CN108791304A - A kind of double acceleration control method, system and relevant apparatus driven - Google Patents
A kind of double acceleration control method, system and relevant apparatus driven Download PDFInfo
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- CN108791304A CN108791304A CN201810594941.0A CN201810594941A CN108791304A CN 108791304 A CN108791304 A CN 108791304A CN 201810594941 A CN201810594941 A CN 201810594941A CN 108791304 A CN108791304 A CN 108791304A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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Abstract
This application discloses a kind of double acceleration control methods driven, and the acceleration control method includes the wheel group acceleration information for determining standard curvature ratio, and receiving driver upload；The first acceleration curvature is calculated according to the first actual acceleration, and according to the first actual acceleration curvature and standard curvature ratio calculation normal acceleration curvature section；The second acceleration curvature is calculated according to the second actual acceleration, and judges the second actual speed whether in normal acceleration curvature section；If it is not, then issuing regulating command to driver adjusts first actual acceleration in next period or second actual acceleration in next period.This method can reduce the deviation of the tracking rate of double both sides wheels of driving, and reduce the degree that vehicle deviates preset path.Disclosed herein as well is a kind of double acceleration control systems driven, a kind of computer readable storage medium and a kind of double controllers driven, have the above advantageous effect.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to a kind of double acceleration control methods driven, system, one kind
Computer readable storage medium and an a kind of double controller driven.
Background technology
It is double to drive to be a kind of that by front-wheel or the vehicle of rear wheel power, there is preferable flexibility.It is double to drive
Essence be to use it is double drive chassis, double motion structures for driving chassis and being made of left and right wheels and left and right wheel-drive, due to
There are two drivers, and there are other mechanical structures, therefore can not avoid the occurrence of one side drivers velocity tracking can not keep up with
The case where another side driver, the problem of causing vehicle yaw or driver to report an error.
Due to the above problems, will cause it is double drive in variable accelerated motion, the speed of left and right two-wheeled with
Track rate is different, so that double drive not advancing according to preset route.For such situation, the prior art is only
, not yet there is the machinery fundamentally solved due to vehicle itself in the normal walking route that can restore vehicle by artificial control
Structure causes the technical solution that vehicle yaw or driver report an error.
Therefore, the deviation for how reducing the tracking rate of double both sides wheels of driving reduces the journey that vehicle deviates preset path
Degree is a technical problem that technical personnel in the field need to solve at present.
Invention content
The purpose of the application is to provide an a kind of double acceleration control method driven, system, a kind of computer-readable deposits
Storage media and an a kind of double controller driven, can solve the deviation for reducing the acceleration curvature of double both sides wheels of driving,
Reduce the degree that vehicle deviates preset path.
In order to solve the above technical problems, the application provides an a kind of double acceleration control method driven, the acceleration control
Method processed includes：
It determines standard curvature ratio, and receives the wheel group acceleration information of driver upload；Wherein, the wheel group acceleration
Information includes the first actual acceleration of current period first round group and the second practical acceleration of the current period the second wheel group
Degree；
The first acceleration curvature is calculated according to first actual acceleration, and according to the first actual acceleration curvature
With standard curvature ratio calculation normal acceleration curvature section；
According to second actual acceleration calculate the second acceleration curvature, and judge second actual speed whether
In normal acceleration curvature section；
If it is not, then issuing regulating command to driver adjusts first actual acceleration in next period or next period
The second actual acceleration so that adjustment after the first round group acceleration curvature and the acceleration of the second wheel group write music
The ratio between rate is less than the standard curvature ratio.
Optionally, before receiving the wheel group acceleration information that driver uploads, further include：
Obtain first round group described in the current period the first actual speed and a upper period described in first round group
One history actual speed calculates the described first practical acceleration according to first actual speed and the first history actual speed
Degree；
Obtained of the second wheel group described in the second actual speed of the second wheel group and a upper period described in the current period
Two history actual speeds calculate the described second practical acceleration according to second actual speed and the second history actual speed
Degree；
The wheel group acceleration information is generated according to first actual acceleration and second actual acceleration.
