CN116167166A - Method and device for scheduling algorithm of chassis model, electronic equipment and storage medium - Google Patents
Method and device for scheduling algorithm of chassis model, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN116167166A CN116167166A CN202310163990.XA CN202310163990A CN116167166A CN 116167166 A CN116167166 A CN 116167166A CN 202310163990 A CN202310163990 A CN 202310163990A CN 116167166 A CN116167166 A CN 116167166A
- Authority
- CN
- China
- Prior art keywords
- chassis
- target
- algorithm
- point
- tracked
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application provides an algorithm scheduling method and device of a chassis model, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a driving steering mode of a target vehicle; determining position information of a point to be tracked according to a driving steering mode, wherein the point to be tracked is a center point of an object on which a target vehicle depends when steering is completed; acquiring structural parameters of a target vehicle according to the position information of the point to be tracked; and calling a target control algorithm belonging to the chassis model of the target vehicle from the chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula. By the method and the device, the problem that the chassis model algorithm in the related technology does not have universality is solved.
Description
Technical Field
The present disclosure relates to the field of engineering vehicle technologies, and in particular, to an algorithm scheduling method and apparatus for a chassis model, an electronic device, and a storage medium.
Background
In the design of engineering vehicles, different chassis structures are required to be designed to cope with different use scenes, so that a specific chassis model is aimed when a corresponding control algorithm is designed. For example, for a forklift truck, the steering motion is mainly realized by means of rotation of a rear wheel, and a common control algorithm is a pure tracking algorithm. For the collector, the steering is realized by the rotation of the front wheel, and correspondingly, the Stanley algorithm has relatively good control effect. For a multi-axle driven flat car, the motion mode is more complex and various, and various motion modes such as splayed steering, in-situ steering, oblique running, transverse running, normal steering and the like exist, and the applicable control algorithms are also different in different motion modes, so that the problem that the algorithm scheduling is carried out according to the type of the engineering vehicle is that independent algorithms are required to be designed for a certain type independently, and the universality of the algorithms is difficult to realize.
Therefore, in the related art, each type of engineering vehicle can only design a corresponding independent chassis model algorithm, and the chassis model algorithm has no problem of universality.
Disclosure of Invention
The application provides an algorithm scheduling method and device of a chassis model, electronic equipment and a storage medium, and aims to at least solve the problem that the chassis model algorithm cannot be universal among engineering vehicles of each type in the related technology.
According to an aspect of the embodiments of the present application, there is provided an algorithm scheduling method of a chassis model, including:
acquiring a driving steering mode of a target vehicle;
determining position information of a point to be tracked according to the driving steering mode, wherein the point to be tracked is a center point of an object on which the target vehicle depends when steering is completed;
acquiring structural parameters of the target vehicle according to the position information of the point to be tracked;
and calling a target control algorithm belonging to the chassis model of the target vehicle from a chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
According to another aspect of the embodiments of the present application, there is also provided an algorithm scheduling apparatus for a chassis model, including:
the first acquisition module is used for acquiring a driving steering mode of the target vehicle;
the first determining module is used for determining the position information of a point to be tracked according to the driving steering mode, wherein the point to be tracked is the center point of an object on which the target vehicle depends when steering is completed;
the second acquisition module is used for acquiring the structural parameters of the target vehicle according to the position information of the point to be tracked;
and the calling module is used for calling a target control algorithm belonging to the chassis model of the target vehicle from a chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
Optionally, the first determining module includes:
a first determining unit configured to determine a running track of the target vehicle according to the driving steering mode;
and the second determining unit is used for determining the position information of the point to be tracked according to the running track.
Optionally, the calling module includes:
the third determining unit is used for determining the chassis kinematics calculation formula according to the driving steering mode;
the obtaining unit is used for obtaining a target relation according to the structural parameters and the chassis kinematics calculation formula;
and the calling unit is used for calling the target control algorithm according to the target relation.
Optionally, the third determining unit includes:
the first acquisition submodule is used for acquiring the rotation speed of the left differential wheel and the rotation speed of the right differential wheel under the condition that the driving steering mode is the driving wheel axle steering;
and the determining submodule is used for respectively determining the corresponding chassis kinematics calculation formula according to any value of 0 or all values of 0 existing between the rotating speed of the left differential wheel and the rotating speed of the right differential wheel.
Optionally, the calling unit includes:
the second acquisition sub-module is used for acquiring the position information of the point to be tracked;
and the calling sub-module is used for calling the target control algorithm by taking the position information of the point to be tracked and the target relation as a calling interface.
