Synchronization control method and apparatus, electronic device, and medium

Abstract

This application relates to a synchronization control method, device, electronic device, and medium. The method includes: acquiring the current accelerator pedal displacement and current brake pedal displacement collected by a driving robot, and the current hub speed and current output torque collected by a hub-turning device, as well as the current time synchronization error between the driving robot and the hub-turning device; determining the current speed error based on the current accelerator pedal displacement, current brake pedal displacement, and current hub speed, and determining the current torque error based on the current output torque according to a preset dynamic correction model; and performing synchronization control on the driving robot and the hub-turning device based on at least one of the current time synchronization error, current speed error, and current torque error. This solves the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors under acceleration and braking conditions in related technologies, achieving synchronized control between the driving robot and the hub-turning device.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a synchronization control method, device, electronic device, and medium. Background Technology

[0002] Wheel swivel testing is a key method in the automotive R&D testing phase, while driving robots are important equipment for improving the accuracy, repeatability, and safety of automotive testing. The synergy between the two is crucial to ensuring the effectiveness of automotive bench testing.

[0003] Currently, related technologies employ software timers or simple CAN (Controller Area Network) bus communication to achieve synchronous control between the driving robot and the rotating hub equipment.

[0004] However, due to the millisecond-level time synchronization error in related technologies, and the reliance on a fixed dynamic model for torque and speed control in the hub-and-spoke system, problems such as asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors during acceleration and braking urgently need to be addressed. Summary of the Invention This application provides a synchronization control method, device, electronic device, and medium to solve the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization error under acceleration and braking conditions in related technologies, thereby realizing the synchronous control of the driving robot and the hub equipment.

[0005] To achieve the above objectives, a first aspect of this application proposes a synchronization control method, comprising the following steps: The current accelerator pedal displacement and current brake pedal displacement collected by the driving robot, the current wheel speed and current output torque collected by the wheel hub equipment, and the current time synchronization error between the driving robot and the wheel hub equipment are obtained. The current speed error is determined based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed, and the current torque error is determined based on the current output torque according to the preset dynamic correction model. The driving robot and the hub equipment are synchronized based on at least one of the current time synchronization error, the current speed error, and the current torque error.

[0006] According to one embodiment of this application, determining the current speed error based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed includes: Based on the current accelerator pedal displacement and the current brake pedal displacement, the target speed output by the driving robot is obtained by querying a preset mapping relationship; The current speed error is obtained by calculating the absolute value of the first difference between the target speed and the current hub speed.

[0007] According to one embodiment of this application, determining the current torque error based on the current output torque according to a preset dynamic correction model includes: Based on the preset dynamic correction model, the ideal output torque is calculated; The current torque error is obtained by calculating the absolute value of the second difference between the ideal output torque and the current output torque.

[0008] According to one embodiment of this application, the preset dynamic correction model is: ; in, m For the equivalent mass of the test vehicle, For ideal acceleration commands, For rolling resistance, For air resistance, This represents the equivalent resistance of the ramp.

[0009] According to one embodiment of this application, the step of synchronizing the driving robot and the hub equipment based on at least one of the current time synchronization error, the current speed error, and the current torque error includes: Determine whether the current time synchronization error is greater than a preset time difference; If the current time synchronization error is greater than the preset time difference, it is determined that there is a communication delay error between the driving robot and the hub equipment, and a time synchronization command is generated based on the current time synchronization error; otherwise, it is determined whether the current speed error is greater than the preset speed difference or whether the current torque error is greater than the preset torque difference. If the current speed error is greater than the preset speed difference, or the current torque error is greater than the preset torque difference, a stop command is sent to the driving robot and the hub equipment, causing the driving robot and the hub equipment to execute the stop command respectively.

[0010] According to one embodiment of this application, after determining whether the current time synchronization error is greater than a preset time difference, the method further includes: If the current time synchronization error is less than or equal to the preset time difference, then determine whether the current speed error is less than or equal to the preset speed difference, and whether the current torque error is less than or equal to the preset torque difference; If the current speed error is less than or equal to the preset speed difference, and the current torque error is less than or equal to the preset torque difference, then the driving robot and the hub equipment are determined to be in a synchronous control state.