Optionally, calculating the first acceleration curvature according to first actual acceleration includes：
The first history acceleration of first round group described in the upper period was obtained, and according to the first history acceleration
The first actual acceleration curvature is calculated with first actual acceleration；
Correspondingly, including according to the second acceleration curvature of second actual acceleration calculating：
The second history acceleration of the second wheel group described in the upper period was obtained, and according to the second history acceleration
The second actual acceleration curvature is calculated with second actual acceleration.
Optionally, it issues regulating command to driver and adjusts first actual acceleration in next period or next period
The second actual acceleration so that adjustment after the first round group acceleration curvature and the acceleration of the second wheel group write music
The ratio between rate includes less than the standard curvature ratio：
Judge whether the first actual acceleration curvature is more than the second actual acceleration curvature；
If so, issuing the regulating command to the driver, first reality for adjusting next period adds
Speed curvature, so that the first actual acceleration curvature after adjusting is equal with the second actual acceleration curvature at current time；
If it is not, then issuing the regulating command to the driver, second reality for adjusting next period adds
Speed curvature, so that the second actual acceleration curvature after adjusting is equal with the first actual acceleration curvature at current time.
Present invention also provides a kind of double acceleration control systems driven, which includes：
Data obtaining module for determining standard curvature ratio, and receives the wheel group acceleration information of driver upload；Its
In, the wheel group acceleration information includes that the first actual acceleration of current period first round group and the current period second are taken turns
Second actual acceleration of group；
Standard section computing module is used for according to first actual acceleration the first acceleration curvature of calculating, and according to
The first actual acceleration curvature and standard curvature ratio calculation normal acceleration curvature section；
Synchronous evaluation module, for calculating the second acceleration curvature according to second actual acceleration, and described in judgement
Whether the second actual speed is in normal acceleration curvature section；
Adjustment module is used for when second actual speed is not in normal acceleration curvature section, to driving
Device issues the first actual acceleration or second actual acceleration in next period that regulating command adjusts next period, so that
It is bent that the ratio between the acceleration curvature of the first round group after adjustment and the acceleration curvature of the second wheel group are less than the standard
Rate ratio.
Optionally, further include：
First acceleration acquisition module, the first actual speed for obtaining first round group described in the current period and
First history actual speed of first round group described in one period, according to first actual speed and the practical speed of first history
Degree calculates first actual acceleration；
Second acceleration acquisition module, for obtain the second actual speed of the second wheel group described in the current period and
Second history actual speed of the second wheel group described in one period, according to second actual speed and the practical speed of second history
Degree calculates second actual acceleration；
Information generating module, for generating the wheel according to first actual acceleration and second actual acceleration
Group acceleration information.
Optionally, standard section computing module includes：
First curvature computing unit, the first history acceleration for obtaining first round group described in the upper period, and
The first actual acceleration curvature is calculated according to the first history acceleration and first actual acceleration；
Interval computation unit, for according to the first actual acceleration curvature and the standard curvature ratio calculation standard
Acceleration curvature section
Correspondingly, the synchronous evaluation module includes：
Torsion computing unit, the second history acceleration for obtaining the second wheel group described in the upper period, and
The second actual acceleration curvature is calculated according to the second history acceleration and second actual acceleration；
Judging unit, for judging second actual speed whether in normal acceleration curvature section.
Optionally, the adjustment module includes：
Determination unit is adjusted, for judging whether the first actual acceleration curvature is more than second actual acceleration
Curvature；
First adjusts unit, for being more than the second actual acceleration curvature when the first actual acceleration curvature
When, the regulating command is issued to the driver, adjusts the first actual acceleration curvature in next period, so that
The first actual acceleration curvature after adjusting is equal with the second actual acceleration curvature at current time；
If it is not, for when the first actual acceleration curvature is less than the second actual acceleration curvature, institute is adjusted
The second actual acceleration curvature in next period is stated, so that the second actual acceleration curvature and current time after adjusting
First actual acceleration curvature is equal.
Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer
Program realizes a step of above-mentioned double acceleration control method driven executes when executing.
Present invention also provides a kind of double controllers driven, including memory and processor, deposited in the memory
Contain computer program, the processor realizes the above-mentioned double acceleration driven when calling the computer program in the memory
Spend the step of control method executes.
