes at least one of the following:

[0078] Based on the target driving force for the first end angle module and the target steering force for the first end angle module, a second coordinated braking instruction is generated, wherein the second coordinated braking instruction is used to control the first end angle module to brake toward the middle direction of the vehicle or the outer direction of the vehicle;

[0079] generating a second coordinated braking instruction based on a target driving force for the second end angle module and a target steering force for the second end angle module, wherein the second coordinated braking instruction is used to control the second end angle module to brake toward a vehicle middle direction or a vehicle outer direction;

[0080] Based on the target driving force for the first end angle module and the target steering force for the first end angle module, the target driving force for the second end angle module and the target steering force for the second end angle module, a second collaborative braking instruction is generated, wherein the second collaborative braking instruction is used to control the first end angle module to brake toward the center direction of the vehicle and to control the second end angle module to brake toward the outside direction of the vehicle, or the second collaborative braking instruction is used to control the first end angle module to brake toward the outside direction of the vehicle and to control the second end angle module to brake toward the center direction of the vehicle.

[0081] For example, Figure 5 A schematic diagram of the driving and steering coordinated control of the front wheel to brake toward the middle provided in the embodiment of the present application, as shown in FIG. Figure 5 As shown in the figure, the blue arrow represents the braking force, and the length represents its size. The vehicle controller issues a command to control the left and right corner module controllers of the front wheels to drive and steer toward the middle direction of the vehicle at the same time, thereby braking the vehicle.

[0082] Figure 6 A schematic diagram of the driving and steering coordinated control of the rear wheels to brake outwards provided in the embodiment of the present application; Figure 6 As shown in the figure, the blue arrow represents the braking force, and the length represents its size. The vehicle controller issues a command to control the left and right corner module controllers of the rear wheels to drive and steer toward the outside of the vehicle at the same time, thereby braking the vehicle.

[0083] Figure 7 A schematic diagram of four-wheel braking with coordinated driving and steering control provided in the embodiment of the present application is shown in FIG. Figure 7 As shown in the figure, the blue arrow represents the braking force, and the length represents its size. The vehicle controller issues a command to control the left and right corner module controllers of the front wheels to drive and steer toward the middle of the vehicle at the same time, and the left and right corner module controllers of the rear wheels to drive and steer toward the outside of the vehicle at the same time, thereby braking the vehicle.

[0084] The present application also includes the following scenarios: the vehicle controller issues a command to control the left and right corner module controllers of the rear wheels to drive and steer toward the center of the vehicle at the same time, thereby braking the vehicle; or the vehicle controller issues a command to control the left and right corner module controllers of the front wheels to drive and steer toward the outside of the vehicle at the same time, thereby braking the vehicle; or the vehicle controller issues a command to control the left and right corner module controllers of the front wheels to drive and steer toward the outside of the vehicle at the same time, and the left and right corner module controllers of the rear wheels to drive and steer toward the center of the vehicle at the same time, thereby braking the vehicle.

[0085] In the above embodiments, when the regenerative braking or friction braking of the vehicle fails, the driving and steering parts of the vehicle coordinate with each other to realize the braking function of the vehicle. In actual application, it is more flexible and convenient, and can ensure the safety of the vehicle to the greatest extent.

[0086] In another example, the braking part and the driving part of the corner module may be used to coordinately control the steering.

[0087] The vehicle status data includes an accelerator pedal signal, a brake pedal signal, and a vehicle speed signal; according to the driving control mode and the braking control mode, based on the vehicle driving status data and the control status data of the angle module, a coordinated steering instruction is generated, including: according to the driving control mode and the braking control mode, based on the accelerator pedal signal, the vehicle speed signal and the control status data of the angle module, at least one of the target driving force and the target braking force is determined; based on at least one of the target driving force and the target braking force, a coordinated steering instruction is generated.

[0088] Exemplarily, the angle module includes at least one of a first side angle module and a second side angle module; based on at least one of the target driving force and the target braking force, generating a coordinated steering instruction includes at least one of the following:

[0089] Based on the target driving force for the first side angle module and / or the target driving force for the second side angle module, a coordinated steering instruction is generated, wherein the coordinated steering instruction is used to control the driving force of the first side angle module to decrease and control the driving force of the second side angle module to remain unchanged or increase, or the coordinated steering instruction is used to control the driving force of any corner module of the first side angle module to decrease, or the coordinated steering instruction is used to control the driving force of any corner module of the second side angle module to decrease;

[0090] Based on the target braking force for the first side angle module and / or the target braking force for the second side angle module, a coordinated steering instruction is generated, wherein the coordinated steering instruction is used to control the increase of the braking force of the first side angle module and to control the braking force of the second side angle module to remain unchanged or to decrease, or the coordinated steering instruction is used to control the increase of the braking force of any corner module of the first side angle module, or the coordinated steering instruction is used to control the increase of the braking force of any corner module of the second side angle module.