[0011] The synchronization control method proposed in this application obtains the current time synchronization error based on the driving robot and the hub-turning equipment, determines the current speed error based on the accelerator pedal displacement, brake pedal displacement, and hub speed, and determines the current torque error based on the output torque using a dynamic correction model. Synchronization control of the driving robot and the hub-turning equipment is then performed based on at least one of the current time synchronization error, current speed error, and current torque error. This solves the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors during acceleration and braking in related technologies, achieving synchronized control of the driving robot and the hub-turning equipment.

[0012] To achieve the above objectives, a second aspect of this application provides a synchronization control device, comprising: The acquisition module acquires the current accelerator pedal displacement and current brake pedal displacement collected by the driving robot, the current wheel speed and current output torque collected by the wheel hub equipment, and the current time synchronization error between the driving robot and the wheel hub equipment. The determination module determines the current speed error based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed, and determines the current torque error based on the current output torque according to a preset dynamic correction model; The control module performs synchronous control on the driving robot and the hub equipment based on at least one of the current time synchronization error, the current speed error, and the current torque error.

[0013] According to one embodiment of this application, the determining module is specifically used for: Based on the current accelerator pedal displacement and the current brake pedal displacement, the target speed output by the driving robot is obtained by querying a preset mapping relationship; The current speed error is obtained by calculating the absolute value of the first difference between the target speed and the current hub speed.

[0014] According to one embodiment of this application, the determining module is specifically used for: Based on the preset dynamic correction model, the ideal output torque is calculated; The current torque error is obtained by calculating the absolute value of the second difference between the ideal output torque and the current output torque.

[0015] According to one embodiment of this application, the preset dynamic correction model is: ; in, m For the equivalent mass of the test vehicle, For ideal acceleration commands, For rolling resistance, For air resistance, This represents the equivalent resistance of the ramp.

[0016] According to one embodiment of this application, the control module is specifically used for: Determine whether the current time synchronization error is greater than a preset time difference; If the current time synchronization error is greater than the preset time difference, it is determined that there is a communication delay error between the driving robot and the hub equipment, and a time synchronization command is generated based on the current time synchronization error; otherwise, it is determined whether the current speed error is greater than the preset speed difference or whether the current torque error is greater than the preset torque difference. If the current speed error is greater than the preset speed difference, or the current torque error is greater than the preset torque difference, a stop command is sent to the driving robot and the hub equipment, causing the driving robot and the hub equipment to execute the stop command respectively.

[0017] According to one embodiment of this application, after determining whether the current time synchronization error is greater than a preset time difference, the control module is further configured to: If the current time synchronization error is less than or equal to the preset time difference, then determine whether the current speed error is less than or equal to the preset speed difference, and whether the current torque error is less than or equal to the preset torque difference; If the current speed error is less than or equal to the preset speed difference, and the current torque error is less than or equal to the preset torque difference, then the driving robot and the hub equipment are determined to be in a synchronous control state.

[0018] The synchronization control device proposed in this application obtains the current time synchronization error based on the driving robot and the hub-turning equipment, determines the current speed error based on the accelerator pedal displacement, brake pedal displacement, and hub speed, and determines the current torque error based on the output torque using a dynamic correction model. Synchronization control of the driving robot and the hub-turning equipment is then performed based on at least one of the current time synchronization error, current speed error, and current torque error. This solves the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors during acceleration and braking in related technologies, achieving synchronized control of the driving robot and the hub-turning equipment.

[0019] To achieve the above objectives, a third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the synchronization control method as described in the above embodiments.

[0020] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the synchronization control method as described in the above embodiments.

