CN109795553A - A kind of rotating direction control method and system on narrow region four-wheel independent steering rescue chassis - Google Patents
A kind of rotating direction control method and system on narrow region four-wheel independent steering rescue chassis Download PDFInfo
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- CN109795553A CN109795553A CN201910021455.4A CN201910021455A CN109795553A CN 109795553 A CN109795553 A CN 109795553A CN 201910021455 A CN201910021455 A CN 201910021455A CN 109795553 A CN109795553 A CN 109795553A
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Abstract
The invention discloses the rotating direction control methods and system on a kind of narrow region four-wheel independent steering rescue chassis, method passes through the perception to breakdown lorry surrounding space, quickly determine that the spatial information of vehicle periphery, including surrounding can be achieved to turn to the information such as rotary space and ground obstacle contour dimension, position.When driver's manipulation direction disk turns to, chassis controller obtains steering wheel angle according to steering wheel encoder, calculate the target diversion angle of driver, by turning to the execution of servo valve control steering cylinder, actual steering angle is obtained by the angular transducer on steering cylinder, feeds back to chassis controller.It is compared through actual steering angle numerical value with target value steering angle numerical value, completes difference amendment.Meanwhile chassis controller is by showing best steering pattern and mode of suspension by driving indoor display, auxiliary driver operates vehicle to peripheral space information real-time monitoring.
Description
Technical field
The invention belongs to technical field of engineering machinery, and in particular to a kind of narrow region four-wheel independent steering rescue chassis
Rotating direction control method and system.
Background technique
For being mainly that shanty town, combination area of city and country etc. are densely populated, road is narrow, the area of basic fire fighting device shortcoming
Domain, it is extremely harsh that the particularity of operating area turns to space requirement to the operation of rescue fire vehicle.
The shortcomings that prior art: existing steering mode is generally front-wheel steer, although existing control system can be real
Now the four-wheel steering of vehicle is controlled, but needs to execute by the way of manual switching by driver either to vehicle sheet
The steering relevant information of body carries out pattern switching, does not account for around turning to space problem.In narrow special area, to driver
The driving skills and subjective experience determination requirement of member are higher.If operation failure, gyration time and difficulty will be increased, rescued carrying out
Action brings extra time cost, is likely to result in the bigger person and property loss.
Summary of the invention
Purpose: in order to overcome the deficiencies in the prior art, the present invention provides a kind of narrow region four-wheel independent steering
The rotating direction control method and system for rescuing chassis can be realized such breakdown lorry when specific region carries out the operation of Nuo Chezhuan factory
Turn to efficiency.
Technical solution: in order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of rotating direction control method characterized by comprising
Obtain vehicle periphery spatial information；
The steering wheel angle that driver's manipulation direction disk is turned to is obtained, calculates driver's based on steering wheel angle
Target diversion angle；
Based on vehicle periphery spatial information and target diversion angle, judge under current steering pattern, whether vehicle periphery space
Meet target diversion angle；
(1) if it is satisfied, cooking up the turning path under current steering pattern；
Instruction is provided, control steering cylinder continues to carry out go to action according to current steering pattern and the turning path of planning；
And the actual steering angle of steering cylinder is obtained, until the difference of actual steering angle and target diversion angle is located at setting error
In range, go to action is completed.
(2) if conditions are not met, and when vehicle periphery space lower than first threshold and be greater than second threshold when, calculate target
Best steering pattern under steering angle, and cook up turning path, alarm and prompt best steering pattern；
If vehicle continues under current steering pattern, and when vehicle periphery space is lower than second threshold, control is automatically switched
To the best steering pattern, instruction is provided, control steering cylinder is carried out according to the best steering pattern and the turning path of planning
Go to action, and the actual steering angle of steering cylinder is obtained simultaneously, until the difference of actual steering angle and target diversion angle
Value is located in setting error range, and go to action is completed.
(3) if conditions are not met, and when vehicle periphery space be lower than third threshold value, vehicle is all turns under target diversion angle
It is all unsatisfactory for mode, warning note.
Further, the rotating direction control method, which is characterized in that the vehicle periphery spatial information includes that surrounding can
It realizes and turns to rotary space and ground obstacle contour dimension, vehicle position.
Further, the rotating direction control method, which is characterized in that the target diversion angle may be default
's.
Further, the steering pattern include front-wheel steer mode, rear-axle steering pattern, the synchronous steering pattern of four-wheel,
Four-wheel independent steering mode.