[0091] For example, Figure 8 A schematic diagram of steering with reduced driving force on one side provided in the embodiment of the present application, such as Figure 8 As shown, the blue arrow represents the driving force, and the length represents its size. The vehicle controller issues a command to control the corner module controller (left front and left rear) on one side of the vehicle (such as the left side). At the same time, the driving force on one side (left side) is reduced, and the driving force of the corner module driving part on the other side (right side) remains unchanged or increases, thereby making the vehicle turn left; the driving force of one wheel end on the left side of the vehicle can also be controlled to reduce to realize the vehicle turning left; conversely, it turns right.

[0092] Fig. 9 The schematic diagram of steering provided in the embodiment of the present application is to keep the rear end driving force consistent and change the front end driving force, as shown in FIG. Fig. 9 As shown, the blue arrow represents the driving force, and the length represents its size. The vehicle controller issues a command to control the driving force at the rear end of the vehicle to remain consistent, the driving force at the front end side (left side) is reduced, and the driving force of the corner module driving part at the other side (right side) remains unchanged or increases, thereby making the vehicle turn left; otherwise, it turns right.

[0093] Fig.10 A schematic diagram of steering with increased braking force on one side provided in the embodiment of the present application; Fig.10 As shown, the blue arrow represents the braking force, and the length represents its size. The vehicle controller issues a command to control the corner module controller (left front and left rear) on one side of the vehicle (such as the left side), and at the same time increases the braking force on one side (left side), while the braking force of the corner module braking part on the other side (right side) remains unchanged or decreases, thereby making the vehicle turn left; it can also control the braking force of one wheel end on the left side of the vehicle to increase, so that the vehicle turns left; otherwise, it turns right.

[0094] Fig.11 The schematic diagram of steering provided in the embodiment of the present application is to keep the rear end braking force consistent and change the front end braking force size, as shown in Fig.11 As shown, the vehicle controller issues a command to control the rear end driving force of the vehicle to remain consistent, the braking force on the front side (left side) increases, and the driving force of the corner module driving part on the other side (right side) remains unchanged or decreases, thereby making the vehicle turn left; otherwise, it turns right.

[0095] In the above embodiments, the steering function of the vehicle is realized by the driving or braking part of the vehicle. In actual application, the vehicle has better maneuverability and can achieve the maximum turning angle range of the wheels; and the vehicle safety can be guaranteed to the greatest extent.

[0096] The vehicle collaborative control method also includes: when it is determined that the vehicle needs to be controlled normally, generating normal control instructions for the corner module based on the vehicle driving status data and the control status data of the corner module; sending the normal control instructions for the corner module to the corner module so that the corner module drives the vehicle based on the normal control instructions for the corner module.

[0097] Exemplarily, based on the vehicle driving state data and the control state data of the corner module, a common control instruction of the corner module is generated, including at least one of the following:

[0098] The vehicle driving state data includes an accelerator pedal signal and a vehicle speed signal, the angular module common control instruction includes an angular module common driving instruction, and based on the accelerator pedal signal, the vehicle speed signal and the control state data of the angular module, a required target driving force is determined, and according to the target driving force, a angular module common driving instruction is generated;

[0099] The vehicle driving state data includes a steering wheel steering signal and a vehicle speed signal, and the angle module common control instruction includes an angle module common steering instruction. Based on the steering wheel steering signal, the vehicle speed signal and the control state data of the angle module, a target steering force required by the vehicle is determined, and based on the target steering force, a common steering instruction of the angle module is generated;

[0100] The vehicle driving state data includes a vehicle speed signal and an accelerator pedal signal, and the angle module common control instruction includes an angle module on-site steering instruction. Based on the vehicle speed signal, the accelerator pedal signal and the control state data of the angle module, a target driving torque required by the vehicle is determined, and based on the target driving torque, an angle module on-site steering instruction is generated;

[0101] The vehicle driving status data includes vehicle speed signal, accelerator pedal signal, and steering wheel steering signal. The general control instructions of the angular module include angular module translation instructions. Based on the vehicle speed signal, accelerator pedal signal, steering wheel steering signal and the control status data of the angular module, the target driving torque and target steering force required by the vehicle are determined. Based on the target driving torque and target steering force, the angular module translation instruction is generated.