[0021] To achieve the above objectives, a fifth aspect of this application provides a computer program product, which, when executed by a processor, implements the synchronization control method described in the above embodiments.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a synchronization control method provided according to an embodiment of this application; Figure 2 This is a flowchart of a multi-source time synchronization and data acquisition method according to an embodiment of this application; Figure 3 This is a flowchart of a dual-closed-loop cooperative control and error processing method according to an embodiment of this application; Figure 4 This is a block diagram of a synchronization control device provided according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] The synchronization control method, apparatus, electronic device and medium according to the embodiments of this application will be described below with reference to the accompanying drawings. First, the synchronization control method according to the embodiments of this application will be described with reference to the accompanying drawings.

[0026] Figure 1 This is a flowchart of a synchronization control method according to an embodiment of this application.

[0027] like Figure 1 As shown, the synchronization control method includes the following steps: In step S101, the current accelerator pedal displacement and current brake pedal displacement collected by the driving robot, the current hub speed and current output torque collected by the hub equipment, and the current time synchronization error between the driving robot and the hub equipment are obtained.

[0028] Specifically, the current accelerator pedal displacement refers to the actual mechanical displacement of the accelerator pedal when the driving robot is actuated at the real-time sampling moment of vehicle operation. The current brake pedal displacement refers to the actual mechanical displacement of the brake pedal when the driving robot is actuated at the real-time sampling moment of vehicle operation. The current hub speed refers to the actual rotational speed of the vehicle hub detected at the real-time sampling moment of hub control.

[0029] Specifically, this embodiment uses a master controller as the master clock and establishes communication connections with the slave clocks of the driving robot and the rotating equipment using IEEE 1588 PTP (IEEE 1588 Precision Time Protocol). Synchronization calibration between each slave clock and the master clock is achieved through protocol messages, eliminating deviations in the local clocks of each piece of equipment and ensuring a consistent clock reference for all devices. After clock calibration, the master controller's synchronization trigger unit generates an 8kHz synchronization pulse, using a rising edge triggering method. This pulse is directly transmitted to the driving robot controller and the rotating equipment controller via a hardware trigger line, forcing both controllers to simultaneously initiate data sampling and control calculations at the rising edge of the synchronization pulse. This achieves hardware-level time alignment, solving the problems of large latency and low accuracy in traditional software synchronization, and ensuring the time synchronization of multi-source data acquisition and control command execution.

[0030] Furthermore, based on hardware-synchronized triggering, the driving robot controller uses built-in sensors to collect physical quantities related to the driver's operation in real time, including the current displacement of the accelerator pedal. and current brake pedal displacement The hub equipment controller collects physical quantities related to hub operation in real time through built-in sensors, including the current hub speed. and current output torque To ensure the real-time and synchronous transmission of data, the main controller adopts EtherCAT (Ethernet for Control Automation Technology) high-speed industrial Ethernet communication, receiving real-time data from the driving robot controller and the hub equipment controller at a frequency of 8kHz consistent with the synchronization pulse. The received data is stored in a circular buffer, realizing the synchronous acquisition and caching of multiple physical quantity data, providing data support for subsequent model calculations and control decisions.

[0031] like Figure 2 As shown, Figure 2 This is a flowchart of a multi-source time synchronization and data acquisition method according to an embodiment of this application, which includes the following steps: S201, main controller starts.

[0032] S202 establishes a communication connection with the slave clock of driving robots and rotating equipment based on the IEEE1588 PTP protocol.

[0033] S203, the main controller synchronizes with the slave clock of the driving robot / wheel equipment, calibrating the local clock.

[0034] S204, the main controller synchronous trigger unit outputs an 8kHz synchronous pulse.

[0035] S205 is forcibly triggered via a hardware trigger line.

[0036] If the triggering device is a driving robot, then step S206 is executed; if the triggering device is a hub equipment controller, then step S207 is executed.

[0037] S206, the driving robot controller starts data sampling and control calculation, and executes step S208.

[0038] S207, the hub equipment controller starts data sampling and control calculation, and executes step S209.

[0039] S208, the driving robot collects the current accelerator pedal displacement. , and current brake pedal displacement .

[0040] S209, the hub equipment collects the current hub speed. and current output torque .