The present invention provides a kind of double acceleration control methods driven, including determine standard curvature ratio, and receive
The wheel group acceleration information that driver uploads；Wherein, the wheel group acceleration information includes the first of current period first round group
Second actual acceleration of actual acceleration and the current period the second wheel group；The is calculated according to first actual acceleration
One acceleration curvature, and according to the first actual acceleration curvature and the standard curvature ratio calculation normal acceleration curvature
Section；The second acceleration curvature is calculated according to second actual acceleration, and judges second actual speed whether in institute
It states in normal acceleration curvature section；If it is not, then issuing the first practical acceleration that regulating command adjusts next period to driver
Degree or second actual acceleration in next period, so that the acceleration curvature and described the of the first round group after adjustment
The ratio between acceleration curvature of two wheel groups is less than the standard curvature ratio.
Since double drive chassis are there are many other structures, thus the speed tracing rate of first round group and the second wheel group there may be
Deviation.When the speed tracing rate of both sides wheel is equal, the path of vehicle actual travel meets preset path, on the contrary then will appear
The phenomenon that vehicle yaw.And the inconsistent reason of the speed tracing rate of both sides wheel is the executable acceleration of both sides wheel
Gap is excessive, therefore can unify vehicle by the peak acceleration for changing both sides wheel adjusts the percentage speed variation of both sides wheel
It is pre- finally so that the actual travel route of vehicle meets for the speed tracing rate of the wheel group of body both sides and the attitude rate of car body
If it is required that.Based on this, the present invention determine first standard curvature ratio this about evaluation first round group and the second wheel group acceleration
The standard of curvature difference degree.Further, the present invention by obtain first round group the first actual acceleration of current period, and
Thus the first acceleration curvature is obtained, the acceleration by the first acceleration curvature and standard curvature ratio calculation about the second wheel group
The critical field standard for rate of writing music --- normal acceleration curvature section.Further, the present invention and working as according to the second wheel group
Whether second actual acceleration in preceding period calculates the second acceleration curvature, judge the second acceleration curvature in normal acceleration song
In rate section, if illustrating if, the acceleration curvature of first round group and the second wheel group is good, if not illustrate first round group and
Second wheel group adds the plain curvature difference of degree to cause vehicle yaw or driver to report an error compared with conference.Acceleration Curvature varying reflects just
It is the speed of velocity variations, if the acceleration curvature when front side is excessive compared with opposite acceleration curvature, side wheel
Speed increases to compare and increase soon to side wheel speed, then can lead to the side sideslip, therefore needs to reduce the latax curvature, that is, subtracts
Latax of small lower period, to ensure that other side tracking is good.Therefore the present invention is by changing first round group or the second wheel group
The actual acceleration in next period makes the ratio of the acceleration curvature of first round group and the second wheel group restore to the range of permission
It is interior, and then the deviation of the tracking rate of double both sides wheels of driving is reduced, reduce the degree that vehicle deviates preset path.The application is same
When additionally provide an a kind of double acceleration control system driven, a kind of computer readable storage medium and a kind of double drive
Controller has above-mentioned advantageous effect, and details are not described herein.
Description of the drawings
In order to illustrate more clearly of the embodiment of the present application, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for ordinary skill people
For member, without creative efforts, other drawings may also be obtained based on these drawings.
A kind of flow chart for double acceleration control methods driven that Fig. 1 is provided by the embodiment of the present application；
The flow chart for the acceleration control method that another kind that Fig. 2 is provided by the embodiment of the present application is double to drive；
Fig. 3 is the relational graph of normal tracking brief acceleration and time；
Fig. 4 is the relational graph for being abnormal tracking brief acceleration and time；
A kind of structural schematic diagram for double acceleration control systems driven that Fig. 5 is provided by the embodiment of the present application.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Refer to Fig. 1 below, a kind of double acceleration control methods driven that Fig. 1 is provided by the embodiment of the present application
Flow chart.
