Vehicle cooperative control method and device, vehicle and medium

Abstract

The application discloses a vehicle cooperative control method and device, a vehicle and a medium. The vehicle cooperative control method comprises the following steps: acquiring vehicle running state data and control state data of an angle module, wherein the angle module is used for driving vehicle running, vehicle braking and steering; in the case that it is determined that the vehicle needs to be cooperatively controlled based on multiple control modes, determining a cooperative mode of the multiple control modes based on the vehicle running state data and the control state data of the angle module; generating an angle module cooperative control instruction based on the vehicle running state data and the control state data of the angle module according to the cooperative mode of the multiple control modes; and sending the angle module cooperative control instruction to the angle module, so that the angle module drives the vehicle running, the vehicle braking and the steering based on the angle module cooperative control instruction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and particularly relates to a vehicle cooperative control method and device, a vehicle and a medium. BACKGROUND

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

[0003] The related technology mainly uses hub motor braking adjustment and auxiliary electronic mechanical braking adjustment. The related technology 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 hub motor to comprehensively brake. When adjusting the wheel slip rate, the electronic mechanical brake provides a constant braking torque, and the adjustable motor braking torque is superimposed to realize wheel slip rate control mainly by motor adjustment and auxiliary electronic mechanical brake adjustment. However, the related technology has poor maneuverability and safety. SUMMARY

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

[0005] The present application provides a vehicle cooperative control method. The vehicle cooperative control method comprises: acquiring vehicle driving state data and control state data of an angle module, wherein the angle module is used to drive vehicle driving, vehicle braking and implement steering; in a case where it is determined that the vehicle needs to be cooperatively controlled based on multiple control modes, determining a cooperative mode of the multiple control modes based on the vehicle driving state data and the control state data of the angle module; generating an angle module cooperative control instruction based on the vehicle driving state data and the control state data of the angle module according to the cooperative mode of the multiple control modes; and sending the angle module cooperative control instruction to the angle module, so that the angle module drives vehicle driving, vehicle braking and implements steering based on the angle module cooperative control instruction.

[0006] Exemplarily, the plurality of control modes include at least two of a driving control mode, a braking control mode, a steering control mode, a regenerative braking mode, and a friction braking mode, and the cooperative control instruction of the corner module includes at least one of a cooperative braking instruction and a cooperative steering instruction; the cooperative control instruction of the corner module 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 plurality of control modes, including at least one of: generating the cooperative 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 regenerative braking mode, and the friction braking mode; and generating the cooperative steering 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 braking control mode.

[0007] Exemplarily, the cooperative braking instruction includes at least one of a first cooperative braking instruction and a second cooperative braking instruction; the cooperative braking instruction is generated 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 regenerative braking mode, and the friction braking mode, including at least one of: generating the first cooperative braking instruction based on the vehicle driving state data and the control state data of the corner module according to the regenerative braking mode and the friction braking mode; generating the second cooperative 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; and generating the second cooperative 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 in the case that the regenerative braking mode and / or the friction braking mode fails.

[0008] Exemplarily, the first cooperative braking instruction is generated based on the vehicle driving state data and the control state data of the corner module according to the regenerative braking mode and the friction braking mode, including at least one of: in the case that the regenerative braking force is greater than the target braking force, generating a regenerative control signal as the first cooperative braking instruction based on the vehicle driving state data and the control state data of the corner module, wherein the corner module is capable of regenerative braking based on the first cooperative braking instruction; and in the case that the regenerative braking force is less than or equal to the target braking force, generating a cooperative braking signal as the first cooperative braking instruction based on the vehicle driving state data and the control state data of the corner module, wherein the corner module is capable of regenerative braking based on the first cooperative braking instruction and friction braking in the case that the regenerative braking is insufficient.

[0009] Exemplarily, the plurality of corner modules comprises a first end corner module and a second end corner module; in a case that any one of the corner modules in the first end corner module performs friction braking based on the first cooperative braking instruction, if a friction braking failure occurs, the corner module performs regenerative braking, other corner modules in the first end corner module perform regenerative braking, and the second end corner module performs regenerative braking and performs friction braking in a case that the regenerative braking is insufficient.

[0010] Exemplarily, the vehicle running state data comprises a steering wheel steering signal, a vehicle speed signal, and an accelerator pedal signal; the second cooperative braking instruction is generated based on the vehicle running state data and the control state data of the corner module according to the drive control mode and the steering control mode, comprising: determining a target drive force and a target steering force based on the steering wheel steering signal, the vehicle speed signal, the accelerator pedal signal, and the control state data of the corner module according to the drive control mode and the steering control mode; and generating the second cooperative braking instruction based on the target drive force and the target steering force.

[0011] Exemplarily, the corner module comprises at least one of a first end corner module and a second end corner module; the second cooperative braking instruction is generated based on the target drive force and the target steering force, comprising at least one of: generating the second cooperative braking instruction based on the target drive force for the first end corner module and the target steering force for the first end corner module, wherein the second cooperative braking instruction is used to control the first end corner module to brake towards a vehicle middle direction or a vehicle outer side direction; generating the second cooperative braking instruction based on the target drive force for the second end corner module and the target steering force for the second end corner module, wherein the second cooperative braking instruction is used to control the second end corner module to brake towards the vehicle middle direction or the vehicle outer side direction; and generating the second cooperative braking instruction based on the target drive force for the first end corner module and the target steering force for the first end corner module, the target drive force for the second end corner module, and the target steering force for the second end corner module, wherein the second cooperative braking instruction is used to control the first end corner module to brake towards the vehicle middle direction and control the second end corner module to brake towards the vehicle outer side direction, or the second cooperative braking instruction is used to control the first end corner module to brake towards the vehicle outer side direction and control the second end corner module to brake towards the vehicle middle direction.

