CN114312996B - Vehicle control method, medium, device and vehicle - Google Patents
Vehicle control method, medium, device and vehicle Download PDFInfo
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- CN114312996B CN114312996B CN202011066131.1A CN202011066131A CN114312996B CN 114312996 B CN114312996 B CN 114312996B CN 202011066131 A CN202011066131 A CN 202011066131A CN 114312996 B CN114312996 B CN 114312996B
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Abstract
The disclosure relates to a vehicle control method, medium, device and vehicle to improve performance of attitude adjustment of a hinged disk. The method is applied to a vehicle provided with at least two target articulated discs, each of which is provided with an articulated disc angle adjustment device, and comprises: if a vehicle steering instruction is received, determining a first rotation angle and a first rotation direction corresponding to the vehicle steering instruction; for each target articulated disc, determining a second rotation angle and a second rotation direction corresponding to the target articulated disc according to the first rotation angle and the first rotation direction; and aiming at each target hinged disk, according to a second rotating angle and a second rotating direction corresponding to the target hinged disk, carrying out angle adjustment on the target hinged disk through a hinged disk angle adjusting device corresponding to the target hinged disk.
Description
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a vehicle control method, medium, device, and vehicle.
Background
Currently, angle adjustment of an articulated disc is generally realized by an Add Control Unit (ACU), the ACU receives vehicle signals, such as a vehicle speed signal, a vehicle backing signal, a brake switch signal, and the like, and then sends an instruction to a pressure sensor, and damping of a left hydraulic cylinder and a right hydraulic cylinder is adjusted by signals transmitted by the pressure sensor, so that an angle of the articulated disc is adjusted. However, at present, the control for the vehicle hinge plates is passive control, and only a single hinge plate can be controlled, and the control for multiple hinge plates cannot be controlled simultaneously. Therefore, when the passable road is narrow, the driver needs to continuously adjust the steering and the posture of the whole vehicle to pass through, and the operation is very inconvenient.
Disclosure of Invention
The purpose of this disclosure is to provide a vehicle control method, medium, equipment and vehicle to promote the performance of articulated disc posture adjustment.
In order to achieve the above object, according to a first aspect of the present disclosure, there is provided a vehicle control method applied to a vehicle provided with at least two target hinge disks, each of which is provided with a hinge disk angle adjusting device, the method including:
if a vehicle steering instruction is received, determining a first rotation angle and a first rotation direction corresponding to the vehicle steering instruction;
for each target articulated disc, determining a second rotation angle and a second rotation direction corresponding to the target articulated disc according to the first rotation angle and the first rotation direction;
and aiming at each target hinged disk, according to a second rotating angle and a second rotating direction corresponding to the target hinged disk, carrying out angle adjustment on the target hinged disk through a hinged disk angle adjusting device corresponding to the target hinged disk.
Optionally, the method further comprises:
determining whether the vehicle is in a driving state;
and under the condition that the vehicle is determined to be in the driving state, determining a second rotating angle and a second rotating direction corresponding to the target articulated disc according to the first rotating angle and the first rotating direction aiming at each target articulated disc.
Optionally, the determining whether the vehicle is in a driving state includes:
acquiring braking state information of the vehicle, working state information of a motor of the vehicle and energization state information of the motor;
and if the braking state information indicates that the braking of the vehicle is released, the working state information indicates that the motor is in a working state, and the electrifying state information indicates that the motor is in an electrifying state, determining that the vehicle is in the running state.
Optionally, the determining a second rotation angle and a second rotation direction corresponding to the target articulation disc according to the first rotation angle and the first rotation direction includes:
determining a second rotating direction according to the first rotating direction, wherein the second rotating direction is consistent with the first rotating direction;
and determining the corresponding corner of the hinged disk when the steering wheel corner is the first rotation angle according to the corresponding relationship between the steering wheel corner and the hinged disk corner stored in advance, and taking the corresponding corner of the hinged disk as the second rotation angle.