Specific steps may include：
S101：It determines standard curvature ratio, and receives the wheel group acceleration information of driver upload；Wherein, the wheel group
Acceleration information includes the first actual acceleration of current period first round group and the second reality of the current period the second wheel group
Border acceleration；
Wherein, the standard curvature ratio that this step determines refers to becoming about the acceleration of evaluation first round group and the second wheel group
Change the standard of situation.When the acceleration curvature ratio of first round group and the second wheel group then thinks that there are one more than standard curvature ratio
The acceleration change degree of side wheel group is significantly less than the acceleration change degree of another side wheel group, vehicle will be caused serious at this time
Yaw, influences normal vehicle drive.You need to add is that standard curvature ratio, which is those skilled in the art, considers vehicle
The numerical value of the environment setting of performance and vehicle traveling, can flexibly set according to the specific implementation environment of scheme.
It is worth noting that, the subject of implementation of the present embodiment device in order to control, i.e., the improvement carried out in controller level, this reality
It applies example and can be adapted for controlling any one with driver realization change first round group and the second wheel group subsequent time fed back
Acceleration, it is close to reach first round group and the second wheel group speed tracing rate, reduce the purpose of the probability of vehicle yaw.
S102：The first acceleration curvature is calculated according to first actual acceleration, and according to the described first practical acceleration
Rate of writing music and standard curvature ratio calculation normal acceleration curvature section；
Since the present embodiment is directed to the double control modes driven when carrying out variable accelerated motion, becoming acceleration
The acceleration of first round group and the acceleration of the second wheel group, which are at, in motion process does not stop variation.This step obtain be
First actual acceleration of first round group in current period, can obtain the actual acceleration of first round group in several ways,
Such as the velocity variations situation of different moments calculates the average acceleration in current period in acquisition current period, then for example pass through
Obtain current period average speed and the average speed in a upper period calculate current period average acceleration, certainly there is also
The method that others calculate actual acceleration, does not repeat one by one herein, and those skilled in the art can be according to actual conditions spirit
Setting living.How no matter the actual acceleration of current period is obtained, and the purpose of this step is to understand the first round in a word
The variable accelerated motion situation of group and the second wheel group in current period.
It should be noted that actually driver obtain be first round group rotating speed, due to first round group be have consolidate
Diameter is determined, it can thus be understood that driver obtains the speed of first round group.Above description is also applied for the second wheel group, herein
It is not repeating.The process for the speed condition for detecting first round group and the second wheel group is divided into multiple periods, period by the present embodiment
Duration can flexibly be set according to performance, the duration of embodiment as one preferred, each period is identical.
Further, this step can determine normal acceleration song on the basis of obtaining the first actual acceleration curvature
Rate section illustrates the second acceleration curvature and that is, when the second actual acceleration curvature is in normal acceleration curvature section
Ratio between one acceleration curvature is less than normal acceleration curvature section, the difference of the acceleration change curvature driven double at this time
Away from the range of error allows, being not in apparent to drive yaw phenomenon.
S103：The second acceleration curvature is calculated according to second actual acceleration, and judges second actual speed
Whether in normal acceleration curvature section；If so, terminating flow；If it is not, then entering S104；
Wherein, any driving error and environmental error is not occurring ideally, the both sides wheel of any time
Speed tracing rate is completely the same, that is to say, that the first acceleration curvature is equal with the second acceleration curvature, in such case
Driving for lower pair being capable of good route running according to the rules.But since in practical operation, perfect condition is will not to send out substantially
Raw, the speed tracing rate of first round group and the second wheel group more or less can all have certain deviation, certainly, acceleration curvature
When deviation is in the range of error allows, the serious yaw of vehicle can't be led to, this allows to occur.But when first
(described standard-track rate difference such as larger than in this step) will when the acceleration curvature of wheel group and the second wheel group has big difference
Cause vehicle seriously to yaw, influences normal vehicle drive.
This step is that the second acceleration curvature at pair the second wheel group current time on the basis of S103 is evaluated, if
Two acceleration curvature then illustrate that the acceleration of the first round at current time group and the second wheel group becomes in normal acceleration curvature section
It is almost the same to change situation；On the contrary then explanation is there are a certain side wheel group because machine driving failure or environmental factor cause driver to execute
The implementation effect of control instruction is obviously poorer than the other side, needs to carry out the adjusting operation in S104.