[0012] Exemplarily, the vehicle running state data comprises an accelerator pedal signal, a brake pedal signal, and a vehicle speed signal; according to the drive control mode and the brake control mode, the cooperative steering instruction is generated based on the vehicle running state data and the control state data of the corner module, comprising: according to the drive control mode and the brake control mode, at least one of the target drive force and the target brake force is determined based on the accelerator pedal signal, the vehicle speed signal, and the control state data of the corner module; and the cooperative steering instruction is generated based on the at least one of the target drive force and the target brake force.

[0013] Exemplarily, the corner module comprises at least one of a first side corner module and a second side corner module; the cooperative steering instruction is generated based on the at least one of the target drive force and the target brake force, comprising at least one of: the cooperative steering instruction is generated based on the target drive force for the first side corner module and / or the target drive force for the second side corner module, wherein the cooperative steering instruction is used to control the drive force of the first side corner module to decrease and the drive force of the second side corner module to be unchanged or to increase, or the cooperative steering instruction is used to control the drive force of any one of the corner modules of the first side corner module to decrease, or the cooperative steering instruction is used to control the drive force of any one of the corner modules of the second side corner module to decrease; or the cooperative steering instruction is generated based on the target brake force for the first side corner module and / or the target brake force for the second side corner module, wherein the cooperative steering instruction is used to control the brake force of the first side corner module to increase and the brake force of the second side corner module to be unchanged or to decrease, or the cooperative steering instruction is used to control the brake force of any one of the corner modules of the first side corner module to increase, or the cooperative steering instruction is used to control the brake force of any one of the corner modules of the second side corner module to increase.

[0014] Exemplarily, the vehicle cooperative control method further comprises: in a case where it is determined that the vehicle needs to be controlled normally, generating a corner module normal control instruction based on the vehicle running state data and the control state data of the corner module; and sending the corner module normal control instruction to the corner module, so that the corner module drives the vehicle to run based on the corner module normal control instruction.

[0015] For example, based on vehicle driving state data and corner module control state data, a corner module general control command 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 corner module general control command includes a corner module general drive command, the required target driving force is determined based on the accelerator pedal signal, the vehicle speed signal, and the corner module control state data, and a corner module general drive command is generated based on the target driving force; the vehicle driving state data includes a steering wheel signal and a vehicle speed signal, the corner module general control command includes a corner module general steering command, the required target steering force is determined based on the steering wheel signal, the vehicle speed signal, and the corner module control state data, and a corner module general drive command is generated based on the target steering force. The corner module provides general steering commands; vehicle driving status data includes vehicle speed signal and accelerator pedal signal. General control commands for the corner module include corner module stationary steering commands. Based on the vehicle speed signal, accelerator pedal signal, and corner module control status data, the required target driving torque for the vehicle is determined, and based on the target driving torque, a corner module stationary steering command is generated. The vehicle driving status data includes vehicle speed signal, accelerator pedal signal, and steering wheel steering signal. General control commands for the corner module include corner module translation commands. Based on the vehicle speed signal, accelerator pedal signal, steering wheel steering signal, and corner module control status data, the required target driving torque and target steering force for the vehicle are determined, and based on the target driving torque and target steering force, a corner module translation command is generated.

[0016] For example, 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: if a drive failure occurs when any one of the first end corner modules is driven based on the corner module's normal drive command, the second end corner module shall drive; if a steering failure occurs when any one of the first end corner modules is steered based on the corner module's normal steering command, the second end corner module shall steer; based on the corner module's stationary steering command, the first side corner module shall drive forward and the second side corner module shall drive in reverse, and / or based on the corner module's stationary steering command, the first side corner module shall drive in reverse and the second side corner module shall drive forward; based on the corner module's translation command, the first end corner module and the second end corner module shall drive the vehicle to translate in a preset direction.

[0017] Another embodiment of the present application provides a vehicle cooperative control device, comprising: an acquisition module, configured to acquire vehicle running state data and control state data of an angle module, wherein the angle module is configured to drive vehicle running, vehicle braking and implement steering; a determination module, configured to determine a cooperative mode of multiple control modes based on the vehicle running state data and the control state data of the angle module, in a case where it is determined that the vehicle needs to be cooperatively controlled based on the multiple control modes; a generation module, configured to generate an angle module cooperative control instruction based on the vehicle running state data and the control state data of the angle module according to the cooperative mode of the multiple control modes; and a control module, configured to send the angle module cooperative control instruction to the angle module, so that the angle module drives the vehicle running, the vehicle braking and implements the steering based on the angle module cooperative control instruction.

[0018] Another embodiment of the present application provides a vehicle, comprising a vehicle controller and an angle module, wherein the angle module comprises an angle module controller, a driving device, a braking device, a steering device, a suspension and a wheel, and the vehicle controller is configured to perform the steps of the method of any one of the above embodiments.

[0019] Another embodiment of the present application provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the steps of the method of any one of the above embodiments.

[0020] In the above embodiments, the vehicle cooperative control method comprises: acquiring vehicle running state data and control state data of an angle module, and determining a cooperative mode of multiple control modes based on the vehicle running state data and the control state data of the angle module, in a case where it is determined that the vehicle needs to be cooperatively controlled based on the multiple control modes; generating an angle module cooperative control instruction based on the vehicle running state data and the control state data of the angle module according to the cooperative mode of the multiple control modes; and sending the angle module cooperative control instruction to the angle module, so that the angle module drives the vehicle running, the vehicle braking and implements the steering based on the angle module cooperative control instruction. Through the cooperative mode of the multiple control modes, the mutual coordination of the vehicle longitudinal and lateral directions 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 by a software strategy without the need to increase additional costs. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A vehicle cooperative control method flowchart provided by an embodiment of the present application;

[0022] Figure 2 An angle module structure schematic diagram provided by an embodiment of the present application;

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

[0024] Figure 4 A chassis control system control schematic provided for the embodiment of the present application;

[0025] Figure 5 A drive and steering collaborative control front wheel to the middle implementation of the braking schematic provided for the embodiment of the present application;

[0026] Figure 6 A drive and steering collaborative control rear wheel to the outside implementation of the braking schematic provided for the embodiment of the present application;

[0027] Figure 7 A drive and steering collaborative control four-wheel to the implementation of the braking schematic provided for the embodiment of the present application;