Optionally, the apparatus further comprises:
the setting module is used for setting a calling algorithm plug-in before the target control algorithm of the chassis model belonging to the target vehicle is called from the chassis model algorithm set, wherein the calling algorithm plug-in comprises the chassis model algorithm set;
and the matching module is used for traversing the chassis model algorithm set according to the calling interface after receiving the calling information and matching the chassis model algorithm set with the target control algorithm.
Optionally, the apparatus further comprises:
the second determining module is used for determining a target object for driving the target vehicle to finish steering according to the driving steering mode and the point to be tracked after the target control algorithm of the chassis model belonging to the target vehicle is called from the chassis model algorithm set;
and the third acquisition module is used for executing calculation on the target object based on the target control algorithm and acquiring the steering angle of the target object.
According to yet another aspect of the embodiments of the present application, there is also provided an electronic device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus; wherein the memory is used for storing a computer program; a processor for performing the method steps of any of the embodiments described above by running the computer program stored on the memory.
According to a further aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the method steps of any of the embodiments described above when run.
In the embodiment of the application, according to the driving mode, the steering mode, the position information of the point to be tracked and the structural parameters of the target vehicle, the algorithm call adaptation and scheduling of crossing different chassis types are realized, multiple algorithms suitable for different engineering vehicle chassis models and motion modes can be subjected to unified scheduling management, engineering application is facilitated, the purpose of chassis model universality can be achieved, the technical effect of free smooth switching algorithm according to actual working scenes is achieved, and the problem that the chassis model algorithm does not have universality among engineering vehicles of each type in the related art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow diagram of an alternative method of algorithmic scheduling of chassis models in accordance with embodiments of the present application;
FIG. 2 is an alternative generic chassis model calculation schematic in accordance with an embodiment of the present application;
FIG. 3 is an alternative differential motion analysis schematic according to an embodiment of the present application;
FIG. 4 is an alternative front-to-rear wheel steering motion analysis schematic diagram in accordance with an embodiment of the present application;
FIG. 5 is a block diagram of an alternative algorithm scheduling apparatus for chassis models according to an embodiment of the present application;
fig. 6 is a block diagram of an alternative electronic device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the design of engineering vehicles, different chassis structures are required to be designed to cope with different use scenes, so that a specific chassis model is aimed when a corresponding control algorithm is designed. The intuitive solution is to schedule the algorithm in the type of the engineering vehicle. For example, a forklift class may be defined as a rear-wheel steering engineering vehicle, a truck class may be defined as a front-wheel steering engineering vehicle, a flatbed class may be defined as a front-wheel and rear-wheel independent driving engineering vehicle, and an excavator class may be defined as a track-type engineering vehicle.
However, there is a problem in that an independent algorithm needs to be designed for a certain type separately, and it is difficult to realize the versatility of the algorithm. For example, when the flat car turns with the rear wheels alone, a pure tracking algorithm can be called, and when the flat car turns with the front wheels alone, a Stanley (front wheel feedback control) algorithm needs to be called to obtain a better control effect. In order to solve the above problem, an embodiment of the present application proposes an algorithm scheduling method for a chassis model, as shown in fig. 1, the method may be applied to a server vehicle for algorithm scheduling, and the method may include the following steps:
step S101, obtaining a driving steering mode of a target vehicle;
step S102, determining position information of a point to be tracked according to a driving steering mode, wherein the point to be tracked is a center point of an object on which a target vehicle depends when steering is completed;
step S103, obtaining structural parameters of the target vehicle according to the position information of the points to be tracked;
step S104, calling a target control algorithm of a chassis model belonging to the target vehicle from a chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
Optionally, in the embodiment of the present application, with an engineering vehicle currently to be scheduled by a chassis model control algorithm as a target vehicle, a driving steering mode of the target vehicle is first obtained, including: differential wheel drive steering, front wheel steering, rear wheel drive steering, multi-axle drive steering, and the like. And then determining the center points such as a front axle center point, a geometric center point, a rear axle center point and the like which are relied on by the current target vehicle when the steering is completed according to the driving steering mode of the target vehicle, taking the center points as points to be tracked, acquiring the position information of the points to be tracked, and acquiring the structural parameters such as the front axle center distance, the rear axle center distance, the differential wheel center distance, the maximum amplitude of the steering angle of the front axle and the rear axle and the like of the target vehicle based on the position information of the points to be tracked.
After the structural parameters of the target vehicle are obtained, the structural parameters are combined with a chassis kinematic calculation formula, a relation formula of points to be tracked and control quantity is calculated according to a kinematic model of the universal chassis, and then a target control algorithm belonging to the target vehicle, such as a pure tracking algorithm, a front wheel feedback control algorithm and the like, is called from a chassis model algorithm set.