S104：Regulating command, which is issued, to driver adjusts first actual acceleration in next period or next period
Second actual acceleration so that adjustment after the first round group acceleration curvature and the second wheel group acceleration curvature
The ratio between be less than the standard curvature ratio.
Wherein, this step is built upon S103 and judges the second acceleration curvature not in normal acceleration curvature section
Under the premise of, need the actual acceleration for changing first round group and the second wheel group.Adjusted in this step the first actual acceleration or
The operation of second actual acceleration executes in controller level, it is to be understood that when occur the second actual speed not
Situation in normal acceleration curvature section is because there is the wheel group of side because machine driving can not be kept up with separately
The speed of one side wheel group, thus be at this time impossible by change the smaller wheel group of actual acceleration curvature actual acceleration come
The gap of acceleration curvature is reduced, therefore the actual acceleration of the larger wheel group of actual acceleration curvature should be changed.That is,
" the first actual acceleration or second actual acceleration in next period that adjust next period " actually refers in S104,
Change the acceleration of the larger wheel group of actual acceleration curvature in first round group and the second wheel group.
It is understood that herein not to the reality of actual acceleration or the second wheel group by adjusting the first round group
The concrete numerical value of acceleration is defined, as long as the curvature ratio after adjustment is less than standard curvature ratio.As a kind of excellent
The embodiment of choosing can make the ratio between acceleration curvature after adjusting be less than preset value, which is the reality according to this programme
Border applicable cases the are set and preset value is less than standard curvature ratio, and the meaning for the preset value being arranged herein is to work as acceleration
It, will not be to double even if there are certain deviations for the acceleration of first round group and the second wheel group when the ratio between curvature is less than preset value
The normally travel driven generate it is apparent influence, driver will not be made to report an error.
Since double drive chassis are there are many other structures, thus the speed tracing rate of first round group and the second wheel group there may be
Deviation.When the speed tracing rate of both sides wheel is equal, the path of vehicle actual travel meets preset path, on the contrary then will appear
The phenomenon that vehicle yaw.And the inconsistent reason of the speed tracing rate of both sides wheel is the acceleration gap mistake of both sides wheel
Greatly, therefore speed tracing rate can be changed by the acceleration for changing both sides wheel adjusts the speed of both sides wheel, finally made
The actual travel route for obtaining vehicle meets preset requirement.Based on this, the present embodiment determine first standard curvature ratio this about
Evaluate the standard of first round group and the second wheel group acceleration curvature difference degree.Further, the present invention is by obtaining the first round
The first actual acceleration of current period of group, and the first acceleration curvature is thus obtained, pass through the first acceleration curvature and standard
Critical field standard of the curvature ratio calculation about the acceleration curvature of the second wheel group --- normal acceleration curvature section.Into one
Step, the present embodiment calculates the second acceleration curvature according to the second actual acceleration of the current period of the second wheel group again, judges
Whether the second acceleration curvature is in normal acceleration curvature section, if the acceleration for illustrating first round group and the second wheel group if
Curvature is good, and differed if do not illustrate first round group and the second wheel group if the plus plain curvature of degree leads to vehicle yaw or drive compared with conference
Dynamic device reports an error.Further, the present embodiment is made by changing first round group or the actual acceleration in second wheel group next period
The ratio of the acceleration curvature of first round group and the second wheel group restores to permission, and then reduces a double both sides vehicles of driving
The deviation of the acceleration curvature of wheel reduces the degree that vehicle deviates preset path.
Refer to Fig. 2 below, the acceleration control method that the another kind that Fig. 2 is provided by the embodiment of the present application is double to drive
Flow chart；
Specific steps may include：
S201：Obtain first round group described in the current period the first actual speed and a upper period described in first round group
The first history actual speed, it is practical to calculate described first according to first actual speed and the first history actual speed
Acceleration；
S202：Obtained the second wheel group described in the second actual speed of the second wheel group and a upper period described in the current period
The second history actual speed, it is practical to calculate described second according to second actual speed and the second history actual speed
Acceleration；
S203：The wheel group acceleration letter is generated according to first actual acceleration and second actual acceleration
Breath.
