A blcmdm cooperative control method for a multi-motor vehicle

Abstract

The application discloses a BLDCM cooperative control method of a multi-motor vehicle, and belongs to the field of intelligent control of vehicles, and comprises the following steps: acquiring a preset track of a vehicle based on an intelligent route planning system of the vehicle; setting front and rear driving wheels and front and rear driven wheels of the vehicle; obtaining a deviation amount of the front and rear driving wheels from the preset track; acquiring a steering angle of the front and rear driving wheels in a next running period; acquiring a steering angle interval of the front and rear driven wheels in the next running period; adjusting a power motor and vehicle included angle of the front and rear driving wheels and the front and rear driven wheels in the next running period based on the steering angle interval of the front and rear driven wheels in the next running period and the steering angle of the front and rear driving wheels in the next running period; and acquiring all power motor rotating speeds based on the power motor and vehicle included angle of the front and rear driving wheels and the front and rear driven wheels in the next running period. The application solves the problems of low track adjustment speed and low control precision in the control of the multi-motor vehicle, and fully improves the control performance of the multi-motor vehicle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent control of vehicles, and in particular, relates to a BLDCM cooperative control method for a multi-motor vehicle. BACKGROUND

[0002] In the current new energy vehicle industry, the multi-motor solution for vehicles has been promoted to improve the controllability and reasonably control various special working conditions. It can be said that the multi-motor solution is the future of the automotive industry. BLDCM (brushless DC motor) has become the first choice for almost all new energy vehicles due to its characteristics. However, considering the control characteristics and safety requirements of multi-motor vehicles, the current BLDCM cooperative control for multi-motor vehicles adopts a "differential-like" method, i.e., the steering angle of the wheels is controlled in a way similar to a differential. This method is completely based on the control angle of the differential and often has difficulty in ensuring the control accuracy during vehicle trajectory adjustment, especially for small-angle curves, making it difficult to ensure that the vehicle body can be completely adjusted according to this small-angle trajectory, and the potential of the multi-motor vehicle cannot be fully realized.

[0003] Therefore, how to cooperatively control the BLDCM of a multi-motor vehicle so that the vehicle can adapt to more working conditions and operating environments is a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0004] In order to effectively cooperatively control the BLDCM of a multi-motor vehicle and ensure that the vehicle can cope with more types of working conditions and driving environments, the present application discloses a BLDCM cooperative control method for a multi-motor vehicle, in particular:

[0005] A BLDCM cooperative control method for a multi-motor vehicle, the cooperative control method comprising:

[0006] obtaining a preset trajectory of the vehicle based on an intelligent route planning system of the vehicle;

[0007] setting the front and rear wheels with a small interval from the preset trajectory as front and rear driving wheels of the vehicle, and obtaining front and rear driven wheels;

[0008] obtaining the intersection points of the connecting lines of the front and rear wheel groups and the preset trajectory, respectively, to obtain the deviation amounts of the front and rear driving wheels from the preset trajectory;

[0009] obtaining the steering angles of the front and rear driving wheels in the next operating cycle based on the deviation amounts of the front and rear driving wheels from the preset trajectory and the current steering angles of the front and rear driving wheels;

[0010] obtaining the steering angle interval of the front and rear driven wheels in the next operating cycle based on the steering angles of the front and rear driving wheels in the next operating cycle.

[0011] adjusting the power motor and vehicle included angle of the front and rear driving wheels and the front and rear driven wheels in the next running cycle based on the steering angle interval of the front and rear driven wheels in the next running cycle and the steering angle of the front and rear driving wheels in the next running cycle;

[0012] respectively obtaining all power motor speeds based on the power motor and vehicle included angle of the front and rear driving wheels and the front and rear driven wheels in the next running cycle.

[0013] Optionally, the intelligent route planning system based on the vehicle obtains a preset track of the vehicle, comprising:

[0014] obtaining surrounding environment information of the vehicle based on sensors arranged on the vehicle;

[0015] obtaining available path sections of the vehicle from the current position to the target location based on the surrounding environment information;

[0016] selecting all available path sections having a direct connection relationship between the current position and the driving target location to obtain the preset track of the vehicle.

[0017] Optionally, the front and rear wheels having a smaller interval with the preset track are set as the front and rear driving wheels of the vehicle, and the front and rear driven wheels are obtained, comprising:

[0018] setting the front wheels of the vehicle as a front wheel group and the rear wheels of the vehicle as a rear wheel group;

[0019] respectively obtaining the interval of the front wheel group and the rear wheel group with the preset track to obtain the front and rear wheels having a smaller interval with the preset track and set as the front and rear driving wheels;

[0020] non-front driving wheels in the front wheel group are set as front driven wheels, and non-rear driving wheels in the rear wheel group are set as rear driven wheels.

[0021] Optionally, the intersection of the connecting line of the front wheel group and the rear wheel group and the preset track is obtained to obtain the deviation amount of the front and rear driving wheels from the preset track, comprising:

[0022] taking the hub center of the front and rear driving wheels as the center of mass to obtain the center of mass of the front driving wheel and the center of mass of the rear driving wheel, respectively;

[0023] respectively obtaining the connecting line of the wheel center of mass of the front wheel group and the rear wheel group, and respectively obtaining the intersection of the connecting line of the wheel center of mass of the front wheel group and the rear wheel group and the preset track to obtain the intersection point of the front and rear wheel groups;

[0024] respectively obtaining the interval between the midpoint of the connecting line of the wheel center of mass of the front wheel group and the rear wheel group and the intersection point of the front and rear wheel groups to obtain the deviation amount of the front and rear driving wheels from the preset track.

[0025] Optionally, the front and rear active wheels are based on the deviation of the preset track and the current steering angle of the front and rear active wheels, and the steering angle of the front and rear active wheels in the next running period is obtained, comprising:

[0026] Based on the deviation of the preset track and the relative position of the preset track, the deflection direction of the front and rear active wheels is obtained;

[0027] Based on the deflection direction of the front and rear active wheels, the steering angle interval of the front and rear active wheels is obtained;

[0028] The distance between the midpoint of the wheel center line of the front and rear wheel groups and the preset track is obtained to obtain the midpoint-track distance;

[0029] Based on the midpoint-track distance and the steering angle interval of the front and rear active wheels, the minimum moving distance of the midpoint of the wheel center line of the front and rear wheel groups to the preset track is obtained;

[0030] The steering angle value of the front and rear active wheels corresponding to the minimum moving distance is obtained to obtain the steering angle of the front and rear active wheels in the next running period.

[0031] Optionally, the deflection direction of the front and rear active wheels is obtained based on the deviation of the preset track and the relative position of the preset track, comprising:

[0032] The deviation of the front and rear active wheels from the preset track and the relative position of the preset track are obtained, and the moving direction of the midpoint of the wheel center line of the front and rear wheel groups is obtained when the midpoint of the wheel center line of the front and rear wheel groups coincides with the preset track;

[0033] Based on the moving direction of the midpoint of the wheel center line of the front and rear wheel groups and the current front and rear active wheel steering angle of the vehicle, the current front and rear active wheel steering angle adjustment direction of the vehicle is obtained;

[0034] Based on the current front and rear active wheel steering angle adjustment direction of the vehicle, the deflection direction of the front and rear active wheels is obtained to ensure that the midpoint of the wheel center line of the front and rear wheel groups moves to the preset track.

[0035] Optionally, the steering angle interval of the front and rear active wheels is obtained based on the deflection direction of the front and rear active wheels, comprising:

[0036] The maximum steering angle of the front and rear active wheels in the deflection direction of the front and rear active wheels is obtained to obtain the preset steering angle interval of the front and rear active wheels;

[0037] acquire the maximum steering angle adjustment range of the front and rear active wheels under the current driving speed of the vehicle;

[0038] integrate the maximum steering angle adjustment range and the preset steering angle interval, eliminate the preset steering angle interval exceeding the maximum steering angle adjustment range, to obtain the steering angle interval of the front and rear active wheels.