[0102] For example, when the vehicle is driven, the vehicle controller receives the accelerator pedal signal and the vehicle speed signal, calculates the required driving torque, determines two-wheel drive or four-wheel drive according to the size of the driving torque, and at the same time, sends the driving torque required by each module to each corner module controller. After receiving the instruction, each corner module controller sends a driving instruction to each wheel end drive motor to drive the vehicle to drive; when the vehicle turns, the vehicle controller receives the steering wheel steering signal and the vehicle speed signal, calculates the driving direction of the vehicle, and sends instructions to the two front wheel corner modules according to the driving direction of the vehicle to turn the vehicle; when the vehicle turns in place, the vehicle controller receives the accelerator pedal signal and the vehicle speed signal, calculates the required driving torque, determines two-wheel drive or four-wheel drive according to the size of the driving torque, and at the same time, sends the driving torque required by each module to each corner module controller. After receiving the instruction, each corner module controller sends a driving instruction to each wheel end drive motor to drive the vehicle to turn in place; when the vehicle moves horizontally, the vehicle controller sends instructions to the four corner modules, and the driving parts of the corner module controllers of the four wheels of the vehicle drive in the same direction and at the same angle, and the driving force of the four wheels remains consistent.

[0103] The corner module includes at least one of a first end corner module, a second end corner module, a first side corner module, and a second side corner module; the method further includes at least one of the following:

[0104] When any one of the first end angle modules is driven based on the normal driving instruction of the angle module, if a driving failure occurs, the second end angle module is driven;

[0105] When any one of the first end angle modules performs steering based on the normal steering instruction of the angle module, if a steering failure occurs, the second end angle module performs steering;

[0106] Based on the corner module in-situ steering instruction, the first side corner module drives forward and the second side corner module drives reversely, and / or based on the corner module in-situ steering instruction, the first side corner module drives reversely and the second side corner module drives forward;

[0107] Based on the angle module translation instruction, the first end angle module and the second end angle module drive the vehicle to translate in a preset direction.

[0108] For example, when the vehicle is driving, if a fault is detected in the driving part of a corner module, such as a left front corner module driving fault, the vehicle will be driven by the left rear corner module and the right rear corner module. Similarly, when other modules fail, the driving action is performed by the non-faulty module; when the vehicle is turning, if a fault is detected in the steering part of a corner module of the front wheel of the vehicle, such as a left front corner module steering fault, the vehicle will be turned by the two corner modules of the rear wheel (left rear and right rear). Similarly, when other modules fail, the steering action is performed by the non-faulty module.

[0109] Fig.12 A schematic diagram of a vehicle turning clockwise in situ provided in an embodiment of the present application, such as Fig.12 As shown, the blue arrow represents the driving force, and the length represents its size. The vehicle controller issues instructions to the four corner modules. The driving part of the corner module controller of the two wheels on the left side of the vehicle implements forward driving, and the driving part of the corner module controller of the two wheels on the right side of the vehicle implements reverse driving, so that the vehicle can turn clockwise on the spot.

[0110] Fig.13 A schematic diagram of a vehicle turning counterclockwise in situ provided in an embodiment of the present application, such as Fig.13 As shown, the blue arrow represents the driving force, and the length represents its size. The vehicle controller issues instructions to the four corner modules. The driving part of the corner module controller of the two wheels on the right side of the vehicle implements forward driving, and the driving part of the corner module controller of the two wheels on the left side of the vehicle implements reverse driving, so that the vehicle can turn counterclockwise on the spot.

[0111] For example, the vehicle controller sends out a command to control the corner module controller (left front and left rear) on one side of the vehicle (such as the left side), and at the same time increases the braking force on one side (left side), while the braking force of the braking part of the corner module on the other side (right side) remains unchanged or decreases, thereby making the vehicle turn left (counterclockwise); it can also control the braking force of one wheel end on the left side of the vehicle to increase, so that the vehicle can turn left (counterclockwise); otherwise, it can turn right (clockwise).