Preferably, the rotating direction control method further includes,
Turning path based on steering pattern and planning, judges under current mode of suspension, whether has barrier in turning path space
Hinder object,
1) as there is no barrier, continue current mode of suspension；
2) if any barrier, judge whether can pass through under current mode of suspension:
If 2A, can pass through, continue current mode of suspension；
If 2B, cannot pass through, calculates and choose suitable mode of suspension, alarm and prompt suitable mode of suspension；Instruction is provided,
According to the suitable mode of suspension of selection, controls hanging oil cylinder and carry out suspension adjusting movement, be adjusted to the suitable mode of suspension.
The present invention also provides a kind of steering control systems characterized by comprising
Chassis spatial perception module, for perceiving vehicle periphery spatial information, and is uploaded to controller；
Target diversion angle obtains module, for obtaining target diversion angle, and is uploaded to controller；
Central control module: for judging under current steering pattern based on vehicle periphery spatial information and target diversion angle,
Whether vehicle periphery space meets target diversion angle；
If it is satisfied, cooking up the turning path under current steering pattern；Instruction is provided, control steering cylinder continues according to current
Steering pattern and planning turning path carry out go to action；And the actual steering angle of steering cylinder is obtained, until practical
The difference of steering angle and target diversion angle is located in setting error range, and go to action is completed；
If conditions are not met, and when vehicle periphery space lower than first threshold and be greater than second threshold when, calculate target steering angle
Best steering pattern under degree, and cook up turning path, alarm and prompt best steering pattern；
If vehicle continues under current steering pattern, and when vehicle periphery space is lower than second threshold, control is automatically switched
To the best steering pattern, instruction is provided, control steering cylinder is carried out according to the best steering pattern and the turning path of planning
Go to action, and the actual steering angle of steering cylinder is obtained simultaneously, until the difference of actual steering angle and target diversion angle
Value is located in setting error range, and go to action is completed；
Meanwhile the turning path based on steering pattern and planning, judge under current mode of suspension, in turning path space whether
There is barrier, if any barrier, and judge to pass through under current mode of suspension, calculates and choose suitable mode of suspension；It gives
It instructs out, according to the suitable mode of suspension of selection, controls hanging oil cylinder and carry out suspension adjusting movement, it is suitable outstanding to be adjusted to this
Extension mode；
Course changing control module, for receiving and performing the instruction of central control module, control steering cylinder continues according to steering mould
Formula and the turning path of planning carry out go to action.
Further, the steering control system, which is characterized in that further include suspension control module, controlled with center
Module by signal connection, for receiving and performing the instruction of central control module, the suspension control module include hanging oil cylinder with
Hanging oil cylinder displacement sensor completes hanging oil cylinder movement by control suspension solenoid valve, realizes the control of chassis suspension status, and
Suspension status information is obtained using hanging oil cylinder displacement sensor.
Further, the chassis spatial perception module includes chassis detecting sensor, passes through chassis detecting sensor reality
When obtain chassis periphery spatial information.Further include steering wheel angle encoder, is obtained and operated by steering wheel angle encoder
Personnel targets steering angle utilizes display finishing man-machine interaction.
Further, the course changing control module includes steering cylinder and steering angle sensor, by controlling steering oil
Cylinder servo valve realizes deflecting roller movement, and the actual steering angle of steering cylinder is obtained by steering angle sensor.
The present invention also provides a kind of rescue aids, which is characterized in that including above-mentioned steering control system.
The utility model has the advantages that narrow region four-wheel independent steering provided by the invention rescues the rotating direction control method on chassis and is
System, by perceiving the determining control chassis divertical motion with steering target angle, option mode to chassis surrounding space, and can be real
When analyze bobbin movement track, auxiliary driver replace steering pattern and mode of suspension in time.It has the advantage that because of region
Breakdown lorry caused by narrow carries out turning to limited space when the operation of Nuo Chezhuan factory, will using control of the invention and auxiliary system
In relief car when being turned to, vehicle motion scheme can be planned, will avoid frequently replacing vehicle location, can be greatly improved and rescue
Speed and efficiency are helped, the person and property loss are reduced.A kind of rescue fire-fighting chassis of the present invention uses four-wheel independent steering
With hydraulic suspension regulation technology, therefore such rescue fire vehicle all proposes the adaptability of narrow special area and flexibility significantly
It is high.It can be realized such breakdown lorry and turn to efficiency when specific region carries out the operation of Nuo Chezhuan factory.