[0028] Figure 8 A side drive force reduction implementation of the steering schematic provided for the embodiment of the present application;

[0029] Figure 9 A rear-end drive force remains consistent change in the size of the front-end drive force implementation of the steering schematic provided for the embodiment of the present application;

[0030] Figure 10 A side brake force increase implementation of the steering schematic provided for the embodiment of the present application;

[0031] Figure 11 A rear-end brake force remains consistent change in the size of the front-end brake force implementation of the steering schematic provided for the embodiment of the present application;

[0032] Figure 12 A vehicle in place clockwise steering schematic provided for the embodiment of the present application;

[0033] Figure 13 A vehicle in place counterclockwise steering schematic provided for the embodiment of the present application;

[0034] Figure 14 A vehicle translation schematic provided for the embodiment of the present application;

[0035] Figure 15 A vehicle collaborative control device block diagram provided for another embodiment of the present application. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar components have the same or similar reference numbers throughout the several figures. The embodiments described below are exemplary and are intended to explain the present application, and are not to be understood as limiting the present application.

[0037] With the development of science and technology, vehicles are becoming more and more intelligent, and how to control the vehicle to realize the corresponding function more flexibly has become the focus of research.

[0038] The related technology mainly regulates the hub motor braking and supplements the electronic mechanical braking; the mechanical braking strength advantage of the electronic mechanical brake and the motor braking response and adjustable motor torque advantage of the hub motor are comprehensively braked. When regulating the wheel slip ratio, a constant braking torque is provided by the electronic mechanical brake, and the adjustable motor braking torque is superimposed to realize the wheel slip ratio control mainly regulated by the motor and supplemented by the electronic mechanical brake. However, the maneuverability and safety of the technology are poor.

[0039] In some examples, the corner module integrates the drive, brake, steering, suspension, wheel, corner module controller of the vehicle, and is an important component for the vehicle to realize control. The corner module device is composed of a drive unit, a suspension arm, a shock absorber, a steering drive member and the like, can ensure that the upper end and the lower end of the device are supported by the solid structure of the vehicle body, so as to realize stable suspension and steering operation, but there is no related control method for the chassis based on the corner module at present.

[0040] Therefore, the vehicle cooperative control method provided by the embodiments of the present application improves the safety and flexibility of the vehicle through cooperative control of the longitudinal and transverse chassis.

[0041] Figure 1 The vehicle cooperative control method flowchart provided by the embodiments of the present application.

[0042] As Figure 1 shown, the vehicle cooperative control method 100 provided by the embodiments of the present application, for example, includes steps S110-S140. The vehicle includes an autonomous vehicle, and the autonomous vehicle at least includes 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 running state data and control state data of the corner module, wherein the corner module is used to drive the vehicle to run, brake the vehicle and implement steering.

[0044] Exemplarily, the vehicle running state data includes an accelerator pedal signal, a brake pedal signal, a steering wheel steering signal and the like, and the control state data of the corner module includes actual state data such as the speed of the motor, the wheel angle and the current information of the corner module.

[0045] Step S120, in the case that it is determined that the vehicle needs to be cooperatively controlled based on multiple control modes, determining a cooperative mode of the multiple control modes based on the vehicle running state data and the control state data of the corner module.

[0046] Exemplarily, whether the vehicle needs to be controlled based on multiple control modes in coordination can be determined based on the vehicle driving state data and the control state data of the corner module. Whether the vehicle needs to be controlled based on multiple control modes in coordination can also be determined based on the received control instruction. The control instruction can be generated by the vehicle automatically based on the current driving condition, or can come from an external instruction, such as an instruction input by a user when assisting driving.

[0047] In step S130, corner module coordination control instructions are generated based on the vehicle driving state data and the control state data of the corner module according to the coordination mode of multiple control modes.

[0048] Exemplarily, the coordination mode includes, for example, driving and steering coordination to implement braking, or feedback braking and friction braking coordination to implement braking, and steering implemented by driving or braking, and the like. The corner module coordination control instructions are obtained by the vehicle controller based on analysis, calculation, and decision of the vehicle driving state data and the control state data of the corner module.

[0049] In step S140, the corner module coordination control instructions are 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 coordination control instructions.

[0050] Exemplarily, the vehicle controller sends the obtained corner module coordination control instructions to the corner module, and issues instructions to the four corner module controllers to implement driving, steering, braking, and the like, and issues control instructions to control the driving, steering, braking, and the like of the vehicle.

[0051] In the above embodiment, the mutual coordination of the longitudinal and lateral directions of the vehicle is realized through the coordination mode of multiple control modes, 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 by software strategy without additional cost.

[0052] Figure 2 A corner module structure diagram is provided for the embodiment of the present application.

[0053] As shown in Figure 2 the driving 21, the braking 22, the steering 23, the suspension 24, the wheel 25, and the corner module controller 26 of the vehicle are integrated into a corner module 20, which is placed at multiple wheel ends of the vehicle chassis. The multiple wheel ends can include two, three, four, or the like. The present application takes the corner module placed at four wheel ends of the vehicle chassis as an example for description.

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

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

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

[0057] like Figure 4 As shown, the chassis control system involves the vehicle controller, four corner module controllers, brake pedal signals, accelerator pedal signals, vehicle speed signals, steering wheel signals, and special function signals. Special function signals are used to determine stationary turning and vehicle translation. The special function switch has three positions: normal operating position, where the vehicle behaves like any other vehicle; stationary turning position determination: when the vehicle speed is 0 and the switch is in the stationary turning position, the driver turns the steering wheel to the left to perform a leftward stationary turn; vehicle translation determination: 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 perform a leftward 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 from the four corner module controllers. It analyzes, calculates, and makes decisions on these signals, and then issues commands to the four corner module controllers to implement individual or combined control commands such as driving, steering, and braking, thereby controlling the vehicle's driving, steering, and braking actions.