[0039] Optionally, the steering angle interval of the front and rear driven wheels in the next running cycle is acquired based on the steering angle of the front and rear active wheels in the next running cycle, comprising:

[0040] the steering angle of the front and rear active wheels in the next running cycle is set as the reference steering angle of the front and rear driven wheels in the next running cycle;

[0041] based on the relative position of the front and rear driven wheels and the preset trajectory, the steering angle adjustment of the front and rear driven wheels ensures that the midpoint of the wheel center of mass of the front and rear wheel groups moves to the preset trajectory, to obtain the deflection direction of the front and rear driven wheels;

[0042] based on the deflection direction of the front and rear driven wheels, the maximum steering angle of the front and rear driven wheels is acquired to obtain the preset steering angle interval of the front and rear driven wheels in the next running cycle;

[0043] the maximum steering angle of the front and rear driven wheels is acquired when the traction force of the front and rear driven wheels to the front and rear active wheels reaches the maximum static friction in the lateral direction of the front and rear active wheels under the current output of the power motor of the front and rear driven wheels;

[0044] the reference steering angle and the maximum steering angle of the front and rear driven wheels in the next running cycle are set in the numerical interval to obtain the steering angle interval of the front and rear driven wheels in the next running cycle.

[0045] Optionally, the power motor and vehicle angle of the front and rear active wheels and the front and rear driven wheels in the next running cycle is acquired based on the steering angle interval of the front and rear driven wheels in the next running cycle and the steering angle of the front and rear active wheels in the next running cycle, comprising:

[0046] the steering angle of the front and rear active wheels in the next running cycle of the vehicle is acquired, and the power motor output shaft and vehicle angle of the front and rear active wheels is acquired;

[0047] the steering angle interval of the front and rear driven wheels in the next running cycle of the vehicle is acquired, and the power motor output shaft and vehicle angle interval of the front and rear driven wheels is acquired;

[0048] based on the power motor output shaft and vehicle angle of the front and rear active wheels, the power motor and vehicle angle of the power motor of the front and rear active wheels in the next running cycle is adjusted;

[0049] Adjust the power motor and vehicle angle interval of the front and rear driven wheels in the next operation cycle of the power motor based on the power motor output shaft and vehicle angle interval of the front and rear driven wheels.

[0050] Optionally, all power motor speeds are obtained based on the power motor and vehicle angle of the front and rear driving wheels and the front and rear driven wheels in the next operation cycle, including:

[0051] Obtain the power motor speed of the front and rear driving wheels based on the current speed of the vehicle.

[0052] Obtain the maximum speed of the power motor of the front and rear driven wheels in the next operation cycle of the power motor based on the power motor speed of the front and rear driving wheels, so that the lateral direction of the front and rear driving wheels reaches the maximum static friction, to obtain the power motor speed interval of the front and rear driven wheels determined based on friction.

[0053] Obtain the power motor speed difference of the front and rear driving wheels and the front and rear driven wheels when the vehicle maintains safe driving based on the driving speed of the vehicle, to obtain the speed interval of the front and rear driven wheels determined based on safety.

[0054] Obtain the overlapping area of the power motor speed interval of the front and rear driven wheels determined based on friction and the speed interval of the front and rear driven wheels determined based on safety, to obtain the power motor speed interval of the front and rear driven wheels in the next operation cycle.

[0055] Adjust the speed of the front and rear driven wheels based on the obtained power motor speed interval of the front and rear driven wheels in the next operation cycle.

[0056] The beneficial effects of the present application include:

[0057] 1. The moving control precision of the vehicle is improved. In the technical scheme of the present application, the preset track of the vehicle is obtained, and then the deviation between the obtained track and the current track is obtained, and then the steering angle of the wheels can be adjusted based on the deviation, and in the adjustment process, the wheels move in the direction of the preset track. In this case, the actual moving track of the vehicle is the same as the preset track, which can significantly improve the moving control precision of the vehicle.

[0058] 2. The moving control speed of the vehicle is improved. In the technical scheme of the present application, after obtaining the preset track of the vehicle, the corresponding driving wheels and driven wheels of the front and rear two groups of wheels are determined, and then the steering angles of the driving wheels and driven wheels are determined with the driving wheels as the core. In the determination process, the front and rear two groups of wheels are adjusted at the same time, so that the moving control speed of the vehicle can be fully improved.

[0059] 3. Widening the moving control scene of the vehicle. In the technical solution of the present application, the vehicle can be correctly controlled to move as long as the preset track can be constructed during the running process of the vehicle, and when the driver controls, the vehicle can fine-tune the vehicle according to the obtained preset track, and even in the future development, it can be ensured that the driver's control is only to obtain a preset track, and the specific operation of the vehicle is based on the obtained preset track to perform autonomous control, so as to improve the intelligence of the vehicle and ensure the safety. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings used in the present application or the prior art will be briefly introduced as follows. Obviously, the following description is only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor. The drawings are used to provide further understanding of the present disclosure and constitute a part of the specification, and are used to explain the present disclosure together with the following detailed embodiments, but do not constitute a limitation on the present disclosure. In the drawings:

[0061] Figure 1 A flow chart of a BLDCM cooperative control method of a multi-motor vehicle provided by the embodiment of the present application;

[0062] Figure 2 A midpoint track distance schematic diagram of a BLDCM cooperative control method of a multi-motor vehicle provided by the embodiment of the present application;

[0063] Figure 3 A minimum moving distance schematic diagram of a BLDCM cooperative control method of a multi-motor vehicle provided by the embodiment of the present application. DETAILED DESCRIPTION

[0064] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. In addition, in the embodiments of the present application, "first", "second", etc. are used to distinguish similar objects, not necessarily to describe a specific order or sequence.

[0065] Although the proportion of multi-motor vehicles is low in the current new energy vehicle industry, considering the platform architecture of new energy, especially pure electric vehicles naturally adapts to multiple power sources, it can be predicted that more multi-motor vehicles will appear in the future. The advantages of multi-motor vehicles are not only to provide greater power output, but also to comprehensively improve the ability of control and safety. In order to fully develop the potential of multi-motor vehicles, a set of BLDCM cooperative control method matched with them needs to be built. In the current cooperative control scheme, a scheme similar to a differential is adopted, which makes the front and rear wheel groups of the vehicle move in the same direction. This method is easy to cause greater tire wear or driving danger in some scenarios, such as when the vehicle only moves with the rear wheel group, and the intelligent adopts two schemes, one is that the tire needs to generate dynamic friction with the ground when rotating, and the other is that the vehicle needs to move forward at low speed for a distance. Therefore, a more reasonable BLDCM cooperative control method needs to be developed.

[0066] As Figure 1 The BLDCM cooperative control method for a multi-motor vehicle provided by the embodiment of the application comprises:

[0067] S110, acquiring a preset track of a vehicle based on an intelligent route planning system of the vehicle.

[0068] S120, setting the front and rear wheels with a small interval from the preset track as the front and rear driving wheels of the vehicle, and acquiring the front and rear driven wheels.

[0069] S130, acquiring the intersection points of the connecting lines of the front and rear wheel groups and the preset track, respectively, to obtain the deviation amounts of the front and rear driving wheels from the preset track.

[0070] S150, acquiring the steering angles of the front and rear driving wheels in the next running period based on the deviation amounts of the front and rear driving wheels from the preset track and the current steering angles of the front and rear driving wheels.

[0071] S160, acquiring the steering angle intervals of the front and rear driven wheels in the next running period based on the steering angles of the front and rear driving wheels in the next running period.

[0072] S170, adjusting the angles between the power motors and the vehicle of the front and rear driving wheels and the front and rear driven wheels in the next running period based on the steering angle intervals of the front and rear driven wheels in the next running period and the steering angles of the front and rear driving wheels in the next running period.