Detailed description of the invention
Fig. 1 is the control method flow chart of embodiment；
Fig. 2 is embodiment chassis control and perception subsystem；
Fig. 3 is embodiment course changing control and detection subsystem；
Fig. 4 is embodiment suspension control and detection subsystem.
Specific embodiment
The present invention will be further explained combined with specific embodiments below.
Embodiment 1
As shown in Figure 1, a kind of rotating direction control method quickly determines vehicle periphery by the perception to breakdown lorry surrounding space
Spatial information, including surrounding can be achieved turn to the information such as rotary space and ground obstacle contour dimension, position.When driving
When sailing personnel's manipulation direction disk and turning to, chassis controller obtains steering wheel angle according to steering wheel encoder, calculates and drives
The target diversion angle for sailing personnel passes through the angle on steering cylinder by turning to the execution of servo valve control steering cylinder
Sensor obtains actual steering angle, feeds back to chassis controller.Through actual steering angle numerical value and target value steering angle numerical value into
Row compares, and completes difference amendment.Meanwhile chassis controller is by peripheral space information real-time monitoring, it is indoor by driving
Display shows best steering pattern and mode of suspension, and auxiliary driver operates vehicle.Detailed process is as shown in Figure 1.Wherein
Dotted line is that control model is switched to " automatic mode " execution information stream afterwards from " auxiliary mode ".It specifically includes:
Obtain vehicle periphery spatial information；
The steering wheel angle that driver's manipulation direction disk is turned to is obtained, calculates driver's based on steering wheel angle
Target diversion angle；
Based on vehicle periphery spatial information and target diversion angle, judge under current steering pattern, whether vehicle periphery space
Meet target diversion angle；
(1) if it is satisfied, cooking up the turning path under current steering pattern；
Instruction is provided, control steering cylinder continues to carry out go to action according to current steering pattern and the turning path of planning；
And the actual steering angle of steering cylinder is obtained, until the difference of actual steering angle and target diversion angle is located at setting error
In range, go to action is completed.
(2) if conditions are not met, and when vehicle periphery space lower than first threshold and be greater than second threshold when, calculate target
Best steering pattern under steering angle, and cook up turning path, alarm and prompt best steering pattern；
If vehicle continues under current steering pattern, and when vehicle periphery space is lower than second threshold, control is automatically switched
To the best steering pattern, instruction is provided, control steering cylinder is carried out according to the best steering pattern and the turning path of planning
Go to action, and the actual steering angle of steering cylinder is obtained simultaneously, until the difference of actual steering angle and target diversion angle
Value is located in setting error range, and go to action is completed.
(3) if conditions are not met, and when vehicle periphery space be lower than third threshold value, vehicle is all turns under target diversion angle
It is all unsatisfactory for mode, warning note.
Further, the rotating direction control method, which is characterized in that the vehicle periphery spatial information includes that surrounding can
It realizes and turns to rotary space and ground obstacle contour dimension, vehicle position.
Further, the rotating direction control method, which is characterized in that the target diversion angle may be default
's.
Further, the steering pattern include front-wheel steer mode, rear-axle steering pattern, the synchronous steering pattern of four-wheel,
Four-wheel independent steering mode.
Preferably, the rotating direction control method further includes,
Turning path based on steering pattern and planning, judges under current mode of suspension, whether has barrier in turning path space
Hinder object,
1) as there is no barrier, continue current mode of suspension；
2) if any barrier, judge whether can pass through under current mode of suspension:
If 2A, can pass through, continue current mode of suspension；
If 2B, cannot pass through, calculates and choose suitable mode of suspension, alarm and prompt suitable mode of suspension；Instruction is provided,
According to the suitable mode of suspension of selection, controls hanging oil cylinder and carry out suspension adjusting movement, be adjusted to the suitable mode of suspension.