[0059] The multiple control modes include at least two of drive control, braking control, steering control, regenerative braking, and friction braking. The corner module collaborative control command includes at least one of collaborative braking command and collaborative steering command. Based on the collaborative mode of the multiple control modes and the vehicle driving state data and the control state data of the corner module, the corner module collaborative control command is generated, including at least one of the following: generating a collaborative braking command based on at least one of drive control, steering control, regenerative braking, and friction braking, and the vehicle driving state data and the control state data of the corner module; generating a collaborative steering command based on drive control and braking control, and the vehicle driving state data and the control state data of the corner module.

[0060] Regenerative braking is a type of energy recovery braking. When the rotor speed of the motor exceeds the synchronous speed, the motor enters the generator state, converting 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 braking relies on friction to dissipate the kinetic energy of a moving object, thereby slowing or stopping the object. Commonly, there are disc brakes and drum brakes. Disc brakes clamp the brake disc through the brake caliper, using the friction between the two, and drum brakes are the brake shoes and brake drum contact friction, converting the kinetic energy of the vehicle into heat energy.

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

[0063] According to the regenerative braking mode and the friction braking mode, the first cooperative braking instruction is generated based on the vehicle running state data and the control state data of the angle module;

[0064] According to the driving control mode and the steering control mode, the second cooperative braking instruction is generated based on the vehicle running state data and the control state data of the angle module;

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

[0066] Exemplarily, the first cooperative braking instruction is generated based on the regenerative braking mode and the friction braking mode based on the vehicle running state data and the control state data of the angle module, including at least one of:

[0067] In the case of regenerative braking force greater than target braking force, the regenerative control signal is generated as the first cooperative braking instruction based on the vehicle running state data and the control state data of the angle module, wherein the angle module can perform regenerative braking based on the first cooperative braking instruction;

[0068] In the case of regenerative braking force less than or equal to target braking force, the cooperative braking signal is generated as the first cooperative braking instruction based on the vehicle running state data and the control state data of the angle module, wherein the angle module can perform regenerative braking based on the first cooperative braking instruction, and perform friction braking in the case of insufficient regenerative braking.

[0069] For example, when the vehicle brakes, the vehicle controller receives the brake pedal signal and the vehicle speed signal, calculates the required braking torque of the vehicle, and according to the required braking force, sends instructions to each corner module 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 preferentially implement feedback braking, and the insufficient part is compensated by friction braking.

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

[0071] In the case where any one of the corner modules in the plurality of corner modules performs feedback braking based on the first cooperative braking instruction, if a feedback braking fault occurs, the corner module performs friction braking, and the other corner modules perform feedback braking and perform friction braking in the case where feedback braking is insufficient;

[0072] The plurality of corner modules include a first end corner module and a second end corner module, in the case where any one of the corner modules in the first end corner module performs friction braking based on the first cooperative braking instruction, if a friction braking fault occurs, the corner module performs feedback braking, the other corner modules in the first end corner module perform feedback braking, and the second end corner module performs feedback braking and performs friction braking in the case where feedback braking is insufficient.

[0073] For example, when a feedback braking fault occurs in a certain corner module, the vehicle controller controls the corner module controller to implement friction braking, and the braking part of the other corner modules preferentially implements feedback braking, and the insufficient part is compensated by friction braking; when a friction braking fault occurs in a certain corner module, the vehicle controller controls the corner module controller to implement feedback braking, and the corner modules at the same end (such as the front wheels) also only implement feedback braking; the braking part of the remaining end (rear wheels) corner module preferentially implements feedback braking, and the insufficient part is compensated by friction braking.

[0074] In the above embodiments, the feedback braking and friction braking of the vehicle are mutually cooperative, which maximizes the braking effect, and the two modes are complementary to each other, making the vehicle braking more flexible and saving resources.

[0075] When a feedback braking or friction braking fault occurs in the vehicle, the steering part and the driving part of the corner module are used to cooperatively control and implement braking.

[0076] The vehicle driving state data comprises a steering wheel steering signal, a vehicle speed signal, and an accelerator pedal signal; according to the driving control mode and the steering control mode, the second cooperative braking instruction is generated based on the vehicle driving state data and the control state data of the corner module, comprising: according to the driving control mode and the steering control mode, the target driving force and the target steering force are determined based on the steering wheel steering signal, the vehicle speed signal, the accelerator pedal signal, and the control state data of the corner module; and the second cooperative braking instruction is generated based on the target driving force and the target steering force.

[0077] Exemplarily, the corner module comprises at least one of a first end corner module and a second end corner module; the second cooperative braking instruction is generated based on the target driving force and the target steering force, comprising at least one of:

[0078] The second cooperative braking instruction is generated based on the target driving force for the first end corner module and the target steering force for the first end corner module, wherein the second cooperative braking instruction is used to control the first end corner module to brake towards the vehicle middle direction or the vehicle outer side direction;

[0079] The second cooperative braking instruction is generated based on the target driving force for the second end corner module and the target steering force for the second end corner module, wherein the second cooperative braking instruction is used to control the second end corner module to brake towards the vehicle middle direction or the vehicle outer side direction;

[0080] The second cooperative braking instruction is generated based on the target driving force for the first end corner module and the target steering force for the first end corner module, the target driving force for the second end corner module, and the target steering force for the second end corner module, wherein the second cooperative braking instruction is used to control the first end corner module to brake towards the vehicle middle direction and control the second end corner module to brake towards the vehicle outer side direction, or the second cooperative braking instruction is used to control the first end corner module to brake towards the vehicle outer side direction and control the second end corner module to brake towards the vehicle middle direction.

[0081] For example, Figure 5 The driving and steering cooperative control front wheel to middle implementation braking schematic diagram provided for the embodiments of the present application is as shown in Figure 5 The blue arrows in the figure represent the braking force, and the length represents the size thereof, which is instructed by the vehicle controller to control the left and right corner module controllers of the front wheel to drive and steer towards the vehicle middle direction, thereby making the vehicle implement braking.