[0112] Fig.14 A schematic diagram of vehicle translation provided in an embodiment of the present application, such as Fig.14 As shown, the blue arrow represents the driving force, and the length represents its size. The vehicle controller issues instructions to the four corner modules, and the corner module controller driving parts of the four wheels of the vehicle drive in the same direction and at the same angle. The driving force of the four wheels remains consistent, and the vehicle moves parallel to this direction.

[0113] In another example, the vehicle may be a two-axle vehicle or a three-axle vehicle.

[0114] The driving, braking and steering of the present invention are coordinated with each other. Braking is implemented by steering, and steering is implemented by driving or braking, so that the vehicle control is more flexible and the maximum turning angle range of the wheels is realized; forward driving is implemented by a corner module on the same side of the vehicle, and reverse driving is implemented by a corner module on the other side of the vehicle to realize the vehicle turning on the spot; four corner modules are used to implement longitudinal driving in the same direction at the same time to realize vehicle translation, thereby improving the maneuverability of the whole vehicle, and through the longitudinal and lateral coordinated control of the chassis, the safety of the whole vehicle is further improved, and the purpose of changing the control method can be achieved only through software strategy, without adding additional costs.

[0115] Fig.15 A block diagram of a vehicle cooperative control device provided in another embodiment of the present application.

[0116] This specification provides a vehicle cooperative control device 1500, please refer to Fig.15 The vehicle cooperative control device 1500 includes: an acquisition module 1510, a determination module 1520, a generation module 1530, and a control module 1540.

[0117] Exemplarily, the acquisition module 1510 is used to acquire vehicle driving state data and control state data of an angle module, wherein the angle module is used to drive the vehicle to drive, brake the vehicle, and implement steering.

[0118] Exemplarily, the determination module 1520 is used to determine the coordination mode of the multiple control modes based on the vehicle driving state data and the control state data of the angle module when it is determined that the vehicle needs to be coordinated based on multiple control modes.

[0119] Exemplarily, the generation module 1530 is used to generate corner module collaborative control instructions based on the vehicle driving state data and the control state data of the corner module according to the collaborative mode of multiple control methods.

[0120] Exemplarily, the control module 1540 is used to send the corner module cooperative control instruction to the corner module, so that the corner module drives the vehicle to travel, brakes the vehicle and implements steering based on the corner module cooperative control instruction.

[0121] It can be understood that the specific implementation process of the vehicle cooperative control device 1500 can refer to the implementation process of the vehicle cooperative control method above, and will not be repeated here.

[0122] An embodiment of the present application provides a vehicle, including a vehicle controller and a corner module, the corner module including a corner module controller, a drive device, a braking device, a steering device, a suspension, and wheels, and the vehicle controller is used to execute the steps of the method of any of the above embodiments.

[0123] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method in any one of the above embodiments are implemented.

[0124] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this application, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0125] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0126] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0127] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0128] In addition, the terms "first", "second", etc. used in the embodiments of the present application are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present application can explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present application, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0129] In this application, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific implementation situation.

[0130] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0131] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle cooperative control method, characterized in that: The method comprises: Acquiring vehicle driving state data and control state data of an angle module, wherein the angle module is used to drive the vehicle, brake the vehicle, and implement steering; In the case where it is determined that the vehicle needs to be coordinated based on multiple control modes, determining a coordination mode of the multiple control modes based on the vehicle driving state data and the control state data of the corner module; Generate a corner module cooperative control instruction based on the vehicle driving state data and the control state data of the corner module according to the cooperative mode of the multiple control modes; The corner module cooperative control instruction is sent to the corner module, so that the corner module drives the vehicle to travel, brakes the vehicle and implements steering based on the corner module cooperative control instruction.

2. The method according to claim 1, characterized in that The multiple control modes include at least two of a driving control mode, a braking control mode, a steering control mode, a feedback braking mode, and a friction braking mode; the corner module cooperative control instruction includes at least one of a cooperative braking instruction and a cooperative steering instruction; the corner module cooperative control instruction is generated based on the vehicle driving state data and the control state data of the corner module according to the cooperative mode of the multiple control modes, including at least one of the following: generating the coordinated braking instruction based on the vehicle driving state data and the control state data of the corner module according to at least one of the driving control mode, the steering control mode, the feedback braking mode and the friction braking mode; According to the driving control mode and the braking control mode, the coordinated steering instruction is generated based on the vehicle driving state data and the control state data of the corner module.