S204：It determines standard curvature ratio, and receives the wheel group acceleration information of driver upload；Wherein, the wheel group
Acceleration information includes the first actual acceleration of current period first round group and the second reality of the current period the second wheel group
Border acceleration；
S205：The first history acceleration of first round group described in the upper period was obtained, and according to first history
Acceleration and first actual acceleration calculate the first actual acceleration curvature；
S206：According to the first actual acceleration curvature and standard curvature ratio calculation normal acceleration curvature area
Between；
S207：The second history acceleration of the second wheel group described in the upper period was obtained, and according to second history
Acceleration and second actual acceleration calculate the second actual acceleration curvature.
S208：Judge second actual speed whether in normal acceleration curvature section；If then entering
S201；If it is not, then entering S209；
S209：Judge whether the first actual acceleration curvature is more than the second actual acceleration curvature；If so,
Into S210；If it is not, then entering S211；
S210：The regulating command is issued to the driver, adjusts the described first practical acceleration in next period
It writes music rate, so that the first actual acceleration curvature after adjusting is equal with the second actual acceleration curvature at current time；
S211：The regulating command is issued to the driver, adjusts the described second practical acceleration in next period
It writes music rate, so that the second actual acceleration curvature after adjusting is equal with the first actual acceleration curvature at current time.
Fig. 3, Fig. 4 are referred to, Fig. 3 is the relational graph of normal tracking brief acceleration and time, and Fig. 4 is when being abnormal tracking
The relational graph of acceleration and time；Illustrate the operation of above-described embodiment by a specific example with reference to this Fig. 3, Fig. 4
Flow：
Such as：Continuous three period velocities of first round group be 70000counts/ms, 107000counts/ms,
149000counts/ms.A cycle 10ms, therefore upper period acceleration is 3700counts/ms2, this period acceleration is
4200counts/ms2, acceleration curvature are 50counts/ms3.Continuous three period velocities of second wheel group are
125000counts/ms, 165000counts/ms, 218000counts/ms.A cycle 10ms, therefore upper period acceleration
For 4000counts/ms2, this period acceleration is
5300counts/ms2, acceleration curvature is 130counts/ms3.Acceleration curvature ratio is 2.6, therefore is judged as the
One wheel group does not track, and second wheel group next period of change issues acceleration and is
5300+50*10=5800counts/ms2.As shown in figure 4, the curvature of acceleration is sent out in the horizontal axis time 50 to 100
Raw significant difference is adjusted after acceleration totally tracking in place.First round group does not track first, then next period
Two wheel groups issue acceleration change, ensure that there is no problem for whole tracking.I.e.：By changing being averaged for first round group or the second wheel group
Acceleration solves the problems, such as that the mechanical structure due to vehicle itself causes vehicle yaw or driver to report an error.
Refer to Fig. 5, a kind of structure for double acceleration control systems driven that Fig. 5 is provided by the embodiment of the present application
Schematic diagram；
The system may include：
Data obtaining module 100 for determining standard curvature ratio, and receives the wheel group acceleration letter of driver upload
Breath；Wherein, the wheel group acceleration information includes the first actual acceleration of current period first round group and the current period
Second actual acceleration of the second wheel group；
Standard section computing module 200, for calculating the first acceleration curvature, and root according to first actual acceleration
According to the first actual acceleration curvature and standard curvature ratio calculation normal acceleration curvature section；
Synchronous evaluation module 300 for calculating the second acceleration curvature according to second actual acceleration, and judges institute
The second actual speed is stated whether in normal acceleration curvature section；
Adjustment module 400 is used for when second actual speed is not in normal acceleration curvature section, to drive
Dynamic device issues the first actual acceleration or second actual acceleration in next period that regulating command adjusts next period, with
The ratio between the acceleration curvature of the first round group after adjustment and the acceleration curvature of the second wheel group is set to be less than the standard
Curvature ratio.