[0073] S180, acquiring the rotation speeds of all the power motors based on the angles between the power motors and the vehicle of the front and rear driving wheels and the front and rear driven wheels in the next running period.

[0074] The beneficial effect of all the above steps is that the driving control accuracy and control efficiency of the vehicle can be improved, and the operation conditions and environment of the vehicle can be widened.

[0075] In the following, all the above steps will be described in detail, specifically:

[0076] As described in step S110, the purpose of this step is to obtain the running information of the vehicle, so that the future track of the vehicle can be predicted based on the obtained information, and the BLDCM cooperative control target of the vehicle can be obtained based on the preset track. Specifically:

[0077] S111, based on the sensors arranged on the vehicle, obtaining the surrounding environment information of the vehicle.

[0078] The purpose of this step is that in most vehicles at present, a large number of sensors are arranged, usually including cameras and laser radars, under the joint action of the two types of sensors, the surrounding environment information of the vehicle can be stably and continuously obtained, so that the path planning can be carried out according to the surrounding environment information, therefore, the purpose of this step is to lay a foundation for the preset track planning by identifying the environment information.

[0079] Among them, the surrounding environment information of the vehicle includes obstacles, other vehicles, pedestrians, non-motor vehicles, road signs, etc.

[0080] Among them, the distance between the vehicle and the surrounding environment needs to be obtained.

[0081] Among them, after obtaining the surrounding environment information of the vehicle, the interaction between the vehicle and the surrounding environment information needs to be analyzed.

[0082] S112, based on the surrounding environment information, obtaining the available path section of the vehicle from the current position to the target location.

[0083] The purpose of this step is that when the vehicle reaches a certain target location, there may be multiple routes from the current location to the target location, which requires that in the specific processing process, all available path sections can be obtained based on the obtained surrounding environment information.

[0084] Among them, through the surrounding environment information, the road information that can be used by the vehicle when reaching the target point is determined.

[0085] Among them, all the environment information between the current location and the target location of the vehicle needs to be obtained, and then all the environment information that can ensure the safe passage of the vehicle is analyzed, so as to obtain the available path section.

[0086] S113, select all available path segments that can cover the direct connection relationship between the current position and the driving target position to obtain the preset trajectory of the vehicle.

[0087] The purpose of this step is to determine the preset trajectory of the vehicle after obtaining the available path segments.

[0088] Wherein, the starting point and the ending point of all available segments are obtained, and then it is analyzed whether the starting point and the ending point between two segments coincide, if they coincide, they can be connected.

[0089] Wherein, all correct segmented paths between the current position and the target position of the vehicle are connected to obtain the preset trajectory of the vehicle.

[0090] In some embodiments, the trajectory of the vehicle can also be directly delimited by a Beidou navigation system, a GPS system, etc.

[0091] It should be noted that the target position mentioned in step S110 refers to the highest precision detection area that the vehicle sensor can reach, or a certain position between the entire navigation route in long-distance driving.

[0092] The beneficial effect of step S110 is that the best vehicle driving trajectory from the current position to the target position of the vehicle, i.e. the preset trajectory of the vehicle, is determined, so that the preset trajectory can be used as a subsequent adjustment reference for the vehicle.

[0093] As described in step S120, the purpose of this step is to determine that in the BLDCM cooperative control of the multi-motor vehicle, it is obviously necessary to control based on the steering angle of all wheels, and when the vehicle deviates from the preset trajectory, adjustment is needed, when a certain wheel is closer to the preset trajectory, the steering angle of the wheel can be smaller, and another wheel acts as a push-pull, so the steering angle is larger, so in the specific processing, the wheel closer to the preset trajectory can be used as the driving wheel to adjust the steering angle and the wheel speed. Specifically:

[0094] S121, set the front wheels of the vehicle as a front wheel group and set the rear wheels of the vehicle as a rear wheel group.

[0095] The purpose of this step is to allow each wheel of the vehicle to be provided with a power motor in the multi-motor vehicle, and each power motor allows independent adjustment of direction and speed, so in this case, it is necessary to determine the driving wheels of the front and rear wheels, and grouping becomes the basis of the entire technical solution.

[0096] Wherein, the method of determining the distance between the front and rear wheels and the preset trajectory is adopted, so the two front wheels are set as a front wheel group and the two rear wheels are set as a rear wheel group.

[0097] In some embodiments, such as a three-motor scheme, a single power motor is usually used for the front wheel group, and one power motor is arranged for each of the two rear wheels. In this case, the front wheel group is often provided with a differential from the perspective of mechanical complexity. In this case, the front wheel does not need to be analyzed for wheel groups, but only the driving wheels are concerned.

[0098] S122, respectively, obtain the distance between the front wheel group and the rear wheel group and the preset track to obtain the front and rear wheels with smaller distance from the preset track and set them as the front and rear driving wheels.

[0099] The purpose of this step is to determine the driving wheels in the front and rear wheel groups after determining the front and rear wheel groups. Then, the driving wheels and driven wheels are obtained according to the analysis results.

[0100] Among them, based on the control system arranged on the vehicle, the distance between the two front wheels and the two rear wheels in the front and rear wheel groups and the preset track is directly determined.

[0101] In some embodiments, the distance between all wheels and the preset track is obtained, and the minimum distance in the front and rear wheel groups is obtained respectively, so as to obtain the front and rear wheels with smaller distance from the preset track in the front and rear wheel groups.

[0102] Among them, after obtaining the front and rear wheels with smaller distance from the preset track in the front and rear wheel groups, the obtained front and rear wheels are directly identified as the front and rear driving wheels.

[0103] Among them, the reason for setting the wheel with smaller distance from the preset track as the driving wheel is that the wheel has greater influence on the curvature of the driving track in the process of approaching the preset track, and the vehicle can more efficiently adjust the position of the vehicle according to the preset track during driving. Therefore, it is set as the driving wheel.

[0104] S123, the non-front driving wheel in the front wheel group is set as the front driven wheel, and the non-rear driving wheel in the rear wheel group is set as the rear driven wheel.

[0105] The purpose of this step is to obtain the driven wheels simultaneously after obtaining the front and rear driving wheels.

[0106] Among them, the non-driving wheels obtained in the front and rear wheel groups are driven wheels.

[0107] The beneficial effect of step S120 is to determine the driving wheels and driven wheels of the vehicle, find the tires with greater influence on the curvature in the specific track adjustment process, and obtain the adjustment reference in the track adjustment of the vehicle.

[0108] As step S130, the purpose of this step is to determine the adjustment amount in the deviation determination process, and the adjustment target parameter is obtained accordingly.

[0109] S131, taking the center of the hub of the front and rear driving wheels as the center of mass to obtain the center of mass of the front and rear driving wheels respectively.

[0110] The purpose of this step is to determine the judgment reference set in the deviation determination process.

[0111] Among them, the midpoint of the main shaft of the front and rear wheel groups is the reference value for judging the deviation, but in the multi-motor vehicle, there is no entity shaft directly connecting the front and rear wheel groups, so other reference points need to be set for analysis.

[0112] Among them, the center of mass of the front and rear driving wheels is obtained, which is obviously the endpoint of the virtual axle.

[0113] In some embodiments, the center of the hub is also directly obtained, which is used as one end of the virtual axle.

[0114] S132, respectively obtain the wheel center connection line of the front and rear wheel groups, and obtain the intersection of the wheel center connection line of the front and rear wheel groups and the preset track to obtain the front and rear wheel group intersection.

[0115] The purpose of this step is to obtain the virtual main shaft of the multi-motor vehicle, and then based on the virtual main shaft, the intersection of the main shaft and the preset track is obtained, and then the deviation is determined according to the intersection obtained.

[0116] Among them, the center of mass of the front and rear wheel groups is connected to obtain the virtual axle.

[0117] Among them, the intersection of the virtual axle and the preset track is determined, and the intersection obtained is the front and rear wheel group intersection.