[0041] S210, the main controller receives data synchronously via EtherCAT (8kHz).

[0042] S211, data is stored in a circular buffer to complete the acquisition of multiple physical quantities.

[0043] Furthermore, to ensure the stability and reliability of synchronous control, the main controller monitors the current time synchronization error between the driving robot and the wheel hub equipment in real time: ; in, This represents the current time synchronization error. For the timing of receiving synchronization pulses for the driving robot, The timing for receiving synchronization pulses for the hub equipment controller.

[0044] In step S102, the current speed error is determined based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed, and the current torque error is determined based on the current output torque according to the preset dynamic correction model.

[0045] Optionally, in some embodiments, determining the current speed error based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed includes: querying a preset mapping relationship based on the current accelerator pedal displacement and the current brake pedal displacement to obtain the target speed output by the driving robot; and calculating the absolute value of the first difference between the target speed and the current hub speed to obtain the current speed error.

[0046] The preset mapping relationship can be a user-defined mapping relationship, a mapping relationship obtained through a limited number of experiments, or a mapping relationship obtained through a limited number of computer simulations. The target speed refers to the ideal expected vehicle speed output by the driving robot after querying the preset mapping relationship based on the current accelerator pedal displacement and the current brake pedal displacement.

[0047] Specifically, based on the current accelerator pedal displacement and the current brake pedal displacement ( and The main controller queries the preset mapping relationship to obtain the target speed. The current hub speed is fed back in real time by the hub equipment. This forms a speed closed loop.

[0048] Furthermore, this embodiment monitors the current speed error in real time: ; in, This represents the current speed error.

[0049] Optionally, in some embodiments, the current torque error is determined based on the current output torque according to a preset dynamic correction model, including: calculating the ideal output torque based on the preset dynamic correction model; and calculating the absolute value of the second difference between the ideal output torque and the current output torque to obtain the current torque error.

[0050] Optionally, in some embodiments, the preset dynamic correction model is: ; in, m The equivalent mass of the test vehicle; Ideal acceleration command; For rolling resistance, ; For air resistance, , air density, It is the product of wind resistance area; The equivalent resistance of the ramp can be obtained by the hub equipment.

[0051] Specifically, to address the problem that traditional dynamic models are fixed and cannot adapt to real-time changes in operating conditions, this application's embodiments construct an adaptive dynamic correction model based on Newton's second law to accurately describe the vehicle's dynamic characteristics. This application's embodiments introduce an online parameter identification process to correct the rolling resistance coefficient, wind resistance coefficient, and equivalent mass in real time, forming an adaptive dynamic model that compensates for model errors caused by changes in road surface, load, temperature, and tire condition.

[0052] Furthermore, the hub controller calculates the ideal output torque based on the ideal control acceleration and the modified dynamic model. Calculate the ideal output torque and current output torque The second absolute value of the difference, i.e. This gives us the current torque error.

[0053] In step S103, the driving robot and the hub equipment are synchronized based on at least one of the current time synchronization error, current speed error and current torque error.

[0054] Optionally, in some embodiments, the driving robot and the rotating equipment are synchronized based on at least one of the current time synchronization error, current speed error, and current torque error, including: determining whether the current time synchronization error is greater than a preset time difference; if the current time synchronization error is greater than the preset time difference, determining that there is a communication delay error between the driving robot and the rotating equipment, and generating a time synchronization command based on the current time synchronization error; otherwise, determining whether the current speed error is greater than a preset speed difference, or whether the current torque error is greater than a preset torque difference; if the current speed error is greater than the preset speed difference, or the current torque error is greater than the preset torque difference, sending a stop command to the driving robot and the rotating equipment, causing the driving robot and the rotating equipment to execute the stop command respectively.

[0055] Among them, the preset time difference, preset speed difference, and preset torque difference can be differences preset by the user, differences obtained through a limited number of experiments, or differences obtained through a limited number of computer simulations.