Optionally, the hinge plate angle adjusting device includes a first hydraulic cylinder disposed on a first side of the target hinge plate and a second hydraulic cylinder disposed on a second side of the hinge plate, and both the first hydraulic cylinder and the second hydraulic cylinder are retractable hydraulic cylinders;
according to the second turned angle and the second turned direction that the articulated dish of target corresponds, through the articulated dish angle adjusting device that the articulated dish of target corresponds carries out angle modulation to the articulated dish of target, include:
determining a first telescopic state of the first hydraulic cylinder and a second telescopic state of the second hydraulic cylinder according to the second rotating direction, wherein the first telescopic state and the second telescopic state are opposite;
determining a first expansion and contraction variable quantity of the first hydraulic cylinder and a second expansion and contraction variable quantity of the second hydraulic cylinder according to the second rotation angle;
and controlling the first hydraulic cylinder according to the first telescopic state and the first telescopic change amount, and controlling the second hydraulic cylinder according to the second telescopic state and the second telescopic change amount.
Optionally, the method further comprises:
acquiring distance information between the vehicle and peripheral obstacles;
determining whether the vehicle meets a control correction condition according to the distance information;
if the fact that the vehicle meets the control correction condition is determined, determining a third rotating angle and a third rotating direction corresponding to the target articulated disc according to the distance information and the historical track information of the vehicle for each target articulated disc;
and aiming at each target hinged disk, adjusting the target hinged disk through a hinged disk angle adjusting device corresponding to the target hinged disk according to a third rotating angle and a third rotating direction corresponding to the target hinged disk.
Optionally, the method further comprises:
and if the rotating angle of the target hinged disk reaches a preset angle threshold value, locking the target hinged disk so as to maintain the rotating angle of the hinged disk at the angle threshold value.
According to a second aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect of the present disclosure.
According to a third aspect of the present disclosure, there is provided an electronic apparatus comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, a vehicle for performing the steps of the method of the first aspect of the present disclosure is provided.
Through above-mentioned technical scheme, set up two at least target articulated dish at the vehicle, and each target articulated dish is provided with articulated dish angle adjusting device. If a vehicle steering instruction is received, a first rotating angle and a first rotating direction corresponding to the vehicle steering instruction are determined, a second rotating angle and a second rotating direction corresponding to the target hinged disk are determined according to the first rotating angle and the first rotating direction aiming at each target hinged disk, and then angle adjustment is carried out on each target hinged disk through a hinged disk angle adjusting device corresponding to the target hinged disk according to the second rotating angle and the second rotating direction corresponding to the target hinged disk. Like this, through set up a plurality of target articulated disks that have articulated disk angle adjusting device on the vehicle, can utilize these devices directly to control the angle modulation of articulated disk simultaneously, the auxiliary vehicle turns to simultaneously to can accomplish better and turn to the action, and can reach better steering effect, the articulated disk turns to the performance and promotes to some extent, and is favorable to reducing vehicle turning radius, guarantees vehicle safety.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, but do not constitute a limitation of the disclosure. In the drawings:
FIG. 1 is a flow chart of a vehicle control method provided according to one embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an exemplary configuration of a target articulated disk in a vehicle control method according to the present disclosure;
FIG. 3 is an exemplary schematic diagram of a vehicle during operation in a vehicle control method provided according to the present disclosure;
FIG. 4 is an exemplary schematic diagram of an articulation disc angle adjustment arrangement in a vehicle control method provided in accordance with the present disclosure;
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of the embodiments of the disclosure refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a vehicle control method provided according to an embodiment of the present disclosure. The method provided by the disclosure can be applied to a vehicle on which a target hinge plate is arranged, and the target hinge plate is provided with a hinge plate angle adjusting device for adjusting the rotation angle of the target hinge plate. For example, the target articulated disk may be as shown in fig. 2, wherein the device 14 may be an articulated disk adjusting device (two on the left and right sides in fig. 2), the device 9 may be an angle sensor, the device 10 may be an ACU, the device 11 may be an emergency switching valve, the device 12 may be a pressure sensor, and the device 13 may be a proportional solenoid valve.
As shown in fig. 1, the method may include the following steps.
In step 110, if a vehicle steering command is received, a first rotation angle and a first rotation direction corresponding to the vehicle steering command are determined.
The vehicle steering command may be triggered by the action of the user turning the steering wheel, for example, if the user turns the steering wheel in a certain direction (for example, clockwise or counterclockwise) by a certain angle, the vehicle control unit may receive the vehicle steering command corresponding to the direction and the angle.