[0118] Among them, for the intersection obtained, the vertical projection of the virtual axle and the preset track on the ground needs to be determined to obtain the front and rear wheel group intersection.

[0119] Among them, the front and rear wheel group intersection refers to the intersection of the virtual axle of the front and rear wheel groups and the preset track.

[0120] S133, respectively obtain the midpoint of the wheel center connection line of the front and rear wheel groups, and the distance between the front and rear wheel group intersection to obtain the deviation of the front and rear driving wheels from the preset track.

[0121] The purpose of this step is to obtain the deviation amount of the front and rear driving wheels and the preset track after obtaining the intersection points of the front and rear wheel groups.

[0122] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0123] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0124] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0125] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0126] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0127] S141, based on the deviation amount of the front and rear driving wheels and the relative position of the preset track, obtain the deflection direction of the front and rear driving wheels.

[0128] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0129] S1411, obtain the deviation amount of the front and rear driving wheels and the relative position of the preset track, and obtain the movement direction of the center of mass of the wheels of the front and rear wheel groups when the center of mass of the wheels of the front and rear wheel groups coincides with the preset track.

[0130] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0131] The purpose of this step is to obtain the intersection points of the front and rear wheel groups.

[0132] Wherein, for the judgment of relative position, the preset track is taken as the demarcation line, and then it is analyzed whether the deviation amount is within the arc line of the preset track or outside the arc line.

[0133] Wherein, after the position of the deviation amount is determined, it is analyzed the moving direction of the midpoint of the wheel centroid connecting line when the midpoint of the wheel centroid connecting line coincides with the preset track.

[0134] Wherein, according to the moving direction, the further deviation direction of the front and rear driving wheels in the next adjustment period is determined.

[0135] S1412, based on the moving direction of the midpoint of the wheel centroid connecting line of the front and rear wheel groups and the current front and rear driving wheel steering angle of the vehicle, the adjustment direction of the current front and rear driving wheel steering angle of the vehicle is obtained.

[0136] The purpose of this step is to determine the adjustment direction of the current steering angle based on the current front and rear driving wheel steering angle of the vehicle and the moving direction in the future moving process.

[0137] Wherein, the so-called adjustment direction of the current front and rear driving wheel steering angle of the vehicle refers to the further complementary adjustment direction of the current steering angle in the process of moving the vehicle to the preset track under the current steering angle of the front and rear driving wheels of the vehicle.

[0138] Wherein, in the adjustment process, the steering angles of the front and rear driving wheels are adjusted at the same time, so that the adjustment target in the next period of time can be determined according to the obtained steering angle adjustment result.

[0139] Wherein, in the determination of the deflection direction, the moving direction of the vehicle is also determined, because different moving directions have different requirements for the deflection direction of the moving direction of the wheels.

[0140] Wherein, when the vehicle is in the forward state, if the driving wheel is located in the space outside the arc line of the preset track, the steering angle of the driving wheel needs to be increased, and the adjustment direction of the steering angle is counterclockwise.

[0141] Wherein, when the vehicle is in the forward state, if the driving wheel is located in the space within the arc line of the preset track, the steering angle of the driving wheel needs to be increased, and the adjustment direction of the steering angle is clockwise.

[0142] Wherein, when the vehicle is in the reverse state, if the driving wheel is located in the space outside the arc line of the preset track, the steering angle of the driving wheel needs to be increased, and the adjustment direction of the steering angle is clockwise.

[0143] Wherein, when the vehicle is in the reverse state, if the driving wheel is located in the space within the arc line of the preset track, the steering angle of the driving wheel needs to be increased, and the adjustment direction of the steering angle is counterclockwise.

[0144] S1413, based on the current front and rear active wheel steering angle adjustment direction of the vehicle, the deflection direction of the front and rear active wheel is obtained to ensure that the midpoint of the wheel center of mass connecting line of the front and rear wheel groups moves to the preset track.

[0145] The purpose of this step is to determine the adjustment direction of the steering angle after determining the adjustment direction of the steering angle.

[0146] After determining the adjustment direction of the current front and rear active wheel steering angle, the current front and rear active wheel steering angle needs to be adjusted based on the parameter.

[0147] Although the steering angle is in the increasing state from the value direction, the adjustment direction in the adjustment process is different, and the driving direction of the vehicle needs to be determined.

[0148] S142, based on the deflection direction of the front and rear active wheel, the steering angle interval of the front and rear active wheel is obtained.

[0149] The purpose of this step is to determine the steering angle interval of the front and rear active wheel after obtaining the deflection direction of the front and rear active wheel, and then the best steering angle parameter scheme can be selected from the steering angle interval data, that is, to lay the foundation for subsequent data determination. Specifically:

[0150] S1421, the maximum steering angle of the vehicle front and rear active wheel to the deflection direction of the front and rear active wheel is obtained to obtain the preset steering angle interval of the front and rear active wheel.

[0151] The purpose of this step is to obtain the maximum steering angle of the front and rear active wheel, and then the steering angle can be obtained to obtain the preset steering angle interval, which is equivalent to setting the parameter range determination basis for the steering angle.

[0152] The current steering angle of the vehicle front and rear active wheel is obtained, and the steering angle is set as the minimum value of the preset steering angle interval.

[0153] The maximum steering angle of the front and rear active wheel in the obtained deflection direction of the front and rear active wheel is obtained, and the maximum value of the preset steering angle interval is obtained.

[0154] The minimum value and the maximum value of the obtained preset steering angle interval are set in the same parameter interval, and the preset steering angle interval of the front and rear active wheel is obtained.

[0155] The preset steering angle interval of the front and rear active wheel is determined at the same time.

[0156] S1422, obtain the current driving speed of the vehicle, and obtain the maximum steering angle adjustment range of the front and rear active wheels under the current driving speed.

[0157] The purpose of this step is that during the movement of the vehicle, when the driving speed of the vehicle is accelerated, steering is obviously easy to cause safety risks, so the driving speed factor of the vehicle also needs to be considered in the specific front and rear active wheel adjustment.

[0158] Among them, the current driving speed of the vehicle is obtained, and based on the existing research results, the maximum allowable steering angle under different driving speeds is determined, that is, the maximum safe steering angle corresponding to the driving speed.

[0159] Among them, the obtained driving speed and the corresponding maximum safe steering angle are used.

[0160] Among them, the obtained current front and rear active wheel steering angle and the maximum safe steering angle need to be set in the same interval, that is, the maximum steering angle adjustment range of the front and rear active wheels under the current driving speed is obtained.

[0161] S1423, integrate the maximum steering angle adjustment range and the preset steering angle interval, eliminate the preset steering angle interval that exceeds the maximum steering angle adjustment range, and obtain the steering angle interval of the front and rear active wheels.

[0162] The purpose of this step is to finally adjust and obtain the steering angle interval of the front and rear active wheels to ensure the rationality of the steering angle interval.

[0163] Among them, the maximum value comparison of the obtained maximum steering angle adjustment range and the preset steering angle interval is performed, and the relatively smaller value is selected from them.

[0164] Among them, the obtained current steering angle of the front and rear active wheels and the relatively smaller value selected are constructed into the same numerical interval, and the result obtained is the steering angle interval of the front and rear active wheels.

[0165] S143, obtain the distance between the midpoint of the wheel center line of the front wheel group and the rear wheel group and the preset track, to obtain the midpoint-track distance.

[0166] The purpose of this step is that the obtained midpoint of the wheel center line of the front wheel group and the rear wheel group needs to be adjusted so that the midpoint can coincide with the preset track, and then based on the distance between the position of the midpoint and the preset track, the distance adjustment amount required to be set in the future period of time is obtained.

[0167] In determining the distance between the midpoint of the line connecting the centers of mass of the front wheel assembly and the rear wheel assembly and the preset track, when it is necessary to determine the line connecting the center and the point on the preset track, the line formed can be perpendicular to the tangent of the point on the preset track on the preset track.

