| CPC G01B 21/22 (2013.01) [B60K 1/02 (2013.01); B60K 7/0007 (2013.01); B60K 17/043 (2013.01); B60K 17/30 (2013.01); B60L 15/20 (2013.01); B62D 15/024 (2013.01); G01P 3/00 (2013.01); B60K 2007/003 (2013.01)] | 20 Claims |
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1. A method for controlling a wheel drive module of a vehicle; the method comprising:
providing the wheel drive module, the wheel drive module comprising a wheel (R), a speed modulation gearbox (G), a first electric motor (M1) and a second electric motor (M2), as well as at least one first sensor (S1) for sensing state values of the first electric motor (M1) and at least one second sensor (S2) for sensing state values of the second electric motor (M2),
determining state values of the wheel (R) of the wheel drive module,
wherein the first and the second electric motors (M1, M2) are designed to drive the wheel (R) jointly by means of the speed modulation gearbox (G) about a wheel axis (A) and to steer it about a steering axis (L) orthogonal to the wheel axis (A),
wherein the wheel drive module furthermore comprises at least one third sensor (S3) for sensing state values of the wheel (R), and/or a fourth and fifth sensor (S4, S5), and the fourth sensor (S4) senses state values of the first electric motor (M1), and the fifth sensor (S5) senses state values of the second electric motor (M2), so that the wheel drive module in a first configuration comprises at least one first sensor (S1), at least one second sensor (S2) and at least one third sensor (S3), the wheel drive module in a second configuration comprises at least one first sensor (S1), at least one second sensor (S2), as well as the fourth and fifth sensor (S4, S5), and the wheel drive module in a third configuration comprises at least one first sensor (S1), at least one second sensor (S2), at least one third sensor (S3), as well as the fourth and fifth (S4, S5),
wherein, in determining state values of the wheel drive module in the first configuration, the state values determined by the first sensor (S1) and the state values determined by the second sensor (S2), as well as the state values determined by the third sensor (S3) and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit,
wherein, in determining state values of the wheel drive module in the second configuration, the state values determined by the first sensor (S1) and the state values determined by the second sensor (S2) as well as the state values determined by the fourth sensor (S4) and the fifth sensor (S5) and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit,
wherein, in the method for determining state values of the wheel drive module in the third configuration, the state values determined by the first sensor (S1) and the state values determined by the second sensor (S2) as well as the state values determined by the third sensor (S3) as well as the state values determined by the fourth sensor (S4) and the fifth sensor (S5) and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit,
wherein the state values converted into the uniform unit are compared with each other, and, from the comparison, actual state values of the wheel (R) are determined and controlling the wheel drive module using the actual state values; and
transferring the actual state values to an application or control electronics; the application or control electronics using the actual state values to control the wheel drive module.
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