The vehicle steering wheel can be provided with a sensor for acquiring the rotating direction and angle of the steering wheel. For example, the sensor may be an angle sensor, and the angle sensor may be provided on the steering wheel column.
As described above, the vehicle steering command is triggered by the turning action of the steering wheel, and carries the steering wheel turning direction and angle acquired by the sensor. Therefore, based on the vehicle steering command, the turning angle and the turning direction corresponding to the vehicle steering command are easily acquired. Therefore, after the vehicle steering command is received, the first rotating angle and the first rotating direction corresponding to the vehicle steering command can be determined.
In step 120, for each target articulated disc, a second rotation angle and a second rotation direction corresponding to the target articulated disc are determined according to the first rotation angle and the first rotation direction.
As described in step 120, for each target disc, a determination process is performed to determine a rotation angle and a rotation direction of the target disc, and the rotation angle and the rotation direction are used as a second rotation angle and a second rotation direction corresponding to the target disc.
In a possible embodiment, determining the second rotation angle and the second rotation direction corresponding to the target articulated disk according to the first rotation angle and the first rotation direction may include the steps of:
determining a second rotation direction according to the first rotation direction;
and determining the corresponding corner of the hinged disk when the steering wheel corner is the first rotation angle as the second rotation angle according to the corresponding relationship between the steering wheel corner and the hinged disk corner stored in advance.
Wherein the second rotation direction is identical to the first rotation direction. For example, if the first rotational direction is clockwise, the second rotational direction is also clockwise. For another example, if the first rotational direction is counterclockwise, the second rotational direction is also counterclockwise.
Through a plurality of tests in advance, the angle of the hinged disk which is required to rotate after the steering wheel rotates for a certain angle can be recorded, so that the hinged disk corners corresponding to various steering wheel corners can be obtained, and the corresponding relation between the steering wheel corners and the hinged disk corners is generated and stored, and thus the corresponding relation between the steering wheel corners and the hinged disk corners which are stored in advance is formed. For example, the correspondence between the steering wheel angle and the hinge pan angle may be stored as a table. For another example, the correspondence obtained in the test may be plotted in a graph to form a plurality of data points, and then the plurality of data points in the graph may be connected by a broken line or a curve to obtain a correspondence curve between the steering wheel angle and the hinge wheel angle.
Therefore, after the first rotation angle corresponding to the rotation of the steering wheel is determined, the rotation angle of the hinged disk corresponding to the first rotation angle can be determined according to the corresponding relation between the rotation angle of the steering wheel and the rotation angle of the hinged disk, and the rotation angle of the hinged disk corresponding to the first rotation angle is used as the second rotation angle.
In another possible embodiment, a calculation between the steering wheel angle and the hinge plate angle may be stored in advance, so that the second rotation angle can be determined from the first rotation angle and the calculation, and the second rotation direction can be determined to be the same direction as the first rotation direction.
In step 130, for each target articulated disc, according to the second rotation angle and the second rotation direction corresponding to the target articulated disc, performing angle adjustment on the target articulated disc through the articulated disc angle adjustment device corresponding to the target articulated disc.
After the second rotation angle and the second rotation direction corresponding to the hinge plate are determined, the angle of the target hinge plate can be adjusted by using the hinge plate angle adjusting device, so that the angle of the target hinge plate can be actively controlled. Illustratively, the target articulated disk may be angularly adjusted by the ACU. Adjust respectively to each target articulated dish, wherein, can carry out angle modulation to each target articulated dish simultaneously to promote the cooperation degree that turns to between each target articulated dish, be favorable to turning to more fast, and be favorable to reducing turning radius.