[0082] Figure 6 The driving and steering cooperative control rear wheel to outer side implementation braking schematic diagram provided for the embodiments of the present application is as shown in Figure 6 The blue arrows in the figure represent the braking force, and the length represents the size thereof, which is instructed by the vehicle controller to control the left and right corner module controllers of the rear wheel to drive and steer towards the vehicle outer side direction, thereby making the vehicle implement braking.

[0083] Figure 7 The schematic diagram of the four-wheel braking by the driving and steering cooperative control of the embodiment of the present application is shown in FIG. 1. As shown in the figure, the blue arrows represent the braking force, and the length represents the size of the braking force. The vehicle controller sends a command to control the left and right corner module controllers of the front wheels to drive and steer the vehicle to the middle direction, and the left and right corner module controllers of the rear wheels to drive and steer the vehicle to the outside direction, so as to implement the braking of the vehicle. Figure 7

[0084] The present application also includes the following scenarios: the vehicle controller sends a command to control the left and right corner module controllers of the rear wheels to drive and steer the vehicle to the middle direction, so as to implement the braking of the vehicle; or the vehicle controller sends a command to control the left and right corner module controllers of the front wheels to drive and steer the vehicle to the outside direction, so as to implement the braking of the vehicle; or the vehicle controller sends a command to control the left and right corner module controllers of the front wheels to drive and steer the vehicle to the outside direction, and the left and right corner module controllers of the rear wheels to drive and steer the vehicle to the middle direction, so as to implement the braking of the vehicle.

[0085] In the above embodiment, when the feedback braking or friction braking of the vehicle fails, the driving and steering parts of the vehicle are coordinated to realize the braking function of the vehicle. In actual application, it is more flexible and convenient, and can maximize the safety of the vehicle.

[0086] In another example, the braking part and the driving part of the corner module can also be used to implement steering by cooperative control.

[0087] The vehicle running state 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, the cooperative steering command is generated based on the vehicle running state data and the control state data of the corner module, including: determining at least one of the target driving force and the target braking force based on the accelerator pedal signal, the vehicle speed signal, and the control state data of the corner module according to the driving control mode and the braking control mode; and generating the cooperative steering command based on at least one of the target driving force and the target braking force.

[0088] Exemplarily, the corner module includes at least one of a first side corner module and a second side corner module. The cooperative steering command is generated based on at least one of the target driving force and the target braking force, including at least one of:

[0089] ​generate a cooperative steering instruction based on the target driving force for the first side corner module and / or the target driving force for the second side corner module, wherein the cooperative steering instruction is used to control the driving force of the first side corner module to decrease and the driving force of the second side corner module to remain unchanged or increase, or the cooperative steering instruction is used to control the driving force of any one corner module of the first side corner module to decrease, or the cooperative steering instruction is used to control the driving force of any one corner module of the second side corner module to decrease;

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

[0091] For example, Figure 8 A one-side driving force decrease implementation steering schematic diagram provided for the embodiments of the present application is shown in FIG. 4, wherein the blue arrows represent driving forces, and the length and shortness represent the sizes of the driving forces. Figure 8 The vehicle is controlled by the vehicle controller to control the corner controllers of one side (for example, the left side) of the vehicle (the front left and the rear left), and the driving forces of the one side (for example, the left side) of the vehicle are decreased, the driving forces of the corner controllers of the other side (for example, the right side) of the vehicle remain unchanged or increase, so that the vehicle is steered to the left. Alternatively, the driving force of one wheel end of the left side of the vehicle is decreased, so that the vehicle is steered to the left. Conversely, the vehicle is steered to the right.

[0092] Figure 9 A rear-end driving force keeping unchanged and front-end driving force size changing implementation steering schematic diagram provided for the embodiments of the present application is shown in FIG. 5, wherein the blue arrows represent driving forces, and the length and shortness represent the sizes of the driving forces. Figure 9 The vehicle is controlled by the vehicle controller to control the driving forces of the rear ends of the vehicle to remain unchanged, the driving forces of one side (for example, the left side) of the front ends of the vehicle are decreased, the driving forces of the corner controllers of the other side (for example, the right side) of the vehicle remain unchanged or increase, so that the vehicle is steered to the left. Conversely, the vehicle is steered to the right.

[0093] Figure 10 A one-side braking force increase implementation steering schematic diagram provided for the embodiments of the present application is shown in FIG. 6, wherein the blue arrows represent braking forces, and the length and shortness represent the sizes of the braking forces. Figure 10 The vehicle is controlled by the vehicle controller to control the corner controllers of one side (for example, the left side) of the vehicle (the front left and the rear left), and the braking forces of the one side (for example, the left side) of the vehicle are increased, the braking forces of the corner controllers of the other side (for example, the right side) of the vehicle remain unchanged or decrease, so that the vehicle is steered to the left. Alternatively, the braking force of one wheel end of the left side of the vehicle is increased, so that the vehicle is steered to the left. Conversely, the vehicle is steered to the right.

[0094] Figure 11 The schematic diagram of changing the front-end braking force size while keeping the rear-end braking force consistent is provided for the embodiments of the present application, as shown in FIG. 6. The vehicle controller issues an instruction to control the rear-end driving force of the vehicle to keep consistent, increase the braking force on one side (left side) of the front end, and keep the driving force of the driving part of the corner module on the other side (right side) unchanged or reduced, thereby making the vehicle turn left; conversely, the vehicle turns right. Figure 11

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

[0096] The vehicle cooperative control method further includes: in a case where it is determined that the vehicle needs to be controlled normally, generating a corner module normal control instruction based on vehicle running state data and control state data of the corner module; and sending the corner module normal control instruction to the corner module, so that the corner module drives the vehicle to run based on the corner module normal control instruction.