Embodiment 2
As shown in Figure 1, a kind of steering control system characterized by comprising
Chassis spatial perception module, for perceiving vehicle periphery spatial information, and is uploaded to controller；
Target diversion angle obtains module, for obtaining target diversion angle, and is uploaded to controller；
Central control module: for judging under current steering pattern based on vehicle periphery spatial information and target diversion angle,
Whether vehicle periphery space meets target diversion angle；
If it is satisfied, cooking up the turning path under current steering pattern；Instruction is provided, control steering cylinder continues according to current
Steering pattern and planning turning path carry out go to action；And the actual steering angle of steering cylinder is obtained, until practical
The difference of steering angle and target diversion angle is located in setting error range, and go to action is completed；
If conditions are not met, and when vehicle periphery space lower than first threshold and be greater than second threshold when, calculate target steering angle
Best steering pattern under degree, and cook up turning path, alarm and prompt best steering pattern；
If vehicle continues under current steering pattern, and when vehicle periphery space is lower than second threshold, control is automatically switched
To the best steering pattern, instruction is provided, control steering cylinder is carried out according to the best steering pattern and the turning path of planning
Go to action, and the actual steering angle of steering cylinder is obtained simultaneously, until the difference of actual steering angle and target diversion angle
Value is located in setting error range, and go to action is completed；
Meanwhile the turning path based on steering pattern and planning, judge under current mode of suspension, in turning path space whether
There is barrier, if any barrier, and judge to pass through under current mode of suspension, calculates and choose suitable mode of suspension；It gives
It instructs out, according to the suitable mode of suspension of selection, controls hanging oil cylinder and carry out suspension adjusting movement, it is suitable outstanding to be adjusted to this
Extension mode；
Course changing control module, for receiving and performing the instruction of central control module, control steering cylinder continues according to steering mould
Formula and the turning path of planning carry out go to action.
In this specific embodiment, a kind of steering control system on narrow region four-wheel independent steering rescue chassis, vehicle control
System processed can be divided into central control module, chassis control and perception subsystem, steering system control and detection subsystem, suspension
System control and detection subsystem.
1) wherein chassis control and perception subsystem, as shown in Figure 2.Mainly turn comprising chassis detecting sensor, steering wheel
Angular encoder, chassis controller, display, controller can control chassis steering cylinder and hanging oil cylinder, logical with engine
Letter is obtained the spatial information on chassis periphery in real time by chassis detecting sensor, and obtains behaviour by steering wheel angle encoder
Make personnel targets steering angle, utilizes display finishing man-machine interaction.
2) wherein course changing control and detection subsystem, as shown in Figure 3.Mainly sensed comprising steering cylinder and steering angle
Device.After controller obtains the instruction of driver's target rotation angle by steering wheel angle encoder, detection chooses mode when front steering,
Each steering servo valve flow aperture is calculated, deflecting roller movement is realized by control steering cylinder servo valve, and utilize steering angle
Sensor obtains chassis direction information.
3) wherein suspension controls and detects subsystem, as shown in Figure 4.Mainly passed comprising hanging oil cylinder and hanging oil cylinder displacement
Sensor.Controller obtains command adapted thereto by detection mode of suspension selection operation device, is completed by control suspension solenoid valve outstanding
Cylinder movement is hung, realizes the control of chassis suspension status, and obtain suspension status information using hanging oil cylinder displacement sensor.
The present invention perceives chassis surrounding space using other forms, can also realize effect of the present invention；Side of the present invention
Case is not limited only to narrow region breakdown lorry, is equally applicable to the fields such as other narrow region military vehicle, engineering machinery.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of rotating direction control method characterized by comprising
Obtain vehicle periphery spatial information；
Obtain target diversion angle；
Based on vehicle periphery spatial information and target diversion angle, judge under current steering pattern, whether vehicle periphery space
Meet target diversion angle；
If it is satisfied, cooking up the turning path under current steering pattern；
Instruction is provided, control steering cylinder continues to carry out go to action according to current steering pattern and the turning path of planning；
And the actual steering angle of steering cylinder is obtained, until the difference of actual steering angle and target diversion angle is located at setting error
In range, go to action is completed.
2. a kind of rotating direction control method characterized by comprising
Obtain vehicle periphery spatial information；
Obtain target diversion angle；
Based on vehicle periphery spatial information and target diversion angle, judge under current steering pattern, whether vehicle periphery space
Meet target diversion angle；
If conditions are not met, and when vehicle periphery space lower than first threshold and be greater than second threshold when, calculate target steering angle
Best steering pattern under degree, and cook up turning path, alarm and prompt best steering pattern；
If vehicle continues under current steering pattern, and when vehicle periphery space is lower than second threshold, control is automatically switched
To the best steering pattern, instruction is provided, control steering cylinder is carried out according to the best steering pattern and the turning path of planning
Go to action, and the actual steering angle of steering cylinder is obtained simultaneously, until the difference of actual steering angle and target diversion angle
Value is located in setting error range, and go to action is completed.