[0168] Specifically, when a point on the predetermined track is determined, and it is possible to ensure that the line connecting the midpoint of the wheel center of mass of the front wheel group and the rear wheel group and the point on the predetermined track is perpendicular to the tangent of the predetermined track at that point, the line connecting the key point and the point on the predetermined track is obtained.

[0169] In this method, the length of the connecting line is determined based on spatial coordinates or other methods, and the resulting length value is the midpoint-track distance. For example... Figure 2 The diagram shown is a schematic diagram of the midpoint-track distance of a BLDCM cooperative control method for a multi-motor vehicle provided in an embodiment of this application. The driving wheel and the driven wheel are a wheel set. P1 is the midpoint of the line connecting the centers of mass of the driving wheel and the driven wheel. P2 is a point on the preset track during the process of determining the distance between the midpoint and the preset track of the vehicle. At this time, the line connecting P1P2 is perpendicular to the tangent at point P2.

[0170] S144. Based on the midpoint-track distance and the steering angle range of the front and rear drive wheels, obtain the minimum movement distance when the midpoint of the line connecting the center of mass of the front wheel group and the rear wheel group reaches the preset track.

[0171] The purpose of this step is to determine, after obtaining the key point—the track distance—the minimum distance that the midpoint of the centroid line reaches the preset track, given the available parameters and the turning angle range between the front and rear Zhudong Roads.

[0172] Among them, such as Figure 3 The diagram shown illustrates the minimum travel distance of a BLDCM cooperative control method for multi-motor vehicles provided in this application embodiment. It describes obtaining the intersection point between line segments P1P3 and the vehicle's preset trajectory. For line segments P1P3, the path can be formed by traveling along a straight line from the midpoint P1. In P1P2P3, ∠P2P1P3 is the same as the steering angle of the driving wheel. At this time, we can obtain the minimum value of line segment P1P3 when the vehicle is moving. We can then further determine line segment P1P4. In other words, we can obtain the relationship between the steering angle of the driving wheel and line segment P1P4. After that, we can determine the minimum value of line segment P1P4, which is the minimum moving distance. We can also determine the specific value of the steering angle of the driving wheel based on this value.

[0173] Wherein, the moving distance of the midpoint of the wheel mass center connection line of the front wheel group and the rear wheel group to the preset track when the midpoint reaches the preset track under the condition of the set steering angle interval of the front and rear driving wheels is determined, so as to obtain the moving distance of the midpoint of the wheel mass center connection line of the front wheel group and the rear wheel group to the preset track when the midpoint reaches the preset track.

[0174] In some embodiments, the midpoint of the wheel mass center connection line of the front wheel group and the rear wheel group may not be able to reach the preset track under the condition of the steering angle interval, and for this case, the steering angle at which the midpoint is closest to the preset track when the midpoint reaches the next steering angle adjustment time point needs to be selected.

[0175] S145, obtaining the steering angle value of the front and rear driving wheels corresponding to the minimum moving distance, to obtain the steering angle of the front and rear driving wheels in the next running period.

[0176] The purpose of this step is to obtain the steering angle in the next vehicle running period corresponding to the current running time point, so as to adjust the vehicle based on the steering angle.

[0177] Wherein, after obtaining the steering angle value of the front and rear driving wheels corresponding to the minimum moving distance, the value means that if the vehicle adopts the steering angle value, the midpoint of the wheel mass center connection line of the front wheel group and the rear wheel group of the vehicle reaches the preset track with the shortest distance, that is, the path adjustment time is the shortest.

[0178] Wherein, after obtaining the steering angle value, the value is directly applied as the steering angle of the front and rear driving wheels in the next running period.

[0179] The beneficial effect of step S140 is that after the steering angle of the front and rear driving wheels in the next running period is reasonably determined, the elimination speed of the deviation of the front and rear driving wheels from the preset track can be sufficiently improved.

[0180] As described in step S150, the purpose of this step is to obtain the steering angle of the front and rear driven wheels in the next running period after the steering angle of the front and rear driving wheels in the next running period has been determined. Specifically:

[0181] S151, setting the steering angle of the front and rear driving wheels in the next running period as the reference steering angle of the front and rear driven wheels in the next running period.

[0182] The purpose of this step is to obtain the reference steering angle of the front and rear driven wheels in the next running period, so as to adjust based on the parameter.

[0183] Wherein, the steering angle of the front and rear driven wheels in the next running cycle is directly applied as the steering angle of the front and rear driven wheels in the next running cycle.

[0184] Wherein, the so-called reference steering angle refers to the reference amount of the steering angle adjustment when the steering angle adjustment of the front and rear driven wheels is performed.

[0185] S152, based on the relative position of the front and rear driven wheels and the preset track, the front and rear driven wheels are steered to ensure that the wheel mass center of the front and rear wheel groups moves to the preset track to obtain the deflection direction of the front and rear driven wheels.

[0186] The purpose of this step is to actually control the steering angle of the two tires of the wheel group in the running process of the vehicle, and to further improve the adjustment efficiency, the deflection direction of the driven wheels can be generated during the adjustment of the deflection amount of the driven wheels.

[0187] Wherein, the determination method of the deflection direction of the driven wheels is the same as step S141, and will not be described here.

[0188] Wherein, the determination of the deflection direction of the front and rear driven wheels is also determined according to the driving direction of the vehicle.

[0189] Wherein, in the determination of the deflection direction, the moving direction of the vehicle is also determined, because different moving directions have different deflection direction requirements for the moving direction of the wheels.

[0190] Wherein, when the vehicle is in the forward state, if the driven wheels are located in the outer space of the arc of the preset track, the reference steering angle of the driving wheels needs to be increased, and the adjustment direction of the steering angle is counterclockwise.

[0191] Wherein, when the vehicle is in the forward state, if the driven wheels are located in the inner space of the arc of the preset track, the reference steering angle of the driving wheels needs to be increased, and the adjustment direction of the steering angle is clockwise.

[0192] Wherein, when the vehicle is in the reverse state, if the driving wheels are located in the outer space of the arc of the preset track, the reference steering angle of the driving wheels needs to be increased, and the adjustment direction of the steering angle is clockwise.

[0193] Wherein, when the vehicle is in the reverse state, if the driving wheels are located in the inner space of the arc of the preset track, the reference steering angle of the driving wheels needs to be increased, and the adjustment direction of the steering angle is counterclockwise.

[0194] S153, based on the deflection direction of the front and rear driven wheels, the maximum steering angle of the front and rear driven wheels is obtained to obtain the preset steering angle interval of the front and rear driven wheels in the next running cycle.

[0195] The purpose of this step is to determine the steering angle interval of the driven wheels after determining the front and rear driven wheel deflection direction, so as to process according to the value.

[0196] The content of this step is the same as the method of step S142, which will not be repeated here.

[0197] S154, under the current output of the power motor of the front and rear driven wheels, the maximum steering angle of the front and rear driven wheels when the traction force applied by the front and rear driven wheels to the front and rear driving wheels reaches the maximum static friction in the lateral direction of the front and rear driving wheels.

[0198] The purpose of this step is to avoid the occurrence of sliding friction between the tire and the ground during the stable driving process of the vehicle, so as to avoid the sliding friction between the driven wheels and the ground during the adjustment process of the front and / or rear wheel groups to ensure the driving safety of the vehicle. Therefore, in the specific processing process, the output of the driven wheels in the wheel group should be avoided to pull or push the driving wheels to generate sliding friction.

[0199] Among them, the power output of the front and rear driven wheels is obtained, which can be obtained based on the current parameters such as the current of the power motor and the current speed of the vehicle. The mature scheme in the prior art is not limited in this application.

[0200] Among them, the traction force applied by the front and rear driven wheels to the front and rear driving wheels under different steering angles is obtained, so as to obtain the static friction force that can be generated in the lateral direction of the front and rear driving wheels.