[0097] Exemplarily, the corner module normal control instruction is generated based on the vehicle running state data and the control state data of the corner module, and includes at least one of the following:

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

[0099] The vehicle running state data includes a steering wheel steering signal and a vehicle speed signal, the corner module normal control instruction includes a corner module normal steering instruction, the target steering force required by the vehicle is determined based on the steering wheel steering signal, the vehicle speed signal and the control state data of the corner module, and the corner module normal steering instruction is generated based on the target steering force;

[0100] The vehicle running state data includes a vehicle speed signal and an accelerator pedal signal, the corner module normal control instruction includes a corner module spot steering instruction, the 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 corner module, and the corner module spot steering instruction is generated based on the target driving torque;

[0101] ​The vehicle driving state data comprises a vehicle speed signal, an accelerator pedal signal, and a steering wheel steering signal, the angular module general control instruction comprises an angular module translation instruction, the target driving torque and the target steering force required by the vehicle are determined based on the vehicle speed signal, the accelerator pedal signal, the steering wheel steering signal, and the control state data of the angular module, and the angular module translation instruction is generated based on the target driving torque and the target steering force.

[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 sends the required driving torque of each module to each angular module controller. After receiving the instruction, each angular module controller sends a driving instruction to each wheel-end driving motor to drive the vehicle to run; when the vehicle is steering, the vehicle controller receives the steering wheel steering signal and the vehicle speed signal, calculates the running direction of the vehicle, and sends an instruction to the two angular modules of the front wheels according to the running direction of the vehicle to make the vehicle steer; when the vehicle is steering 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 sends the required driving torque of each module to each angular module controller. After receiving the instruction, each angular module controller sends a driving instruction to each wheel-end driving motor to drive the vehicle to steer in place; when the vehicle is translating, the vehicle controller sends an instruction to the four angular modules, and the angular module controllers of the four wheels of the vehicle drive the same direction and the same angle, and the driving force of the four wheels remains consistent.

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

[0104] In the case that any one of the first end angular modules is driven based on the angular module general driving instruction, if a driving fault occurs, the second end angular module is driven;

[0105] In the case that any one of the first end angular modules is steered based on the angular module general steering instruction, if a steering fault occurs, the second end angular module is steered;

[0106] The first side angular module is driven in a forward direction and the second side angular module is driven in a reverse direction based on the angular module steering in place instruction, and / or the first side angular module is driven in a reverse direction and the second side angular module is driven in a forward direction based on the angular module steering in place instruction;

[0107] The first end angular module and the second end angular module drive the vehicle to translate in a preset direction based on the angular module translation instruction.

[0108] For example, when the driving part of one corner module is detected to be faulty, such as the left front corner module driving fault, the vehicle is driven by the left rear corner module and the right rear corner module. Similarly, when other modules are faulty, the driving action is performed by the non-faulty modules; when the steering part of one corner module of the front wheels of the vehicle is detected to be faulty, such as the left front corner module steering fault, the steering action of the vehicle is performed by the two corner modules (left rear and right rear) of the rear wheels. Similarly, when other modules are faulty, the steering action is performed by the non-faulty modules.

[0109] Figure 12 A schematic diagram of clockwise rotation of the vehicle in place is provided for the embodiments of the present application, as shown in FIG. 1, wherein the blue arrows represent driving forces, and the length represents the size thereof. The vehicle controller issues instructions to the four corner modules, the driving part of the corner module controllers of the two wheels on the left side of the vehicle is driven in the forward direction, the driving part of the corner module controllers of the two wheels on the right side of the vehicle is driven in the reverse direction, and the vehicle is rotated clockwise in place. Figure 12

[0110] A schematic diagram of counterclockwise rotation of the vehicle in place is provided for the embodiments of the present application, as shown in FIG. 2, wherein the blue arrows represent driving forces, and the length represents the size thereof. The vehicle controller issues instructions to the four corner modules, the driving part of the corner module controllers of the two wheels on the right side of the vehicle is driven in the forward direction, the driving part of the corner module controllers of the two wheels on the left side of the vehicle is driven in the reverse direction, and the vehicle is rotated counterclockwise in place. Figure 13 Figure 13 For example, the vehicle controller issues instructions to control the corner module controllers (left front and left rear) on one side (such as the left side) of the vehicle, and simultaneously increases the braking force on one side (the left side) and keeps or reduces the braking force of the braking part of the corner module on the other side (the right side), so as to make the vehicle turn left (counterclockwise); the braking force of one wheel end on the left side of the vehicle can also be increased to make the vehicle turn left (counterclockwise); conversely, the vehicle turns right (clockwise).

[0111]

[0112] A schematic diagram of translation of the vehicle is provided for the embodiments of the present application, as shown in FIG. 3, wherein the blue arrows represent driving forces, and the length represents the size thereof. The vehicle controller issues instructions to the four corner modules, the driving part of the corner module controllers of the four wheels of the vehicle is driven in the same direction and at the same angle, the driving forces of the four wheels are kept consistent, and the vehicle moves in parallel in the direction. Figure 14 Figure 14 In another example, the vehicle can be a two-axle vehicle or a three-axle vehicle.

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

[0114] ​​The application drives, brakes and steers in coordination, uses steering to implement braking, uses driving or braking to implement steering, so that vehicle control is more flexible, and the maximum wheel rotation range is realized; the same side angle module of the vehicle is used to implement forward driving, and the other side angle module of the vehicle is used to implement reverse driving, so that the vehicle can turn in place; the four angle modules are used to implement simultaneous longitudinal driving in the same direction, so that the vehicle can translate, the vehicle's maneuverability is improved, and the vehicle's safety is further improved through longitudinal and transverse coordinated control of the chassis; only software strategy is needed to change the control method, and no additional cost is needed.

[0115] Figure 15 The vehicle coordinated control device block diagram provided for another embodiment of the application.

[0116] The embodiment of the present application provides a vehicle coordinated control device 1500, please refer to Figure 15 The vehicle coordinated control device 1500 comprises an acquisition module 1510, a determination module 1520, a generation module 1530 and a control module 1540.

[0117] For example, the acquisition module 1510 is configured to acquire vehicle driving state data and angle module control state data, wherein the angle module is configured to drive vehicle driving, vehicle braking and implement steering.

[0118] For example, the determination module 1520 is configured to determine a coordinated mode of multiple control modes based on the vehicle driving state data and the angle module control state data, in a case where it is determined that the vehicle needs to be coordinated based on the multiple control modes.