3. rotating direction control method according to claim 1 or 2, which is characterized in that the vehicle periphery spatial information includes
Surrounding can be achieved to turn to rotary space and ground obstacle contour dimension, vehicle position.
4. rotating direction control method according to claim 1 or 2, which is characterized in that target diversion angle is preset, or
Steering wheel angle is obtained by steering wheel encoder, calculates the target steering angle for calculating driver based on steering wheel angle
Degree.
5. rotating direction control method according to claim 1 or 2, which is characterized in that further include,
Turning path based on steering pattern and planning, judges under current mode of suspension, whether has barrier in turning path space
Hinder object,
1) as there is no barrier, continue current mode of suspension；
2) if any barrier, judge whether can pass through under current mode of suspension:
If 2A, can pass through, continue current mode of suspension；
If 2B, cannot pass through, calculates and choose suitable mode of suspension, alarm and prompt suitable mode of suspension；Instruction is provided,
According to the suitable mode of suspension of selection, controls hanging oil cylinder and carry out suspension adjusting movement, be adjusted to the suitable mode of suspension.
6. a kind of steering control system characterized by comprising
Chassis spatial perception module, for perceiving vehicle periphery spatial information, and is uploaded to controller；
Target diversion angle obtains module, for obtaining target diversion angle, and is uploaded to controller；
Central control module: for judging under current steering pattern based on vehicle periphery spatial information and target diversion angle,
Whether vehicle periphery space meets target diversion angle；
If it is satisfied, cooking up the turning path under current steering pattern；Instruction is provided, control steering cylinder continues according to current
Steering pattern and planning turning path carry out go to action；And the actual steering angle of steering cylinder is obtained, until practical
The difference of steering angle and target diversion angle is located in setting error range, and go to action is completed；
If conditions are not met, and when vehicle periphery space lower than first threshold and be greater than second threshold when, calculate target steering angle
Best steering pattern under degree, and cook up turning path, alarm and prompt best steering pattern；
If vehicle continues under current steering pattern, and when vehicle periphery space is lower than second threshold, control is automatically switched
To the best steering pattern, instruction is provided, control steering cylinder is carried out according to the best steering pattern and the turning path of planning
Go to action, and the actual steering angle of steering cylinder is obtained simultaneously, until the difference of actual steering angle and target diversion angle
Value is located in setting error range, and go to action is completed；
Meanwhile the turning path based on steering pattern and planning, judge under current mode of suspension, in turning path space whether
There is barrier, if any barrier, and judge to pass through under current mode of suspension, calculates and choose suitable mode of suspension；It gives
It instructs out, according to the suitable mode of suspension of selection, controls hanging oil cylinder and carry out suspension adjusting movement, it is suitable outstanding to be adjusted to this
Extension mode；
Course changing control module, for receiving and performing the instruction of central control module, control steering cylinder continues according to steering mould
Formula and the turning path of planning carry out go to action.
7. steering control system according to claim 6, which is characterized in that further include suspension control module, controlled with center
The connection of molding block signal, for receiving and performing the instruction of central control module, the suspension control module includes hanging oil cylinder
With hanging oil cylinder displacement sensor, hanging oil cylinder movement is completed by control suspension solenoid valve, realizes the control of chassis suspension status,
And suspension status information is obtained using hanging oil cylinder displacement sensor.
8. steering control system according to claim 6, which is characterized in that the chassis spatial perception module includes chassis
Detecting sensor obtains the spatial information on chassis periphery by chassis detecting sensor in real time.
9. steering control system according to claim 6, which is characterized in that the course changing control module includes steering cylinder
And steering angle sensor, deflecting roller movement is realized by control steering cylinder servo valve, and obtain by steering angle sensor
Take the actual steering angle of steering cylinder.
10. a kind of rescue aid, which is characterized in that including the described in any item steering control systems of claim 6-9.
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| CN201910021455.4A CN109795553A (en) | 2019-01-10 | 2019-01-10 | A kind of rotating direction control method and system on narrow region four-wheel independent steering rescue chassis |
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| CN201910021455.4A CN109795553A (en) | 2019-01-10 | 2019-01-10 | A kind of rotating direction control method and system on narrow region four-wheel independent steering rescue chassis |
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| CN115973263A (en) * | 2022-12-20 | 2023-04-18 | 吉林大学 | Redundant double-motor steering mechanism and control method thereof |
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| CN115973263A (en) * | 2022-12-20 | 2023-04-18 | 吉林大学 | Redundant double-motor steering mechanism and control method thereof |
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Application publication date: 20190524 |