3. The method according to claim 2, characterized in that The coordinated braking instruction includes at least one of a first coordinated braking instruction and a second coordinated braking instruction; the generating of the coordinated braking instruction based on at least one of the driving control mode, the steering control mode, the feedback braking mode and the friction braking mode, based on the vehicle driving state data and the control state data of the corner module, includes at least one of the following: generating the first coordinated braking instruction according to the feedback braking mode and the friction braking mode, based on the vehicle driving state data and the control state data of the corner module; generating the second coordinated braking instruction according to the driving control mode and the steering control mode, based on the vehicle driving state data and the control state data of the corner module; In the event of a failure of the regenerative braking mode and / or the friction braking mode, the second cooperative braking instruction is generated according to the drive control mode and the steering control mode, based on the vehicle driving state data and the control state data of the corner module.

4. The method according to claim 3, characterized in that The generating the first coordinated braking instruction based on the feedback braking mode and the friction braking mode, based on the vehicle driving state data and the control state data of the corner module, includes at least one of the following: In a case where the regenerative braking force is greater than the target braking force, generating a regenerative control signal as the first coordinated braking instruction based on the vehicle driving state data and the control state data of the angular module, wherein the angular module can perform regenerative braking based on the first coordinated braking instruction; When the feedback braking force is less than or equal to the target braking force, a collaborative braking signal is generated as the first collaborative braking instruction based on the vehicle driving status data and the control status data of the angular module, wherein the angular module is capable of performing feedback braking based on the first collaborative braking instruction and performing friction braking when the feedback braking is insufficient.

5. The method according to claim 4, characterized in that The corner module includes a plurality of corner modules; the method further includes at least one of the following: When any one of the plurality of corner modules performs regenerative braking based on the first coordinated braking instruction, if a regenerative braking failure occurs, the corner module performs friction braking, and other corner modules perform regenerative braking and perform friction braking when the regenerative braking is insufficient; The multiple angle modules include a first end angle module and a second end angle module. When any one of the first end angle modules performs friction braking based on the first collaborative braking instruction, if a friction braking failure occurs, the angle module performs feedback braking, other angle modules in the first end angle modules perform feedback braking, and the second end angle module performs feedback braking and performs friction braking when the feedback braking is insufficient.

6. The method according to claim 3, characterized in that The vehicle state data includes a steering wheel steering signal, a vehicle speed signal, and an accelerator pedal signal; the generating the second coordinated braking instruction based on the vehicle driving state data and the control state data of the corner module according to the driving control mode and the steering control mode includes: According to the driving control mode and the steering control mode, based on the steering wheel steering signal, the vehicle speed signal, the accelerator pedal signal and the control state data of the angle module, a target driving torque and a target steering force are determined; The second cooperative braking command is generated based on the target driving force and the target steering force.

7. The method according to claim 6, characterized in that The angle module includes at least one of a first end angle module and a second end angle module; the generating the second coordinated braking instruction based on the target driving force and the target steering force includes at least one of the following: generating a second coordinated braking instruction based on a target driving force for the first end angle module and a target steering force for the first end angle module, wherein the second coordinated braking instruction is used to control the first end angle module to brake toward a vehicle middle direction or a vehicle outer direction; generating the second coordinated braking instruction based on the target driving force for the second end angle module and the target steering force for the second end angle module, wherein the second coordinated braking instruction is used to control the second end angle module to brake toward the middle direction of the vehicle or the outer direction of the vehicle; The second collaborative braking instruction is generated based on the target driving force for the first end angle module and the target steering force for the first end angle module, the target driving force for the second end angle module and the target steering force for the second end angle module, wherein the second collaborative braking instruction is used to control the first end angle module to brake toward the center direction of the vehicle and to control the second end angle module to brake toward the outside direction of the vehicle, or the second collaborative braking instruction is used to control the first end angle module to brake toward the outside direction of the vehicle and to control the second end angle module to brake toward the center direction of the vehicle.

8. The method according to claim 2, characterized in that: The vehicle state data includes an accelerator pedal signal, a brake pedal signal, and a vehicle speed signal; the generating the coordinated steering instruction based on the vehicle driving state data and the control state data of the angle module according to the driving control mode and the braking control mode includes: According to the driving control mode and the braking control mode, determining at least one of a target driving force and a target braking force based on the accelerator pedal signal, the vehicle speed signal and the control state data of the angle module; The coordinated steering command is generated based on at least one of the target driving force and the target braking force.