[0056] Specifically, in this embodiment of the application, the current time synchronization error is first determined. Is it greater than a preset time difference, where the preset time difference can be 1? If the current time synchronization error is greater than the preset time difference, the main controller immediately triggers the feedforward compensation mechanism, i.e., advances the time synchronization. The system sends control commands to the hub equipment or driving robot in real time to offset the delays caused by EtherCAT communication, ensuring that the control commands arrive at the hub controller or driving robot on time and correcting the current time synchronization error.

[0057] Furthermore, after correcting the current time synchronization error, this embodiment of the application determines whether the current speed error is greater than a preset speed difference, wherein the preset speed difference can be 0.35 km / h; or determines whether the current torque error is greater than a preset torque difference, wherein the preset torque difference can be 2 Nm. If the current speed error is greater than the preset speed difference, and further, if the current speed error continues to exceed 1 km / h (duration ≥ 10 ms, setting delay anti-jitter to avoid false triggering), or the current torque difference is greater than the preset torque difference, it indicates that a serious abnormality has occurred in the synchronization control. The main controller outputs an emergency stop signal through hardware, the driving robot immediately performs a braking action, the hub motor performs a brake operation, and all operating actions are stopped to prevent equipment damage and test accidents. After the fault is cleared, the synchronization control process can be restarted.

[0058] Therefore, this application adopts a master-slave clock architecture and hardware trigger line to ensure that the sampling period and control period of each device are aligned, with a time synchronization error of ≤1μs, meeting the real-time requirements under dynamic working conditions and achieving high-precision time synchronization; by establishing an adaptive correction model, online parameter identification is achieved to dynamically adjust the resistance model, and the torque control accuracy is improved to ±0.5%FS, adapting to the testing requirements of different vehicle models; a composite control structure of outer speed loop and inner torque loop is adopted, with dynamic response delay ≤10ms and synchronization error ≤0.35km / h (speed) and ≤2Nm (torque) to achieve dual closed-loop collaborative control.

[0059] Furthermore, in order to accurately determine the synchronization control status of the driving robot and the hub equipment, this application embodiment uses a determination logic that first checks the time synchronization error and then verifies the speed and torque errors to ensure the comprehensiveness and accuracy of the synchronization determination.

[0060] Optionally, in some embodiments, after determining whether the current time synchronization error is greater than a preset time difference, the method further includes: if the current time synchronization error is less than or equal to the preset time difference, then determining whether the current speed error is less than or equal to the preset speed difference, and whether the current torque error is less than or equal to the preset torque difference; if the current speed error is less than or equal to the preset speed difference, and the current torque error is less than or equal to the preset torque difference, then determining that the driving robot and the hub equipment are in a synchronized control state.

[0061] Specifically, when the current time synchronization error is less than or equal to the preset time difference, the current speed difference is less than or equal to the preset speed difference, and the current torque error is less than or equal to the preset torque difference, this embodiment of the application determines that the driving robot and the hub equipment are in a synchronized control state. This determination method takes time synchronization as a premise and speed and torque matching as the core. Through the layer-by-layer verification and joint determination of multi-dimensional errors, it effectively avoids the one-sidedness and misjudgment risk of single index determination.

[0062] This significantly improves the accuracy and robustness of synchronous state recognition, providing a scientific and reliable basis for state perception for high-precision collaborative control of driving robots and rotating equipment.

[0063] To facilitate a better understanding of the synchronization control method proposed in the embodiments of this application by those skilled in the art, the following is combined with... Figure 3 Further explanation is needed.

[0064] like Figure 3 As shown, Figure 3 This is a flowchart of a dual-closed-loop cooperative control and error processing method according to an embodiment of this application. The dual-closed-loop cooperative control and error processing method includes the following steps: S301 initiates the control process based on the collected data.

[0065] S302, Establish an adaptive dynamic correction model.

[0066] S303, the main controller obtains the target vehicle speed. With current hub speed .

[0067] S304 employs model predictive control to calculate ideal acceleration. .

[0068] S305, Continuous execution control.

[0069] S306, the main controller calculates errors in real time: current time synchronization error, current speed error and current torque error.