In a possible embodiment, the hinge plate angle adjusting device may include a first hydraulic cylinder disposed on a first side of the target hinge plate and a second hydraulic cylinder disposed on a second side of the hinge plate, and the first hydraulic cylinder and the second hydraulic cylinder are both retractable hydraulic cylinders. The first and second sides of the subject hinge plate form the two sides of the subject hinge plate, and for example, the portion of the device 14 (i.e., the left and right sides of the subject hinge plate) are the first and second sides, respectively, as illustrated in fig. 2 for the hinge plate angle adjustment mechanism. The first and second sides of the subject articulated disc may be predefined, for example, in the case of the subject articulated disc in fig. 2, the left side thereof may be defined as the first side while the right side thereof is defined as the second side, and for example, the right side thereof may be defined as the first side while the left side thereof is defined as the second side. With the target articulated disc, the basic logic to achieve steering is that of the first and second sides, one side stretches while the other side compresses. Therefore, in order to achieve the steering function of the target articulated disk, the extension and contraction degrees of the first hydraulic cylinder and the second hydraulic cylinder should be adjusted so that one of them is extended while the other one is compressed, and which one is extended and which one is compressed depends on the direction in which the target articulated disk should be rotated. For example, if the target articulation disc should be rotated clockwise (right turn), the left side of the target articulation disc should be stretched while the right side of the target articulation disc is compressed. For another example, if the target hinge plate should be rotated counterclockwise (left turn), the left side of the target hinge plate should be compressed while the right side of the target hinge plate should be stretched.
In this embodiment, according to the second rotation angle and the second rotation direction corresponding to the target hinge plate, the angle adjustment of the target hinge plate by the hinge plate angle adjustment device corresponding to the target hinge plate may include the following steps:
determining a first telescopic state of the first hydraulic cylinder and a second telescopic state of the second hydraulic cylinder according to the second rotating direction;
determining a first telescopic variable quantity of the first hydraulic cylinder and a second telescopic variable quantity of the second hydraulic cylinder according to the second rotation angle;
and controlling the first hydraulic cylinder according to the first telescopic state and the first telescopic variable quantity, and controlling the second hydraulic cylinder according to the second telescopic state and the second telescopic variable quantity.
Wherein the first telescopic state and the second telescopic state are opposite.
Referring to the steering principle of the articulated disc described in the front, after the second rotation direction of the articulated disc is determined, the first telescopic state of the first hydraulic cylinder and the second telescopic state of the second hydraulic cylinder are easily determined. Taking the target articulated disk shown in fig. 2 as an example, if the device 14 on the left side corresponds to a first hydraulic cylinder and the device 14 on the right side corresponds to a second hydraulic cylinder, it can be determined that the first telescopic state that the first hydraulic cylinder should correspond to is a tensile state and the second telescopic state that the second hydraulic cylinder should correspond to is a compression state if the second rotation direction is clockwise (right turn).
Through carrying out many times of experiments in advance, can take notes the articulated dish and rotate the flexible change volume of the first pneumatic cylinder that certain angle corresponds and the flexible change volume of second pneumatic cylinder under certain direction of rotation to can obtain the flexible change volume of the respective flexible change volume of the first pneumatic cylinder that corresponds of multiple articulated dish corner and the flexible change volume of second pneumatic cylinder, and then generate the articulated dish corner, the flexible change volume of first pneumatic cylinder and the flexible change volume of second pneumatic cylinder between these corresponding relation and save. For example, the correspondence relationship between the rotation angle of the hinge plate, the amount of change in the extension and contraction of the first hydraulic cylinder, and the amount of change in the extension and contraction of the second hydraulic cylinder may be stored as a table. For another example, the correspondence obtained in the test may be plotted in a graph to form a plurality of data points, and then the data points in the graph are connected by a broken line or a curve to obtain a correspondence curve between the rotation angle of the articulated disc, the amount of change in the extension and retraction of the first hydraulic cylinder, and the amount of change in the extension and retraction of the second hydraulic cylinder.
Therefore, according to the corresponding relationship between the rotation angle of the hinge plate, the expansion and contraction variation of the first hydraulic cylinder and the expansion and contraction variation of the second hydraulic cylinder, the expansion and contraction variation of the first hydraulic cylinder corresponding to the second rotation angle can be determined as the first expansion and contraction variation, and the expansion and contraction variation of the second hydraulic cylinder corresponding to the second rotation angle is determined as the second expansion and contraction variation.
Further, can be according to the flexible of the first flexible state of first flexible state and the first flexible variable control first pneumatic cylinder that determine, simultaneously according to the flexible state of the second and the flexible variable control second pneumatic cylinder that determine to the realization is to the angle modulation of target articulated disk.