[0201] Among them, according to the tire pressure, tire wear condition, obtained road surface monitoring parameters and vehicle weight and other information of the vehicle, the maximum static friction of the front and rear driving wheels is obtained.

[0202] Among them, the maximum steering angle of the front and rear driven wheels is obtained when the front and rear driving wheels reach the maximum static friction under the condition of the pulling force or the pushing force applied by the front and rear driven wheels to the front and rear driving wheels.

[0203] Among them, when it is found that the maximum static friction cannot be reached, the maximum steering angle of the front and rear driven wheels is taken as the maximum steering angle when the maximum static friction is not exceeded.

[0204] In some embodiments, the steering angle of the front and rear driven wheels is directly determined according to the differential device based on the steering angle of the front and rear driving wheels, so as to determine the steering angle of the front and rear driven wheels.

[0205] S155, the reference steering angle and the maximum steering angle of the front and rear driven wheels in the next running period are set to a numerical interval to obtain the steering angle interval of the front and rear driven wheels in the next running period.

[0206] The purpose of this step is to obtain the steering angle interval of the front and rear driven wheels in the next running cycle, thereby laying the foundation for subsequent specific control work.

[0207] In this step, the obtained reference steering angle in the next running cycle is used as the minimum value in the steering angle interval.

[0208] In some embodiments, the reference steering angle is adjusted to a scheme adjusted based on the steering angles of the differential and the front and rear driving wheels, and the scheme after the differential adjustment is obtained and processed according to the differential adjustment scheme.

[0209] In this step, the obtained maximum steering angle is used as the maximum value of the steering angle interval in the next running cycle.

[0210] The beneficial effect of step S150 is that after processing the steering angle interval of the front and rear driven wheels in the next running cycle, the system can be further adjusted using the front and rear driven wheels, thereby improving the elimination efficiency of the deviation.

[0211] The purpose of this step, as described in step S160, is to adjust the direction of the motor to meet the driving direction adjustment requirement of the vehicle after obtaining the steering angle and the steering angle interval. Specifically:

[0212] S161, obtaining the steering angle of the front and rear driving wheels of the vehicle in the next running cycle, and obtaining the angle between the power motor output shaft of the front and rear driving wheels and the vehicle.

[0213] The purpose of this step is to adjust the direction of the power motor output shaft of the front and rear driving wheels.

[0214] In this step, the angle between the power motor output shaft and the vehicle can be the angle between the output shaft and the vehicle centerline, or the angle between the output shaft and the wheel group centroid line, as well as other angles.

[0215] In this step, the angle between the power motor output shaft and the vehicle is determined according to the steering angle of the front and rear driving wheels of the vehicle in the next running cycle.

[0216] In this step, the angle between the power motor output shaft and the vehicle is determined according to the steering angle of the front and rear driving wheels of the vehicle in the next running cycle.

[0217] S162, obtaining the steering angle interval of the front and rear driven wheels of the vehicle in the next running cycle, and obtaining the angle interval between the power motor output shaft of the front and rear driven wheels and the vehicle.

[0218] The purpose of this step is to determine the angle interval between the power motor output shaft of the front and rear driven wheels and the vehicle, to obtain the processing result.

[0219] Wherein, the determination method and step S161 of the angle interval between the power motor output shaft of the front and rear driven wheels and the vehicle are the same, and will not be described here.

[0220] S163, based on the angle between the power motor output shaft of the front and rear driven wheels and the vehicle, adjusting the angle between the power motor and the vehicle of the front and rear driven wheels in the next running period of the power motor.

[0221] The purpose of this step is to make specific adjustments to the orientation direction of the power motor of the wheel in the next running period.

[0222] Wherein, after obtaining the angle between the power motor output shaft of the front and rear driven wheels and the vehicle, the angle between the power motor and the vehicle of the front and rear driven wheels is directly adjusted based on the control system and transmission mechanism of the vehicle.

[0223] S164, based on the angle interval between the power motor output shaft of the front and rear driven wheels and the vehicle, adjusting the angle interval between the power motor and the vehicle of the front and rear driven wheels in the next running period of the power motor.

[0224] The purpose of this step is to adjust the direction of the power motor of the front and rear driven wheels of the vehicle based on the angle interval between the power motor output shaft of the driven wheels and the vehicle.

[0225] Wherein, the method used in this step is the same as step S163, and will not be described here.

[0226] As described in step S170, the speed of the motor of the vehicle is adjusted to ensure the correct speed of the motor. Specifically:

[0227] S171, based on the current speed of the vehicle, obtaining the speed of the power motor of the front and rear driven wheels.

[0228] The purpose of this step is to obtain the speed of the power motor based on the current speed of the vehicle, and this parameter is used because in order to ensure safety during driving, it is necessary to avoid sharp speed adjustment.

[0229] Wherein, the current speed of the vehicle is obtained, and the speed of the power motor is directly determined according to the speed.

[0230] Wherein, the speed of the power motor of the front and rear driven wheels can also be determined directly according to the sensor provided in the vehicle.

[0231] S172, based on the speed of the power motor of the front and rear driven wheels, obtaining the maximum speed of the power motor of the front and rear driven wheels in the next running period, so that the lateral direction of the front and rear driven wheels reaches the maximum static friction force, to obtain the speed interval of the power motor of the front and rear driven wheels determined based on the friction force.

[0232] The purpose of this step is to determine the motor speed interval of the driven wheels based on the friction force, considering that the steering angle of the driven wheels can be large during the driving of the vehicle, and that the driven wheels can exert a pulling force or a pushing force on the driving wheels during operation, and that when the speed of the driven wheels increases, it usually means that the output increases, and it is easy to cause a pulling effect on the driving wheels, even exceeding the maximum static friction force, so the motor speed interval of the driven wheels needs to be determined.

[0233] The maximum static friction force between the tire and the ground in the current running scenario of the vehicle is obtained.

[0234] The friction force between the tire and the ground under the current speed of the front and rear driving wheels is obtained.

[0235] The maximum static friction force between the tire and the ground in the next running period under the current speed of the front and rear driving wheels is obtained.

[0236] The maximum output of the front and rear driven wheels based on the maximum static friction force is obtained, and the maximum motor speed of the front and rear driven wheels based on the friction force is determined based on the parameter.

[0237] The current speed and the maximum motor speed of the front and rear driven wheels in the next running period are set to the same data interval to obtain the motor speed interval of the front and rear driven wheels based on the friction force.

[0238] S173, based on the driving speed of the vehicle, the difference between the motor speeds of the front and rear driving wheels and the front and rear driven wheels when the vehicle is safely driven is obtained to obtain the speed interval of the front and rear driven wheels based on safety.

[0239] The purpose of this step is to obtain the speed difference allowed between the two tires in the wheel set under the condition that safety needs to be ensured after the current driving speed of the vehicle.

[0240] The influence of the wheel set on stability under different speeds is obtained based on the driving speed of the vehicle, and the safety is determined based on the result to directly determine the speed interval of the front and rear driven wheels based on safety.

[0241] The influence on stability can be obtained based on the experimental results of the vehicle manufacturer, which is not limited in this application.

[0242] S174, the overlapping area of the motor speed interval of the front and rear driven wheels based on the friction force and the speed interval of the front and rear driven wheels based on safety is obtained to obtain the motor speed interval of the front and rear driven wheels in the next running period.

[0243] The purpose of this step is to obtain the motor speed interval of the front and rear driven wheels in the next running period for speed adjustment.

[0244] Wherein, the speed interval of the front and rear driven wheels based on safety and the speed interval of the front and rear driven wheels based on friction are obtained, the maximum values in the two intervals are obtained respectively, and the smaller value between the two maximum values is obtained as the target maximum value.

