Connected driving control method for add-on mobility device and the add-on mobility device of the same

An add-on mobility device, mechanically connected to and capable of traveling together with a front mobility device, the add-on mobility device comprising:

• a frame comprising a second pivot mechanism mechanically connected to the first pivot mechanism;
• a second left wheel mounted on a left side of the frame;
• a second right wheel mounted on a right side of the frame;
• at least one second drive motor configured to provide a driving force to the second left wheel and the second right wheel;
• a second high-voltage battery configured to supply power to the second drive motor;
• and
• a second controller configured to control the second drive motor,
• wherein the second controller comprises a non-transitory storage medium storing a computer program for driving control for the add-on mobility device;
• and a processor configured to execute the computer program;
• wherein the driving control for the add-on mobility device comprises:
• connecting communicatively to the front mobility device, wherein the front mobility device comprises a plurality of first wheels, at least one first drive motor providing a driving force to the plurality of first wheels, a first high-voltage battery supplying power to the at least one first drive motor, a first controller controlling the first drive motor, and a first pivot mechanism;
• controlling the at least one second drive motor to provide the driving force to the second left wheel and the second right wheel to drive the add-on mobility device for travelling forward based on the front mobility device traveling forward, and to brake the add-on mobility device for decelerating in a regenerative braking mode;
• determining to switch to the regenerative braking mode for the add-on mobility device based on a brake of the first mobility device being activated and the second mobility device being decelerated;
• and
• in the regenerative braking mode, applying a regenerative braking torque determined according to a deceleration state of the add-on mobility device to the at least one second drive motor.