The following is an example of the steps of the method provided by the present disclosure, using a vehicle comprising two target articulated discs as shown in fig. 3 and 4. In fig. 3, M6 is a first target articulated disc, M2 is a second target articulated disc, and the vehicle as a whole travels clockwise (right turn), and the arrow direction is the vehicle traveling direction. Fig. 4 shows a schematic diagram of an angle adjusting apparatus using an active damper as a hinge plate, where a device 15 is an electric motor, a device 16 is a hydraulic pump, a device 17 is an overflow valve, a device 18 is a check valve, all of the devices 19.1, 19.2, 19.3, and 19.4 are servo valves, which are sequentially used to control the left side of a target hinge plate M6, the right side of the target hinge plate M6, the left side of the target hinge plate M2, and the right side of the target hinge plate M2, all of the devices 20.1, 20.2, 20.3, and 20.4 are hydraulic cylinders, which are sequentially used to control the left side of the hinge plate M6, the right side of the target hinge plate M6, the left side of the target hinge plate M2, and the right side of the target hinge plate M2, a device 21 is a stop valve, a device 22 is an accumulator, and a device 23 is connected to an oil tank.
When the user rotates the steering wheel, the angle sensor who is located on the steering wheel post receives the angle change signal, produces the vehicle and turns to the instruction, if the vehicle turns right and goes, the ACU who is used for controlling articulated dish M6 of target and articulated dish M2 of target receives and turns to the instruction back to the right, sends the instruction and gives proportional solenoid valve and initiative attenuator (promptly, articulated dish angle adjusting device), afterwards:
a driving damper on the left side of the target hinged disk M6 receives a stretching instruction, the motor works to supply oil through the hydraulic pump and the single valve, the servo valve 19.1 supplies oil to the end B, drains oil to the end A and stretches the hydraulic cylinder 20.1 according to the stretching instruction;
the active damper on the right side of the target hinged disk M6 receives a compression instruction, the servo valve 19.2 feeds oil to the end A and drains oil to the end B according to the compression instruction, and the hydraulic cylinder 20.2 compresses;
the active damper on the left side of the target hinged disk M2 receives a stretching instruction, the motor works to supply oil through the hydraulic pump and the single valve, the servo valve 19.3 supplies oil to the end B, releases oil to the end A and stretches the hydraulic cylinder 20.3 according to the stretching instruction;
the active damper on the right side of the target hinged disk M2 receives a compression instruction, the servo valve 19.4 feeds oil to the end A and drains oil to the end B according to the compression instruction, and the hydraulic cylinder 20.4 compresses.
Therefore, the target articulated discs M6 and M2 can realize active control when the vehicle turns, so that when at least two target articulated discs are contained in the vehicle, the target articulated discs can assist the turning of the vehicle together, and the posture adjustment performance of the vehicle articulated discs can be further improved.
It should be noted that the vehicle to which the method of the present disclosure is directed may be a vehicle body made up of a plurality of compartments (or vehicles) connected by at least one hinge plate, in such a vehicle, two adjacent compartments are connected by a hinge plate. The vehicle may be a multi-axle passenger car controlled by a double hinged disc, for example. For another example, the vehicle may be a multi-articulated-disc controlled electric vehicle or a hybrid vehicle. In the vehicle that this disclosure relates to, can set up two at least target articulated dish as described above in a plurality of articulated dishes to realize articulated dish's initiative joint control function, and, if set up two or more target articulated dishes, these target articulated dishes can move simultaneously in the steering process of vehicle, the turning of common auxiliary vehicle is favorable to promoting the steering performance of vehicle, and, under the condition of moving simultaneously, the turning radius of vehicle reduces to some extent, and the passageway circle that just turns is littleer, be favorable to promoting the security in the driving process, compare in the mode that many articulated dishes controlled in proper order (can't move simultaneously) among the prior art, have more excellent effect.