[0119] For example, the generation module 1530 is configured to generate angle module coordinated control instructions based on the vehicle driving state data and the angle module control state data according to the coordinated mode of the multiple control modes.

[0120] For example, the control module 1540 is configured to send the angle module coordinated control instructions to the angle module, so that the angle module drives vehicle driving, vehicle braking and implements steering based on the angle module coordinated control instructions.

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

[0122] The embodiment of the application provides a vehicle, which comprises a vehicle controller and an angle module, the angle module comprises an angle module controller, a driving device, a braking device, a steering device, a suspension and a wheel, and the vehicle controller is configured to execute the steps of the method of any one of the above embodiments.

[0123] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the method in any one of the above embodiments.

[0124] It should be noted that the logic and / or steps represented in the flowcharts and / or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a processor-based system, or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with which the instructions can be executed. For the purposes of this application, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical apparatus), a portable computer diskette (magnetic apparatus), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium on which the program can be printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by electronic means to obtain, interpret or process the program, and then store it in a computer memory if necessary.

[0125] It should be understood that parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of 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 in hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit with logic gates for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0126] In the description of the application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0127] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0128] In addition, the terms "first", "second", etc. used in the embodiments of the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present application can be explicitly or implicitly indicated to include at least one of the features. In the description of the present application, the meaning of the word "multiple" is at least two or two or more, such as two, three, four, etc., unless otherwise specifically limited in the embodiments.

[0129] In the present application, unless otherwise specifically defined or limited in the embodiments, the terms "mounting", "connection", "connection" and "fixing" and the like appearing in the embodiments should be understood in a broad sense, for example, the connection can be a fixed connection, or a detachable connection, or integrated, which can be understood, or can be mechanical connection, electrical connection, etc. Of course, it can also be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements, or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific implementation situation.

[0130] In the present application, unless specifically stated and limited otherwise, a first feature "on" or "under" a second feature can be directly in contact with the second feature, or indirectly in contact with the second feature through an intermediate medium. Also, a first feature "over", "above" and "on top of" a second feature can be directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. A first feature "under", "below" and "underneath" a second feature can be directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0131] Although the embodiments of the present application have been shown and described above, it is to be understood that the above-described embodiments are exemplary only, and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made thereto by those skilled in the art without departing from the scope of the present application.

Claims

1. A vehicle cooperative control method characterized by comprising: The method comprises: acquiring vehicle running state data and control state data of an angle module, wherein the angle module is used to drive vehicle running, vehicle braking and implement steering; in a case where it is determined that the vehicle needs to be cooperatively controlled based on multiple control modes, determining a cooperative mode of the multiple control modes based on the vehicle running state data and the control state data of the angle module; generating an angle module cooperative control instruction based on the vehicle running state data and the control state data of the angle module according to the cooperative mode of the multiple control modes; sending the angle module cooperative control instruction to the angle module, so that the angle module drives vehicle running, vehicle braking and implements steering based on the angle module cooperative control instruction.

2. The method of claim 1, wherein, The multiple control modes comprise at least two of a driving control mode, a braking control mode, a steering control mode, a regenerative braking mode and a friction braking mode, the angle module cooperative control instruction comprises at least one of a cooperative braking instruction and a cooperative steering instruction; and the generating of the angle module cooperative control instruction based on the vehicle running state data and the control state data of the angle module according to the cooperative mode of the multiple control modes comprises at least one of: generating the cooperative braking instruction based on the vehicle running state data and the control state data of the angle module according to at least one of the driving control mode, the steering control mode, the regenerative braking mode and the friction braking mode; generating the cooperative steering instruction based on the vehicle running state data and the control state data of the angle module according to the driving control mode and the braking control mode.

3. The method of claim 2, wherein, The cooperative braking instruction comprises at least one of a first cooperative braking instruction and a second cooperative braking instruction; and the generating of the cooperative braking instruction based on the vehicle running state data and the control state data of the angle module according to at least one of the driving control mode, the steering control mode, the regenerative braking mode and the friction braking mode comprises at least one of: generating the first cooperative braking instruction based on the vehicle running state data and the control state data of the angle module according to the regenerative braking mode and the friction braking mode; generating the second cooperative braking instruction based on the vehicle running state data and the control state data of the angle module according to the driving control mode and the steering control mode; generating the second cooperative braking instruction based on the vehicle running state data and the control state data of the angle module according to the driving control mode and the steering control mode in a case where the regenerative braking mode and / or the friction braking mode fails.

4. The method of claim 3, wherein, The generating of the first cooperative braking instruction based on the vehicle running state data and the control state data of the angle module according to the regenerative braking mode and the friction braking mode comprises at least one of: In a case where the feedback braking force is greater than the target braking force, a feedback control signal is generated as the first cooperative braking instruction based on the vehicle running state data and the control state data of the corner module, and the corner module is capable of performing feedback braking based on the first cooperative braking instruction; In a case where the feedback braking force is less than or equal to the target braking force, a cooperative braking signal is generated as the first cooperative braking instruction based on the vehicle running state data and the control state data of the corner module, and the corner module is capable of performing feedback braking based on the first cooperative braking instruction and friction braking in a case where feedback braking is insufficient.

5. The method of claim 4, wherein, The corner module includes a plurality of corner modules; and the method further includes at least one of the following: In a case where any one of the corner modules performs feedback braking based on the first cooperative braking instruction, if a feedback braking fault occurs, the corner module performs friction braking, and other corner modules perform feedback braking and friction braking in a case where feedback braking is insufficient; The plurality of corner modules include first end corner modules and second end corner modules, and in a case where any one of the first end corner modules performs friction braking based on the first cooperative braking instruction, if a friction braking fault occurs, the corner module performs feedback braking, other corner modules of the first end corner modules perform feedback braking, and the second end corner modules perform feedback braking and friction braking in a case where feedback braking is insufficient.