9. The method according to claim 8, characterized in that The angle module includes at least one of a first side angle module and a second side angle module; the generating the coordinated steering instruction based on at least one of the target driving force and the target braking force includes at least one of the following: Based on the target driving force for the first side angle module and / or the target driving force for the second side angle module, the coordinated steering instruction is generated, wherein the coordinated steering instruction is used to control the driving force of the first side angle module to decrease and control the driving force of the second side angle module to remain unchanged or increase, or the coordinated steering instruction is used to control the driving force of any corner module of the first side angle module to decrease, or the coordinated steering instruction is used to control the driving force of any corner module of the second side angle module to decrease; The coordinated steering instruction is generated based on the target braking force for the first side angle module and / or the target braking force for the second side angle module, wherein the coordinated steering instruction is used to control the increase of the braking force of the first side angle module and to control the braking force of the second side angle module to remain unchanged or decrease, or the coordinated steering instruction is used to control the increase of the braking force of any corner module of the first side angle module, or the coordinated steering instruction is used to control the increase of the braking force of any corner module of the second side angle module.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: In the case where it is determined that the vehicle needs to be controlled normally, generating a normal control instruction for the corner module based on the vehicle driving state data and the control state data of the corner module; The corner module general control instruction is sent to the corner module, so that the corner module drives the vehicle to travel based on the corner module general control instruction.

11. The method according to claim 10, characterized in that The generating of the common control instruction of the corner module based on the vehicle driving state data and the control state data of the corner module comprises at least one of the following: The vehicle driving state data includes an accelerator pedal signal and a vehicle speed signal, the angular module common control instruction includes an angular module common drive instruction, based on the accelerator pedal signal, the vehicle speed signal and the control state data of the angular module, determining the required target driving force, and generating the angular module common drive instruction according to the target driving force; The vehicle driving state data includes a steering wheel steering signal and a vehicle speed signal, the angle module general control instruction includes an angle module general steering instruction, based on the steering wheel steering signal, the vehicle speed signal and the control state data of the angle module, determining the target steering force required by the vehicle, and generating the angle module general steering instruction based on the target steering force; The vehicle driving state data includes a vehicle speed signal and an accelerator pedal signal, the angle module common control instruction includes an angle module on-site steering instruction, a target driving torque required by the vehicle is determined based on the vehicle speed signal, the accelerator pedal signal and the control state data of the angle module, and the angle module on-site steering instruction is generated based on the target driving torque; The vehicle driving status data includes a vehicle speed signal, an accelerator pedal signal, and a steering wheel steering signal. The general control instruction of the angular module includes an angular module translation instruction. Based on the vehicle speed signal, the accelerator pedal signal, the steering wheel steering signal and the control status data of the angular module, the target driving torque and target steering force required by the vehicle are determined. Based on the target driving torque and target steering force, the angular module translation instruction is generated.

12. The method according to claim 11, characterized in that The corner module includes at least one of a first end corner module, a second end corner module, a first side corner module, and a second side corner module; the method further includes at least one of the following: When any one of the first end angle modules is driven based on the normal driving instruction of the angle module, if a driving failure occurs, the second end angle module is used for driving; When any one of the first end angle modules performs steering based on the normal steering instruction of the angle module, if a steering failure occurs, the second end angle module performs steering; Based on the corner module in-situ steering instruction, the first side corner module is driven in a forward direction and the second side corner module is driven in a reverse direction, and / or based on the corner module in-situ steering instruction, the first side corner module is driven in a reverse direction and the second side corner module is driven in a forward direction; Based on the corner module translation instruction, the first end corner module and the second end corner module drive the vehicle to translate in a preset direction.

13. A vehicle cooperative control device, characterized in that: The device comprises: An acquisition module, used to acquire vehicle driving state data and control state data of an angle module, wherein the angle module is used to drive the vehicle, brake the vehicle and implement steering; A determination module, configured to determine a coordination mode of the multiple control modes based on the vehicle driving state data and the control state data of the corner module when it is determined that the vehicle needs to be coordinated based on multiple control modes; A generating module, configured to generate a corner module coordinated control instruction based on the vehicle driving state data and the control state data of the corner module according to the coordinated mode of the multiple control modes; The control module is used to send the corner module cooperative control instruction to the corner module, so that the corner module drives the vehicle to travel, brake the vehicle and implement steering based on the corner module cooperative control instruction.

14. A vehicle, comprising a vehicle controller and a corner module, wherein the corner module comprises a corner module controller, a drive device, a braking device, a steering device, a suspension, and wheels, and the vehicle controller is used to execute the method described in any one of claims 1 to 12.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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