[0245] Wherein, the current power motor speed is used as the interval minimum value, and the target maximum value is used as the interval maximum value, and then the power motor speed interval in the next running cycle of the front and rear driven wheels is obtained.

[0246] S175, based on the power motor speed interval obtained in the next running cycle of the front and rear driven wheels, the speeds of the front and rear driven wheels are adjusted respectively.

[0247] The purpose of this step is that for the front and rear driving wheels, under the condition of no external force, or without increasing the accelerator or stepping on the brake, the speed of the front and rear driving wheels is not adjusted, and only the speed of the driven wheels is adjusted, thereby adjusting the speed of the driven wheels.

[0248] Wherein, an intelligent fractional order controller is set for each power motor, and the transfer function of the intelligent fractional order controller is:

[0249] ;

[0250] Wherein, wherein, G c ( s ) represents the output of the transfer function; K p represents the proportional gain; K i represents the integral gain; K d represents the differential gain; Lambda represents the integral order; Mu represents the differential order; s represents the complex frequency variable in Laplace transform.

[0251] Wherein, based on the determination of the parameters in the transfer function of the intelligent fractional order controller, for all parameters in the transfer function, the maximum and minimum values are set, and all set parameters are set to the corresponding parameter training set.

[0252] Wherein, for all parameter training sets, it is necessary to confirm based on the current parameter type and parameter performance to ensure that the data in the obtained parameters is of the same type.

[0253] Wherein, for the parameters in the parameter training set, the parameters in the parameter training set are also set according to the corresponding data value step.

[0254] Wherein, for all obtained parameter training sets, the parameters in the parameter training set are identified and annotated with parameter types, so that the data results obtained can be fully obtained according to the data in the parameter training set.

[0255] Wherein, based on the classification of parameters according to the corresponding parameters, the data construction parameter training set is needed.

[0256] After the classification of parameters, all parameters involved in the whole process need to be set, and the application adopts the scheme of initial setting and then accurate setting. Among them, for the initial setting, specifically:

[0257] The initial setting is performed on the classified parameters to obtain initial parameters, and the parameters need to be determined according to the control needs.

[0258] Wherein, for all parameters, the maximum and minimum values need to be obtained.

[0259] Wherein, for the maximum and minimum values obtained, other values in the interval of the maximum and minimum values obtained are filled. Specifically:

[0260] The initial parameter is set with an increment step, and the initial parameter is increased and decreased according to the increment step to obtain a preset parameter sequence.

[0261] Wherein, for all categories of parameters, the increment step of the parameter needs to be set, and the parameter is increased and decreased according to the set step, so that the maximum and minimum value interval obtained is filled with data.

[0262] Wherein, for the setting of the increment step, the data processing accuracy is set, and in the specific operation, the higher the control accuracy requirement of the intelligent fractional order controller, the more data needs to be filled in the maximum and minimum value interval, and the smaller the step size.

[0263] In some embodiments, the number of data filled in the maximum and minimum value interval is processed in a specific number, such as: the number of data to be filled is n, and the setting method of the step size is:

[0264] ;

[0265] Wherein, l The step size is represented by s, MIndicates the maximum value. m This represents the minimum value. n This indicates the number of data to be filled. After obtaining the step size, the maximum or minimum value is incremented or decremented.

[0266] The optimization of the initial parameters in the training set includes:

[0267] Establish an adaptive optimization factor, the equation of which is:

[0268] ;

[0269] in, α 1 This represents the maximum value of the adaptive optimization factor. α 0 This represents the minimum value of the adaptive optimization factor. α i This represents the adaptive optimization factor. F i Indicates the fitness of a particle. F gbest Represents the global minimum fitness. ABS ( ) represents absolute value. MIN () indicates the minimum value.

[0270] After establishing the adaptive optimization factor, it is also necessary to confirm the particle position based on the adaptive optimization factor, as shown in the equation:

[0271] ;

[0272] in, x i ( t+1 ) indicates that the particle is in ( t+1 The position at that moment, p i ( t ) indicates that the particle is in t Local attractor position at time, α i This represents the adaptive optimization factor. C ( t () indicates the location of the center point. Indicates that the particle is in t Location at any given moment g Represents a random number with a Gaussian probability distribution. k This represents the range of values.

[0273] Wherein, after setting the adaptive optimization factor with a certain particle, i.e. parameter, other particles are calculated to determine all particle positions and obtain results based on the particle positions.

[0274] Wherein, a Gaussian probability distribution random number needs to be set to calculate the results.

[0275] Wherein, after determining that the processed data meets the screening requirements, the particle position needs to be updated, specifically:

[0276] Based on the position results of the particles at time (t+1), the optimal position of the particles is updated.

[0277] Wherein, for the particle position at time (t+1) that has passed the verification, the particle position at this time is used to replace the particle position in the parameter data set that does not meet the optimization requirements, thereby updating the optimal position of the particles.

[0278] Wherein, after all parameters in the transfer function are determined, the motor speed can be adjusted according to the transfer function.

[0279] The beneficial effects of the present application include:

[0280] 1. The moving control precision of the vehicle is improved. In the technical scheme of the present application, the preset track of the vehicle is obtained, and then the deviation between the obtained track and the current track is obtained, and then the steering angle of the wheels can be adjusted based on the deviation, and during the adjustment process, the wheels move in the direction of the preset track. In this case, the actual moving track of the vehicle is the same as the preset track, which can significantly improve the moving control precision of the vehicle.

[0281] 2. The moving control speed of the vehicle is improved. In the technical scheme of the present application, after obtaining the preset track of the vehicle, the corresponding driving wheel and driven wheel of the front and rear wheel groups are determined, and then the steering angle of the driving and driven wheels is determined with the driving wheel as the core, and during the determination process, the front and rear wheel groups are adjusted simultaneously, thereby fully improving the moving control speed of the vehicle.

[0282] 3. The moving control scene of the vehicle is expanded. In the technical scheme of the present application, as long as the preset track can be constructed during the running of the vehicle, the vehicle can be controlled to move correctly, and when the driver controls, the vehicle can be fine-tuned based on the obtained preset track, and even in the future development, the driver's control can only obtain a preset track, and the specific running of the vehicle is based on the obtained preset track for autonomous control, to improve the intelligence of the vehicle and ensure safety.

[0283] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by related hardware of computer program instructions. The aforementioned computer program can be stored in a nonvolatile storage medium, and when executed, the computer program executes steps including the above-mentioned method embodiments. Alternatively, the aforementioned integrated units of the present application, if implemented in the form of software function modules and sold or used as independent products, can also be stored in a nonvolatile storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a nonvolatile storage medium and includes a number of instructions for causing an electronic device (which can be a personal computer, a server, a network device, etc.) to execute all or part of the methods described in the various embodiments of the present application.

[0284] The above merely describes the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A BLDCM cooperative control method of a multi-motor vehicle, characterized in that, The cooperative control method comprises: An intelligent route planning system based on a vehicle acquires a preset track of the vehicle; Front and rear wheels with a smaller interval from the preset track are set as front and rear driving wheels of the vehicle, and front and rear driven wheels are acquired; Intersections of a connecting line of the front and rear wheel groups and the preset track are respectively acquired to obtain deviation amounts of the front and rear driving wheels from the preset track; Based on the deviation amounts of the front and rear driving wheels from the preset track and current steering angles of the front and rear driving wheels, steering angles of the front and rear driving wheels in a next running cycle are acquired; Based on the steering angles of the front and rear driving wheels in the next running cycle, steering angle intervals of the front and rear driven wheels in the next running cycle are acquired; Based on the steering angle intervals of the front and rear driven wheels in the next running cycle and the steering angles of the front and rear driving wheels in the next running cycle, angles between power machines and the vehicle in the next running cycle of the front and rear driving wheels and the front and rear driven wheels are adjusted; Based on the angles between the power machines and the vehicle in the next running cycle of the front and rear driving wheels and the front and rear driven wheels, rotation speeds of all the power machines are respectively acquired.