[0070] S307, determine whether the error exceeds the limit. If yes, proceed to step S308; otherwise, return to step S305.

[0071] S308, determine whether it is a communication delay error. If so, proceed to step S309; ​​otherwise, proceed to step S310.

[0072] S309, feedforward compensation, advance Send instructions to offset the delay.

[0073] S310, the main controller outputs an emergency stop signal.

[0074] S311, the driving robot performs braking and hub motor holding brakes.

[0075] The synchronization control method proposed in this application obtains the current time synchronization error based on the driving robot and the hub-turning equipment, determines the current speed error based on the accelerator pedal displacement, brake pedal displacement, and hub speed, and determines the current torque error based on the output torque using a dynamic correction model. Synchronization control of the driving robot and the hub-turning equipment is then performed based on at least one of the current time synchronization error, current speed error, and current torque error. This solves the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors during acceleration and braking in related technologies, achieving synchronized control of the driving robot and the hub-turning equipment.

[0076] Next, the synchronous control device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0077] Figure 4 This is a block diagram of a synchronization control device according to an embodiment of this application.

[0078] like Figure 4 As shown, the synchronization control device 10 includes: an acquisition module 100, a determination module 200, and a control module 300.

[0079] Among them, the acquisition module 100 acquires the current accelerator pedal displacement and the current brake pedal displacement collected by the driving robot, as well as the current hub speed and the current output torque collected by the hub equipment, and the current time synchronization error between the driving robot and the hub equipment. The determination module 200 determines the current speed error based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed, and determines the current torque error based on the current output torque according to the preset dynamic correction model. The control module 300 performs synchronous control on the driving robot and the hub equipment based on at least one of the current time synchronization error, current speed error and current torque error.

[0080] According to one embodiment of this application, the determining module 200 is specifically used for: Based on the current accelerator pedal displacement and the current brake pedal displacement, the target speed output by the driving robot is obtained by querying the preset mapping relationship; The current speed error is obtained by calculating the absolute value of the first difference between the target speed and the current hub speed.

[0081] According to one embodiment of this application, the determining module 200 is specifically used for: The ideal output torque is calculated based on the preset dynamic correction model; The current torque error is obtained by calculating the absolute value of the second difference between the ideal output torque and the current output torque.

[0082] According to one embodiment of this application, the preset dynamic correction model is as follows: ; in, m For the equivalent mass of the test vehicle, For ideal acceleration commands, For rolling resistance, For air resistance, This represents the equivalent resistance of the ramp.

[0083] According to one embodiment of this application, the control module 300 is specifically used for: Determine if the current time synchronization error is greater than the preset time difference; If the current time synchronization error is greater than the preset time difference, it is determined that there is a communication delay error between the driving robot and the rotating equipment. Then, a time synchronization command is generated based on the current time synchronization error. Otherwise, it is determined whether the current speed error is greater than the preset speed difference or whether the current torque error is greater than the preset torque difference. If the current speed error is greater than the preset speed difference, or the current torque error is greater than the preset torque difference, a stop command is sent to the driving robot and the rotating equipment, causing the driving robot and the rotating equipment to execute the stop command respectively.

[0084] According to one embodiment of this application, after determining whether the current time synchronization error is greater than a preset time difference, the control module 300 is further configured to: If the current time synchronization error is less than or equal to the preset time difference, then determine whether the current speed error is less than or equal to the preset speed difference, and whether the current torque error is less than or equal to the preset torque difference; If the current speed error is less than or equal to the preset speed difference, and the current torque error is less than or equal to the preset torque difference, then the driving robot and the hub equipment are determined to be in a state of synchronous control.

[0085] It should be noted that the foregoing explanation of the embodiments of the synchronization control method also applies to the synchronization control device of this embodiment, and will not be repeated here.