In the embodiment of the application, according to the driving mode, the steering mode, the position information of the point to be tracked and the structural parameters of the target vehicle, the algorithm call adaptation and scheduling of crossing different chassis types are realized, multiple algorithms suitable for different engineering vehicle chassis models and motion modes can be subjected to unified scheduling management, engineering application is facilitated, the purpose of chassis model universality can be achieved, the technical effect of free smooth switching algorithm according to actual working scenes is achieved, and the problem that the chassis model algorithm does not have universality among engineering vehicles of each type in the related art is solved.
As an alternative embodiment, determining the position information of the point to be tracked according to the driving steering mode includes:
determining the running track of the target vehicle according to the driving steering mode;
and determining the position information of the point to be tracked according to the running track.
Optionally, in this embodiment of the present application, the point to be tracked may include a front axis center point, a geometric center point, a rear axis center point, and the like, where the current running track and the subsequent running track of the target vehicle may be obtained according to the driving steering mode of the target vehicle, and then the position information of the point to be tracked may be determined based on the running track.
As an alternative embodiment, invoking a target control algorithm belonging to a chassis model of a target vehicle from a set of chassis model algorithms based on structural parameters and a chassis kinematic calculation formula, comprising:
determining a chassis kinematics calculation formula according to a driving steering mode;
obtaining a target relation according to the structural parameters and the chassis kinematics calculation formula;
and calling out a target control algorithm according to the target relation.
Optionally, as shown in fig. 2, fig. 2 is an optional general chassis model calculation schematic according to an embodiment of the present application, where θ: the current attitude angle of the vehicle; alpha: front wheel corner; beta: rear wheel steering angle; a: the center position of the front axle; b: the center of the left differential wheel; c: the center of the right differential wheel; d: the center position of the rear axle; e: geometric center position; l: the distance from the front axle to the rear axle; d: the center distance of the differential wheel; vl: the rotation speed of the differential wheel at the left side; vr: right differential wheel speed; ve: geometric center speed; xoy: a vehicle body coordinate system; XOY: and a global coordinate system.
The common points to be tracked are: the front axle center position a, the rear axle center position D, and the geometric center position E define the counterclockwise direction as the angular positive direction, i.e., there is a front wheel rotation angle α >0 in fig. 2, and a rear wheel rotation angle β <0.
According to fig. 2, a differential motion analysis schematic diagram shown in fig. 3 and a front-rear wheel steering motion analysis schematic diagram shown in fig. 4 can be obtained. In the embodiments of the present application, the chassis kinematic calculation formula is related to the driving steering mode of the target vehicle, such as steering by driving the front axle, steering by driving the rear axle, and so on.
If it is determined that the driving steering mode of the target vehicle is driving wheel axle steering, the point to be tracked is the center of the rear axle, namely the point D, only front wheel steering is used, and the rear wheels are kept horizontal to the vehicle body, and at this time, the differential wheel motion analysis shown in fig. 3 corresponds to the following chassis kinematics calculation formula:
r is O r Radius of (2); r is R a Marked in FIG. 4 as O r Distance to point a; r is R d Marked in FIG. 4 as O r Distance to point D.
E point:
angular velocity: omega e ＝ω＝(v l -v r )/d
Speed of: v e ＝(v l +v r )/2
Point A:
angular velocity: omega a ＝ω＝(v l -v r )/d
Speed of: v a ＝ω*R a
And D point:
angular velocity: omega d ＝ω＝(v l -v r )/d
Speed of: v d ＝ω*R d
Then after the chassis kinematic calculation formula is determined, the structural parameters of the target vehicle are input into the chassis kinematic calculation formula, and then the target relation is obtained:
1. setting structural parameter v l ＝0，v r ＝0β＝0；
2. Substituting the parameter value determined in 1 into a chassis kinematics calculation formula to obtain a new target relation, namely:
at this time, the target relation can be used as a calling interface to call the target control algorithm
And the position information of the point to be tracked and the target relation can be used as a calling interface to call a target control algorithm.
If it is determined that the driving steering mode of the target vehicle is the driving wheel axle steering mode, the running track is the crab mode, the point to be tracked is the geometric center, namely the point E, and front and rear wheel steering is used simultaneously, at this time, the analysis of the front and rear wheel steering motion shown in FIG. 4 corresponds to the following chassis kinematics calculation formula:
R a where is O r Distance to point a; r is R d Is the distance from Or to point D; r is R e Is the distance from Or to point E.
E point:
angular velocity: omega e ＝ω
Speed of: v e ＝ω*R e
Point A:
angular velocity: omega a ＝ω
Speed of: v a ＝ω*R a
And D point:
angular velocity: omega d ＝ω
Speed of: v d ＝ω*R d
Then after the chassis kinematic calculation formula is determined, the structural parameters of the target vehicle are input into the chassis kinematic calculation formula, and then the target relation is obtained:
1. setting structural parameter v l ＝0，v r ＝0，α＝β；
2. Substituting the parameter value determined in 1 into a chassis kinematics calculation formula to obtain a new target relation, namely: v e ＝v d ＝v a ，
At this time, the target relation can be used as a calling interface to call the target control algorithm.