2. The BLDCM cooperative control method for a multi-motor vehicle according to claim 1, characterized in that, The intelligent route planning system based on the vehicle acquires a preset track of the vehicle, comprising: Based on sensors arranged on the vehicle, surrounding environment information of the vehicle is acquired; Based on the surrounding environment information, available path sections of the vehicle from a current position to a target location are acquired; All the available path sections having a direct connection relationship between the current position and the driving target location are selected to obtain the preset track of the vehicle.

3. The BLDCM cooperative control method for a multi-motor vehicle according to claim 1, characterized in that, The front and rear wheels with a smaller interval from the preset track are set as the front and rear driving wheels of the vehicle, and the front and rear driven wheels are acquired, comprising: Front wheels of the vehicle are set as a front wheel group, and rear wheels of the vehicle are set as a rear wheel group; Intervals of the front and rear wheel groups from the preset track are respectively acquired to obtain the front and rear wheels with a smaller interval from the preset track and set as the front and rear driving wheels; Non-front driving wheels in the front wheel group are set as front driven wheels, and non-rear driving wheels in the rear wheel group are set as rear driven wheels.

4. The BLDCM cooperative control method for a multi-motor vehicle according to claim 1, characterized in that, The intersections of the connecting line of the front and rear wheel groups and the preset track are respectively acquired to obtain the deviation amounts of the front and rear driving wheels from the preset track, comprising: With the hub center of the front and rear driving wheels as a mass center, front driving wheel mass centers and rear driving wheel mass centers are respectively obtained; Connecting lines of the wheel mass centers of the front and rear wheel groups are respectively acquired, and intersections of the connecting lines of the wheel mass centers of the front and rear wheel groups and the preset track are respectively acquired to obtain front and rear wheel group intersections; Midpoints of the connecting lines of the wheel mass centers of the front and rear wheel groups and intervals of the front and rear wheel group intersections are respectively acquired to obtain the deviation amounts of the front and rear driving wheels from the preset track.

5. The BLDCM coordinated control method of a multi-motor vehicle according to claim 1, characterized in that, The steering angles of the front and rear driving wheels in the next running cycle are acquired based on the deviation amounts of the front and rear driving wheels from the preset track and the current steering angles of the front and rear driving wheels, comprising: Based on the deviation amounts of the front and rear driving wheels from the preset track and relative positions of the preset track, a deflection direction of the front and rear driving wheels is acquired; Based on the deflection direction of the front and rear driving wheels, a steering angle interval of the front and rear driving wheels is acquired; Obtaining the distance between the midpoint of the wheel mass center connecting line of the front wheel group and the rear wheel group and the preset track to obtain the midpoint-track distance; Based on the midpoint-track distance and the steering angle interval of the front and rear driving wheels, obtaining the minimum moving distance of the midpoint of the wheel mass center connecting line of the front wheel group and the rear wheel group to the preset track; Obtaining the steering angle value of the front and rear driving wheels corresponding to the minimum moving distance to obtain the steering angle of the front and rear driving wheels in the next running cycle.

6. The BLDCM cooperative control method for a multi-axle vehicle according to claim 5, characterized in that, The front and rear driving wheels are deviated from the preset track, and the relative position of the preset track is obtained, and the deflection direction of the front and rear driving wheels is obtained, including: Obtaining the deviation of the front and rear driving wheels from the preset track and the relative position of the preset track, and obtaining the moving direction of the midpoint of the wheel mass center connecting line of the front wheel group and the rear wheel group when the midpoint of the wheel mass center connecting line of the front wheel group and the rear wheel group coincides with the preset track; Based on the moving direction of the midpoint of the wheel mass center connecting line of the front wheel group and the rear wheel group and the current front and rear driving wheel steering angle of the vehicle, the current front and rear driving wheel steering angle adjustment direction of the vehicle is obtained; Based on the current front and rear driving wheel steering angle adjustment direction of the vehicle, the deflection direction of the front and rear driving wheels is obtained to ensure that the midpoint of the wheel mass center connecting line of the front wheel group and the rear wheel group moves to the preset track.

7. The BLDCM cooperative control method for a multi-axle vehicle according to claim 5, characterized in that, The steering angle interval of the front and rear driving wheels is obtained based on the deflection direction of the front and rear driving wheels, including: Obtaining the maximum steering angle of the front and rear driving wheels in the deflection direction of the front and rear driving wheels to obtain the preset steering angle interval of the front and rear driving wheels; Obtaining the current driving speed of the vehicle, and obtaining the maximum steering angle adjustment range of the front and rear driving wheels under the current driving speed; The maximum steering angle adjustment range and the preset steering angle interval are integrated, and the preset steering angle interval exceeding the maximum steering angle adjustment range is removed to obtain the steering angle interval of the front and rear driving wheels.

8. The BLDCM coordinated control method of a multi-motor vehicle according to claim 1, wherein, The steering angle interval of the front and rear driven wheels in the next running cycle is obtained based on the steering angle of the front and rear driving wheels in the next running cycle, including: The steering angle of the front and rear driving wheels in the next running cycle is set as the reference steering angle of the front and rear driven wheels in the next running cycle; Based on the relative position of the front and rear driven wheels and the preset track, the front and rear driven wheels are adjusted to ensure that the midpoint of the wheel mass center connecting line of the front wheel group and the rear wheel group moves to the preset track to obtain the deflection direction of the front and rear driven wheels; Based on the deflection direction of the front and rear driven wheels, the maximum steering angle of the front and rear driven wheels is obtained to obtain the preset steering angle interval of the front and rear driven wheels in the next running cycle; Under the current output condition of the motor of the front and rear driven wheels, when the traction force of the front and rear driven wheels applied to the front and rear driving wheels reaches the maximum static friction force in the lateral direction of the front and rear driving wheels, the maximum steering angle of the front and rear driven wheels is obtained; The reference steering angle and the maximum steering angle of the front and rear driven wheels in the next running cycle are set in the value interval to obtain the steering angle interval of the front and rear driven wheels in the next running cycle.

9. The BLDCM coordinated control method of a multi-axle vehicle according to claim 1, wherein, The front and rear driven wheels next running period based on the steering angle interval and the front and rear driven wheels next running period based on the steering angle, the front and rear driven wheels and the front and rear driven wheels next running period of the motor and vehicle angle, including: Get the front and rear driven wheels next running period based on the steering angle, get the front and rear driven wheels and the motor output shaft and vehicle angle; Get the front and rear driven wheels next running period based on the steering angle interval, get the front and rear driven wheels and the motor output shaft and vehicle angle interval; Based on the front and rear driven wheels and the motor output shaft and vehicle angle, adjust the front and rear driven wheels next running period of the motor and vehicle angle; Based on the front and rear driven wheels and the motor output shaft and vehicle angle interval, adjust the front and rear driven wheels next running period of the motor and vehicle angle interval.

10. The BLDCM coordinated control method of a multi-motor vehicle according to claim 1, wherein, The front and rear driven wheels next running period based on the motor and vehicle angle, respectively, get all the motor speed, including: Based on the current speed of the vehicle, get the front and rear driven wheels and the motor speed; Based on the front and rear driven wheels and the motor speed, get the front and rear driven wheels next running period of the motor to make the front and rear driven wheels and the lateral direction to reach the maximum static friction force when the maximum speed, to get the front and rear driven wheels based on the friction determined motor speed interval; Based on the speed of the vehicle, get the front and rear driven wheels and the motor speed difference when the vehicle keeps safe driving, to get the front and rear driven wheels based on the safety determined speed interval; Get the front and rear driven wheels based on the friction determined motor speed interval and the front and rear driven wheels based on the safety determined speed interval overlap area, to get the front and rear driven wheels next running period of the motor speed interval; Based on the front and rear driven wheels next running period of the motor speed interval, adjust the front and rear driven wheels speed respectively.

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