Further, further include：
First acceleration acquisition module, the first actual speed for obtaining first round group described in the current period and
First history actual speed of first round group described in one period, according to first actual speed and the practical speed of first history
Degree calculates first actual acceleration；
Second acceleration acquisition module, for obtain the second actual speed of the second wheel group described in the current period and
Second history actual speed of the second wheel group described in one period, according to second actual speed and the practical speed of second history
Degree calculates second actual acceleration；
Information generating module, for generating the wheel according to first actual acceleration and second actual acceleration
Group acceleration information.
Further, standard section computing module 200 includes：
First curvature computing unit, the first history acceleration for obtaining first round group described in the upper period, and
The first actual acceleration curvature is calculated according to the first history acceleration and first actual acceleration；
Interval computation unit, for according to the first actual acceleration curvature and the standard curvature ratio calculation standard
Acceleration curvature section
Correspondingly, the synchronous evaluation module 300 includes：
Torsion computing unit, the second history acceleration for obtaining the second wheel group described in the upper period, and
The second actual acceleration curvature is calculated according to the second history acceleration and second actual acceleration；
Judging unit, for judging second actual speed whether in normal acceleration curvature section.
Further, the adjustment module 400 includes：
Determination unit is adjusted, for judging whether the first actual acceleration curvature is more than second actual acceleration
Curvature；
First adjusts unit, for being more than the second actual acceleration curvature when the first actual acceleration curvature
When, the regulating command is issued to the driver, adjusts the first actual acceleration curvature in next period, so that
The first actual acceleration curvature after adjusting is equal with the second actual acceleration curvature at current time；
If it is not, for when the first actual acceleration curvature is less than the second actual acceleration curvature, institute is adjusted
The second actual acceleration curvature in next period is stated, so that the second actual acceleration curvature and current time after adjusting
First actual acceleration curvature is equal.
Since the embodiment of components of system as directed is corresponded with the embodiment of method part, the embodiment of components of system as directed is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed and the step of above-described embodiment is provided may be implemented.The storage medium may include：USB flash disk, read-only is deposited mobile hard disk
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or
The various media that can store program code such as CD.
Present invention also provides a kind of double controllers driven, may include memory and processor, the memory
In have computer program above-described embodiment may be implemented when the processor calls the computer program in the memory
The step of provided.Certainly the described double controller driven can also include various network interfaces, the components such as power supply.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
?.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, also
Can to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the application scope of the claims
It is interior.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.Under the situation not limited more, the element limited by sentence "including a ..." is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. an a kind of double acceleration control method driven, is applied to controller, which is characterized in that including：
It determines standard curvature ratio, and receives the wheel group acceleration information of driver upload；Wherein, the wheel group acceleration information
Second actual acceleration of the first actual acceleration and the current period the second wheel group including current period first round group；
The first acceleration curvature is calculated according to first actual acceleration, and according to the first actual acceleration curvature and institute
State standard curvature ratio calculation normal acceleration curvature section；
The second acceleration curvature is calculated according to second actual acceleration, and judges second actual speed whether described
In normal acceleration curvature section；
If it is not, then to driver issue regulating command adjust next period the first actual acceleration or next period
Two actual accelerations so that adjustment after the first round group acceleration curvature and the second wheel group acceleration curvature it
Than being less than the standard curvature ratio.
2. acceleration control method according to claim 1, which is characterized in that in the wheel group acceleration for receiving driver upload
Before information, further include：
Obtain first round group described in the current period the first actual speed and a upper period described in first round group first go through
History actual speed calculates first actual acceleration according to first actual speed and the first history actual speed；
Obtained the second wheel group described in the second actual speed of the second wheel group and a upper period described in the current period second is gone through
History actual speed calculates second actual acceleration according to second actual speed and the second history actual speed；
The wheel group acceleration information is generated according to first actual acceleration and second actual acceleration.
3. acceleration control method according to claim 1, which is characterized in that calculate the according to first actual acceleration
One acceleration curvature includes：
The first history acceleration of first round group described in the upper period was obtained, and according to the first history acceleration and institute
It states the first actual acceleration and calculates the first actual acceleration curvature；
Correspondingly, including according to the second acceleration curvature of second actual acceleration calculating：
The second history acceleration of the second wheel group described in the upper period was obtained, and according to the second history acceleration and institute
It states the second actual acceleration and calculates the second actual acceleration curvature.