6. The method of claim 3, wherein, The vehicle running state data includes a steering wheel steering signal, a vehicle speed signal, and an accelerator pedal signal; and the second cooperative braking instruction is generated based on the vehicle running state data and the control state data of the corner module according to the drive control mode and the steering control mode, including: According to the drive control mode and the steering control mode, a target drive force and a target steering force are determined based on the steering wheel steering signal, the vehicle speed signal, the accelerator pedal signal, and the control state data of the corner module; The second cooperative braking instruction is generated based on the target drive force and the target steering force.

7. The method of claim 6, wherein, The corner module includes at least one of first end corner modules and second end corner modules; and the second cooperative braking instruction is generated based on the target drive force and the target steering force, including at least one of the following: The second cooperative braking instruction is generated based on a target drive force for the first end corner module and a target steering force for the first end corner module, and the second cooperative braking instruction is used to control the first end corner module to brake towards a vehicle middle direction or a vehicle outer side direction; The second cooperative braking instruction is generated based on a target drive force for the second end corner module and a target steering force for the second end corner module, and the second cooperative braking instruction is used to control the second end corner module to brake towards a vehicle middle direction or a vehicle outer side direction; generate the second cooperative braking instruction based on the target driving force for the first corner module and the target steering force for the first corner module, the target driving force for the second corner module and the target steering force for the second corner module, wherein the second cooperative braking instruction is used to control the first corner module to brake towards the middle direction of the vehicle and control the second corner module to brake towards the outer direction of the vehicle, or the second cooperative braking instruction is used to control the first corner module to brake towards the outer direction of the vehicle and control the second corner module to brake towards the middle direction of the vehicle.

8. The method of claim 2, wherein, The vehicle driving state data includes an accelerator pedal signal, a brake pedal signal and a vehicle speed signal; and the generating the cooperative steering instruction based on the driving control mode and the braking control mode and based on the vehicle driving state data and the control state data of the corner module comprises: 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 corner module according to the driving control mode and the braking control mode; generating the cooperative steering instruction based on the at least one of the target driving force and the target braking force.

9. The method of claim 8, wherein, The corner module comprises at least one of a first side corner module and a second side corner module; and the generating the cooperative steering instruction based on the at least one of the target driving force and the target braking force comprises at least one of: generating the cooperative steering instruction based on the target driving force for the first side corner module and / or the target driving force for the second side corner module, wherein the cooperative steering instruction is used to control the driving force of the first side corner module to decrease and control the driving force of the second side corner module to be unchanged or to increase, or the cooperative steering instruction is used to control the driving force of any one of the corner modules of the first side corner module to decrease, or the cooperative steering instruction is used to control the driving force of any one of the corner modules of the second side corner module to decrease; generating the cooperative steering instruction based on the target braking force for the first side corner module and / or the target braking force for the second side corner module, wherein the cooperative steering instruction is used to control the braking force of the first side corner module to increase and control the braking force of the second side corner module to be unchanged or to decrease, or the cooperative steering instruction is used to control the braking force of any one of the corner modules of the first side corner module to increase, or the cooperative steering instruction is used to control the braking force of any one of the corner modules of the second side corner module to increase.

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

11. The method of claim 10, wherein, The generating the corner module normal control instruction based on the vehicle driving state data and the control state data of the corner module comprises at least one of: The vehicle driving state data comprises an accelerator pedal signal and a vehicle speed signal, the angle module common control instruction comprises an angle module common drive instruction, a target drive force required by the vehicle is determined based on the accelerator pedal signal, the vehicle speed signal and the control state data of the angle module, and the angle module common drive instruction is generated according to the target drive force; The vehicle driving state data comprises a steering wheel steering signal and a vehicle speed signal, the angle module common control instruction comprises an angle module common steering instruction, a target steering force required by the vehicle is determined based on the steering wheel steering signal, the vehicle speed signal and the control state data of the angle module, and the angle module common steering instruction is generated based on the target steering force; The vehicle driving state data comprises a vehicle speed signal and an accelerator pedal signal, the angle module common control instruction comprises an angle module spot steering instruction, a target drive 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 spot steering instruction is generated based on the target drive torque; The vehicle driving state data comprises a vehicle speed signal, an accelerator pedal signal and a steering wheel steering signal, the angle module common control instruction comprises an angle module translation instruction, a target drive torque and a target steering force required by the vehicle are determined based on the vehicle speed signal, the accelerator pedal signal, the steering wheel steering signal and the control state data of the angle module, and the angle module translation instruction is generated based on the target drive torque and the target steering force.

12. The method of claim 11, wherein, The angle module comprises at least one of a first end angle module, a second end angle module, a first side angle module and a second side angle module; the method further comprises at least one of the following: If a drive fault occurs when any one of the first end angle modules is driven based on the angle module common drive instruction, the second end angle module is driven; If a steering fault occurs when any one of the first end angle modules is steered based on the angle module common steering instruction, the second end angle module is steered; The first side angle module is driven in a forward direction and the second side angle module is driven in a reverse direction based on the angle module spot steering instruction, and / or the first side angle module is driven in a reverse direction and the second side angle module is driven in a forward direction based on the angle module spot steering instruction; The first end angle module and the second end angle module drive the vehicle to translate in a preset direction based on the angle module translation instruction.

13. A vehicle cooperative control device characterized by comprising: The device comprises: An acquisition module is configured to acquire vehicle driving state data and control state data of an angle module, wherein the angle module is configured to drive vehicle driving, vehicle braking and implement steering; A determination module is configured to determine a cooperative mode of 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 cooperatively controlled based on the multiple control modes; A generation module is configured to generate angle module cooperative control instructions based on the vehicle driving state data and the control state data of the angle module according to the cooperative mode of the multiple control modes. A control module is configured to send the angle module cooperative control instruction to the angle module, so that the angle module drives the vehicle to travel, brake and implement steering based on the angle module cooperative control instruction.

14. A vehicle comprising a vehicle controller and an angle module, the angle module comprising an angle module controller, a driving device, a braking device, a steering device, a suspension, and a wheel, the vehicle controller being configured to perform the method of any one of claims 1-12.

15. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the method of any one of claims 1-12.

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