Through above-mentioned technical scheme, set up two at least target articulated dish at the vehicle, and each target articulated dish is provided with articulated dish angle adjusting device. If a vehicle steering instruction is received, a first rotating angle and a first rotating direction corresponding to the vehicle steering instruction are determined, a second rotating angle and a second rotating direction corresponding to the target hinged disk are determined according to the first rotating angle and the first rotating direction aiming at each target hinged disk, and then angle adjustment is carried out on each target hinged disk through a hinged disk angle adjusting device corresponding to the target hinged disk according to the second rotating angle and the second rotating direction corresponding to the target hinged disk. Like this, through set up a plurality of target articulated disks that have articulated disk angle adjusting device on the vehicle, can utilize these devices directly to control the angle modulation of articulated disk simultaneously, the auxiliary vehicle turns to simultaneously to can accomplish better and turn to the action, and can reach better steering effect, the articulated disk turns to the performance and promotes to some extent, and is favorable to reducing vehicle turning radius, guarantees vehicle safety.
Optionally, the method provided by the present disclosure may further include the steps of:
determining whether the vehicle is in a driving state;
in the case where it is determined that the vehicle is in the traveling state, step 120 is executed again.
In the case of a vehicle in a driving state, it is necessary to perform a steering action, whereas in the case of a vehicle not in a driving state, it is not only unnecessary to perform a steering action, but also the forced steering may cause damage to the articulated disc. Therefore, it is determined whether the correlation calculation with respect to the target articulated disc is required according to whether the vehicle is in a driving state, that is, in case that it is determined that the vehicle is in a driving state, step 120 is performed again.
For example, determining whether the vehicle is in a driving state may include:
acquiring braking state information of a vehicle, working state information of a motor of the vehicle and energization state information of the motor;
and if the braking state information indicates that the braking of the vehicle is released, the working state information indicates that the motor is in a working state, and the electrifying state information indicates that the motor is in an electrifying state, determining that the vehicle is in a running state.
For example, the braking state information of the vehicle may be acquired by an EBS (Electronic Brake Systems) of the vehicle. For example, the operating state information of the electric machine may be acquired by a motor controller of the vehicle. For example, the energization state information of the motor may be acquired by a VTOG (Vehicle to Grid) of the Vehicle.
Optionally, the method provided by the present disclosure may further include the steps of:
acquiring distance information between a vehicle and a peripheral obstacle;
determining whether the vehicle meets the control correction condition or not according to the distance information;
if the fact that the vehicle meets the control correction condition is determined, determining a third rotation angle and a third rotation direction corresponding to each target articulated disc according to the distance information and the historical track information of the vehicle;
and aiming at each target articulated disc, adjusting the target articulated disc through the articulated disc angle adjusting device according to a third rotating angle and a third rotating direction corresponding to the target articulated disc.
The distance information of the vehicle and the peripheral obstacles can be acquired through the distance sensor. For example, a plurality of distance sensors may be disposed on the vehicle, and taking fig. 3 as an example, D1, D2, D3, D4, D7, and D8 may all be distance sensors. The distance sensor may be an ultrasonic distance detector that transmits and receives ultrasonic waves and calculates the distance of a peripheral obstacle (e.g., an object, a pedestrian, another vehicle) from the body of the host vehicle from the time difference between the transmitted wave and the returned wave.
For example, a distance sensor arranged on the vehicle senses obstacles around the vehicle and forms a distance point cloud signal to form distance information of the vehicle and the surrounding obstacles.
Thus, it is determined whether the vehicle satisfies the control correction condition based on the distance information. Wherein, the control correction condition can be freely set according to the actual requirement. For example, if the vehicle is currently turning right, the control correction condition may be set such that the distance of the vehicle from the left obstacle is less than a preset safe distance.
If it is determined that the vehicle satisfies the control correction condition, further correction may be made for the steering of each target articulated disk. Therefore, for each target articulated disc, the third rotation angle and the third rotation direction corresponding to the target articulated disc can be determined according to the distance information and the historical track information of the vehicle. The historical track information of the vehicle can be determined according to the historical position of the vehicle, the ideal running track of the vehicle can be determined based on the historical track information of the vehicle, and the ideal running track of the vehicle can be obtained through interpolation based on the historical track information of the vehicle. The principle of the correction is to make the travel locus of the vehicle as close as possible to the ideal travel locus of the vehicle while making the vehicle no longer satisfy the control correction condition.
For example, if the control correction condition is that the distance between the vehicle and the left obstacle is smaller than the preset safe distance and the distance between the vehicle and the left obstacle is detected to be smaller than the preset safe distance, it is determined that the vehicle needs to be corrected at this time, and therefore, the vehicle can be further turned to the right based on the current turning angle of the target articulated disk, and at the same time, the driving track of the vehicle after turning to the right should be made to be as close to the ideal driving track of the vehicle as possible, and the third rotation angle and the third rotation direction are determined according to the two principles.