4. acceleration control method according to claim 1, which is characterized in that it is next to issue regulating command adjusting to driver
First actual acceleration in period or second actual acceleration in next period, so that the first round group after adjustment
The ratio between acceleration curvature and the acceleration curvature of the second wheel group include less than the standard curvature ratio：
Judge whether the first actual acceleration curvature is more than the second actual acceleration curvature；
If so, issuing the regulating command to the driver, first actual acceleration in next period is adjusted
Curvature, so that the first actual acceleration curvature after adjusting is equal with the second actual acceleration curvature at current time；
If it is not, then issuing the regulating command to the driver, second actual acceleration in next period is adjusted
Curvature, so that the second actual acceleration curvature after adjusting is equal with the first actual acceleration curvature at current time.
5. an a kind of double acceleration control system driven, is applied to controller, which is characterized in that including：
Data obtaining module for determining standard curvature ratio, and receives the wheel group acceleration information of driver upload；Wherein,
The wheel group acceleration information includes the first actual acceleration and the current period the second wheel group of current period first round group
The second actual acceleration；
Standard section computing module, for calculating the first acceleration curvature according to first actual acceleration, and according to described
First actual acceleration curvature and standard curvature ratio calculation normal acceleration curvature section；
Synchronous evaluation module for calculating the second acceleration curvature according to second actual acceleration, and judges described second
Whether actual speed is in normal acceleration curvature section；
Adjustment module is used for when second actual speed is not in normal acceleration curvature section, under driver
Hair regulating command adjusts first actual acceleration or second actual acceleration in next period in next period, so that adjustment
The ratio between the acceleration curvature of the first round group afterwards and the acceleration curvature of the second wheel group are less than the standard curvature ratio
Value.
6. acceleration control system according to claim 5, which is characterized in that further include：
First acceleration acquisition module, the first actual speed for obtaining first round group described in the current period and one week upper
First history actual speed of first round group described in the phase, according to first actual speed and the first history actual speed meter
Calculate first actual acceleration；
Second acceleration acquisition module, for obtaining the second actual speed of the second wheel group described in the current period and one week upper
Second history actual speed of the second wheel group described in the phase, according to second actual speed and the second history actual speed meter
Calculate second actual acceleration；
Information generating module adds for generating the wheel group according to first actual acceleration and second actual acceleration
Velocity information.
7. acceleration control system according to claim 5, which is characterized in that standard section computing module includes：
First curvature computing unit, the first history acceleration for obtaining first round group described in the upper period, and according to
The first history acceleration and first actual acceleration calculate the first actual acceleration curvature；
Interval computation unit, for being accelerated according to the first actual acceleration curvature and the standard curvature ratio calculation standard
Rate of writing music section
Correspondingly, the synchronous evaluation module includes：
Torsion computing unit, the second history acceleration for obtaining the second wheel group described in the upper period, and according to
The second history acceleration and second actual acceleration calculate the second actual acceleration curvature；
Judging unit, for judging second actual speed whether in normal acceleration curvature section.
8. acceleration control system according to claim 5, which is characterized in that the adjustment module includes：
Determination unit is adjusted, for judging it is bent whether the first actual acceleration curvature is more than second actual acceleration
Rate；
First adjusts unit, is used for when the first actual acceleration curvature is more than the second actual acceleration curvature, to
The driver issues the regulating command, adjusts the first actual acceleration curvature in next period, so as to adjust
The first actual acceleration curvature afterwards is equal with the second actual acceleration curvature at current time；
If it is not, for when the first actual acceleration curvature is less than the second actual acceleration curvature, under adjusting is described
The second actual acceleration curvature in one period so that adjust after the second actual acceleration curvature and current time first
Actual acceleration curvature is equal.
9. an a kind of double controller driven, which is characterized in that including：
Memory, for storing computer program；
Processor, executed when for executing the computer program as Claims 1-4 any one of them is double drive plus
The step of method for control speed.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the acceleration driven as Claims 1-4 any one of them is double when the computer program is executed by processor
The step of spending control method.
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