[0086] The synchronization control device proposed in this application obtains the current time synchronization error based on the driving robot and the hub-turning equipment, determines the current speed error based on the accelerator pedal displacement, brake pedal displacement, and hub speed, and determines the current torque error based on the output torque using a dynamic correction model. Synchronization control of the driving robot and the hub-turning equipment is then performed based on at least one of the current time synchronization error, current speed error, and current torque error. This solves the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors during acceleration and braking in related technologies, achieving synchronized control of the driving robot and the hub-turning equipment.

[0087] Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. The electronic device may include: The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0088] When the processor 502 executes the program, it implements the synchronization control method provided in the above embodiments.

[0089] Furthermore, electronic devices also include: Communication interface 503 is used for communication between memory 501 and processor 502.

[0090] The memory 501 is used to store computer programs that can run on the processor 502.

[0091] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0092] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0093] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0094] Processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention.

[0095] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described synchronization control method.

[0096] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the above-described synchronization control method embodiments.

[0097] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0099] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A synchronization control method characterized by comprising: include: The current accelerator pedal displacement and current brake pedal displacement collected by the driving robot, the current hub speed and current output torque collected by the hub rotating equipment, and the current time synchronization error between the driving robot and the hub rotating equipment are obtained. The current speed error is determined based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed, and the current torque error is determined based on the current output torque according to the preset dynamic correction model. The driving robot and the hub equipment are synchronized based on at least one of the current time synchronization error, the current speed error, and the current torque error.

2. The method of claim 1, wherein, The step of determining the current speed error based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed includes: Based on the current accelerator pedal displacement and the current brake pedal displacement, the target speed output by the driving robot is obtained by querying a preset mapping relationship; The current speed error is obtained by calculating the absolute value of the first difference between the target speed and the current hub speed.

3. The method of claim 1, wherein, The determination of the current torque error based on the preset dynamic correction model and the current output torque includes: Based on the preset dynamic correction model, the ideal output torque is calculated; The current torque error is obtained by calculating the absolute value of the second difference between the ideal output torque and the current output torque.

4. The method of claim 3, wherein, The preset dynamic correction model is as follows: ； wherein, m is the equivalent mass of the test vehicle, is the ideal acceleration command, is the rolling resistance, is the air resistance, is the equivalent resistance of the slope.

5. The method of claim 1, wherein, The step of synchronizing the driving robot and the hub equipment based on at least one of the current time synchronization error, the current speed error, and the current torque error includes: Determine whether the current time synchronization error is greater than a preset time difference; If the current time synchronization error is greater than the preset time difference, it is determined that there is a communication delay error between the driving robot and the hub equipment, and a time synchronization command is generated based on the current time synchronization error; otherwise, it is determined whether the current speed error is greater than the preset speed difference or whether the current torque error is greater than the preset torque difference. If the current speed error is greater than the preset speed difference, or the current torque error is greater than the preset torque difference, a stop command is sent to the driving robot and the hub equipment, causing the driving robot and the hub equipment to execute the stop command respectively.

6. The method of claim 5, wherein, After determining whether the current time synchronization error is greater than a preset time difference, the method further includes: If the current time synchronization error is less than or equal to the preset time difference, then determine whether the current speed error is less than or equal to the preset speed difference, and whether the current torque error is less than or equal to the preset torque difference; If the current speed error is less than or equal to the preset speed difference, and the current torque error is less than or equal to the preset torque difference, then the driving robot and the hub equipment are determined to be in a synchronous control state.

7. A synchronization control device characterized by comprising: include: The acquisition module acquires the current accelerator pedal displacement and current brake pedal displacement collected by the driving robot, the current hub speed and current output torque collected by the hub rotating equipment, and the current time synchronization error between the driving robot and the hub rotating equipment. The determination module determines the current speed error based on the current accelerator pedal displacement, the current brake pedal displacement, and the current hub speed, and determines the current torque error based on the current output torque according to a preset dynamic correction model; The control module performs synchronous control on the driving robot and the hub equipment based on at least one of the current time synchronization error, the current speed error, and the current torque error.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the synchronization control method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the synchronization control method as described in any one of claims 1-6.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the synchronization control method as described in any one of claims 1-6.

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