Furthermore, according to the third rotation angle and the third rotation direction, the target hinge plate can be further adjusted by the hinge plate angle adjusting device, so that the hinge plate can be corrected. And (4) aiming at each target hinged disk, executing the adjusting process, and realizing the combined correction aiming at the vehicle hinged disk.
The above steps may be performed after step 130 to further correct the angle adjustment result of the hinge plate of step 130, or may be performed during the step 130 to assist the angle adjustment action of the target hinge plate. In the whole control process, the vehicle can continuously collect signals of all the sensors and sends corresponding control signals after calculation, so that real-time control and adjustment are achieved, and smooth, safe and reliable vehicle tracks are ensured.
The related steps provided by the disclosure can be suitable for steering control when the vehicle runs in the forward direction and also suitable for steering control under the condition of backing. In addition, in the whole control process, the vehicle can continuously collect signals of all sensors and send control signals obtained through calculation, so that the control and adjustment are carried out in real time, the smooth running and backing tracks of the vehicle are ensured, and the safety of the vehicle is ensured.
Optionally, the method provided by the present disclosure may further include the steps of:
and if the rotating angle of the target hinged disk reaches a preset angle threshold value, locking the target hinged disk so as to maintain the rotating angle of the hinged disk at the angle threshold value.
The predetermined angle threshold is the maximum angle that the target articulated disk is allowed to rotate in the specified rotational direction. If the rotation angle of the target hinge plate reaches the preset angle threshold, it indicates that the target hinge plate has reached the maximum value of the rotation allowed in the current rotation direction, and if the target hinge plate continues to rotate, the target hinge plate and even other parts of the vehicle may be damaged. The user may then manually release the locked state, for example, by activating a button provided on the vehicle to release the locked state.
In addition, in the case of reversing, when the distance sensed by the distance sensor is less than a preset safe distance, the vehicle (e.g., a vehicle control unit) may transmit a stop signal to prohibit the vehicle from running, and at the same time, the meter may display related suggestive information (e.g., display "reverse brake lock"), and the above mode may be released through a preset key to allow the vehicle to continue running.
Fig. 5 is a block diagram illustrating an electronic device 1900 in accordance with an example embodiment. Referring to fig. 5, an electronic device 1900 includes a processor 1922, which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processor 1922 may be configured to execute the computer program to perform the vehicle control method described above.
Additionally, the electronic device 1900 may also include a power component 1926 and a communication component 1950, the power component 1926 may be configured to perform power management for the electronic device 1900, and the communication component 1950 may be configured to enable communication for the electronic device 1900, e.g., wired or wireless communication. In addition, the electronic device 1900 may also include input/output (I/O) interfaces 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, stored in memory 1932 TM ，Mac OSX TM ，Unix TM ，Linux TM And so on.
In another exemplary embodiment, a computer readable storage medium including program instructions which, when executed by a processor, implement the steps of the vehicle control method described above is also provided. For example, the computer readable storage medium may be the memory 1932 including program instructions executable by the processor 1922 of the electronic device 1900 to perform the vehicle control method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle control method when executed by the programmable apparatus.
The present disclosure also provides a vehicle for performing the steps of the vehicle control method provided in any of the embodiments of the present disclosure.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. To avoid unnecessary repetition, the disclosure does not separately describe various possible combinations.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (9)
1. A method for controlling a vehicle, applied to a vehicle provided with at least two target articulated discs, each of which is provided with an articulated disc angle adjustment device, the method comprising:
if a vehicle steering instruction is received, determining a first rotation angle and a first rotation direction corresponding to the vehicle steering instruction;
for each target articulated disc, determining a second rotation angle and a second rotation direction corresponding to the target articulated disc according to the first rotation angle and the first rotation direction;
for each target hinged disk, according to a second rotating angle and a second rotating direction corresponding to the target hinged disk, carrying out angle adjustment on the target hinged disk through a hinged disk angle adjusting device corresponding to the target hinged disk;
wherein determining a second angle of rotation and a second direction of rotation corresponding to the target articulated disk based on the first angle of rotation and the first direction of rotation comprises:
determining a second rotating direction according to the first rotating direction, wherein the second rotating direction is consistent with the first rotating direction;
and determining the corresponding corner of the hinged disk when the steering wheel corner is the first rotation angle according to the corresponding relationship between the steering wheel corner and the hinged disk corner stored in advance, and taking the corresponding corner of the hinged disk as the second rotation angle.
2. The method of claim 1, further comprising:
determining whether the vehicle is in a driving state;
and under the condition that the vehicle is determined to be in the driving state, determining a second rotating angle and a second rotating direction corresponding to the target articulated disc according to the first rotating angle and the first rotating direction aiming at each target articulated disc.
3. The method of claim 2, wherein the determining whether the vehicle is in a driving state comprises:
acquiring braking state information of the vehicle, working state information of a motor of the vehicle and energization state information of the motor;
and if the braking state information indicates that the braking of the vehicle is released, the working state information indicates that the motor is in a working state, and the electrifying state information indicates that the motor is in an electrifying state, determining that the vehicle is in the running state.
4. The method of claim 1, wherein the articulation disc angle adjustment means comprises a first hydraulic cylinder disposed on a first side of the target articulation disc and a second hydraulic cylinder disposed on a second side of the articulation disc, the first and second hydraulic cylinders being retractable hydraulic cylinders;
according to the second turned angle and the second turned direction that the articulated dish of target corresponds, through the articulated dish angle adjusting device that the articulated dish of target corresponds carries out angle modulation to the articulated dish of target, include:
determining a first telescopic state of the first hydraulic cylinder and a second telescopic state of the second hydraulic cylinder according to the second rotating direction, wherein the first telescopic state and the second telescopic state are opposite;
determining a first expansion and contraction variable quantity of the first hydraulic cylinder and a second expansion and contraction variable quantity of the second hydraulic cylinder according to the second rotation angle;
and controlling the first hydraulic cylinder according to the first telescopic state and the first telescopic change amount, and controlling the second hydraulic cylinder according to the second telescopic state and the second telescopic change amount.
5. The method of claim 1, further comprising:
acquiring distance information between the vehicle and peripheral obstacles;
determining whether the vehicle meets a control correction condition according to the distance information;
if the fact that the vehicle meets the control correction condition is determined, determining a third rotating angle and a third rotating direction corresponding to the target articulated disc according to the distance information and the historical track information of the vehicle for each target articulated disc;
and aiming at each target hinged disk, adjusting the target hinged disk through a hinged disk angle adjusting device corresponding to the target hinged disk according to a third rotating angle and a third rotating direction corresponding to the target hinged disk.
6. The method according to any one of claims 1-5, further comprising:
and if the rotating angle of the target hinged disk reaches a preset angle threshold value, locking the target hinged disk so as to maintain the rotating angle of the hinged disk at the angle threshold value.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
8. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 6.
9. A vehicle for carrying out the steps of the method according to any one of claims 1 to 6.
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| CN202011066131.1A CN114312996B (en) | 2020-09-30 | 2020-09-30 | Vehicle control method, medium, device and vehicle |
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| CN202011066131.1A CN114312996B (en) | 2020-09-30 | 2020-09-30 | Vehicle control method, medium, device and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH11240461A (en) * | 1998-02-26 | 1999-09-07 | Honda Motor Co Ltd | Steering system for trailer |
| DE102008004158B4 (en) * | 2008-01-14 | 2011-10-27 | Volkswagen Ag | Stabilization device and method for stabilizing a reverse drive |
| US9393996B2 (en) * | 2012-01-06 | 2016-07-19 | Honda Motor Co., Ltd. | Reverse drive assist for long wheelbase dual axle trailers |
| CN103640628B (en) * | 2013-12-10 | 2016-01-20 | 江苏大学 | For half active articulated system and control method of fast public traffic system passenger vehicle |
| CN105857393B (en) * | 2016-04-11 | 2017-11-17 | 北京科技大学 | The differential boost line draining pressure forward method of full wheel independent electric drive articulator |
| CN108466610B (en) * | 2018-02-08 | 2019-12-03 | 江苏大学 | A kind of automatic assigned unit of caravan trailer brake force and its control method |
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