And the position information of the point to be tracked and the target relation can be used as a calling interface to call a target control algorithm.
In the embodiment of the application, the relation of three common tracking points is given based on the universal chassis model, so that the input interfaces of different control algorithms are unified, and the scheduling of different algorithms can be realized through different parameter configurations, thereby facilitating the comparison and optimization of the algorithms.
As an alternative embodiment, determining the chassis kinematic calculation formula according to the driving steering mode includes:
under the condition that the driving steering mode is driving wheel shaft steering, obtaining the rotation speed of a left differential wheel and the rotation speed of a right differential wheel;
and respectively determining corresponding chassis kinematic calculation formulas according to any value of 0 or all values of 0 existing between the left differential wheel rotating speed and the right differential wheel rotating speed.
Alternatively, in determining which chassis kinematic calculation formula to bring the structural parameter into, it is employed whether any of the left-side differential rotational speed and the right-side differential rotational speed is 0 or all of them are 0. The chassis kinematic calculation formula in fig. 3 corresponds to any one of the values 0, and the chassis kinematic calculation formula in fig. 4 corresponds to all of the values 0.
According to the embodiment of the application, different algorithms are called through selection of the chassis kinematics calculation formula, and free and smooth switching according to actual working scenes can be achieved.
As an alternative embodiment, before invoking the target control algorithm belonging to the chassis model of the target vehicle from the set of chassis model algorithms, the method further comprises:
setting a calling algorithm plug-in, wherein the calling algorithm plug-in comprises a chassis model algorithm set;
after receiving the call information, traversing the chassis model algorithm set according to the call interface, and matching to the target control algorithm.
Optionally, in the embodiment of the present application, a call algorithm related plug-in is provided in advance, which integrates a variety of chassis model calculation algorithms, such as a pure tracking model, a Stanley algorithm, an LQR (Linear Quadratic Regulator ) algorithm, an MPC (Model Predictive Control, model predictive control) algorithm, and the like.
After receiving the call information for calling the control algorithm, traversing each algorithm in the chassis model algorithm set according to the call interface, and matching the algorithm to the target control algorithm.
The embodiment of the application is provided with a chassis model algorithm set to realize algorithm call adaptation across different chassis types.
After invoking the target control algorithm belonging to the chassis model of the target vehicle from the set of chassis model algorithms, the method further comprises:
determining a target object for driving the target vehicle to finish steering according to the driving steering mode and the point to be tracked;
and executing calculation on the target object based on the target control algorithm to acquire the steering angle of the target object.
Optionally, after the target control algorithm is obtained, determining whether the front wheels finish the steering of the vehicle or the rear wheels finish the steering of the vehicle according to the driving steering mode and the point to be tracked, and the like, wherein the front wheels and the rear wheels are target objects for finishing the steering of the driving target vehicle. And calling a target control algorithm to calculate a target object, acquiring a steering angle of the target object and finally outputting the steering angle to an actuator. For example, fig. 3 is a diagram of the pure tracking algorithm being invoked to calculate the steering angle of the front wheels and finally output to the actuator. FIG. 4 is a graph of the front and rear wheel steering angles calculated by invoking the correlation algorithm corresponding to the crab mode and finally output to the actuator.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the embodiments of the present application.
According to another aspect of the embodiments of the present application, there is also provided an algorithm scheduling apparatus for a chassis model for implementing the algorithm scheduling method for a chassis model described above. FIG. 5 is a block diagram of an alternative chassis model algorithm scheduling apparatus according to an embodiment of the present application, as shown in FIG. 5, which may include:
a first obtaining module 501, configured to obtain a driving steering mode of a target vehicle;
the first determining module 502 is configured to determine, according to a driving steering manner, position information of a point to be tracked, where the point to be tracked is a center point of an object on which the target vehicle depends when steering is completed;
a second obtaining module 503, configured to obtain structural parameters of the target vehicle according to the position information of the point to be tracked;
a calling module 504, configured to call a target control algorithm belonging to a chassis model of the target vehicle from the chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
It should be noted that, the first obtaining module 501 in this embodiment may be used to perform the above-mentioned step S101, the first determining module 502 in this embodiment may be used to perform the above-mentioned step S502, the second obtaining module 503 in this embodiment may be used to perform the above-mentioned step S103, and the calling module 504 in this embodiment may be used to perform the above-mentioned step S104.
Through the module, according to the driving mode, the steering mode, the position information of the point to be tracked and the structural parameters of the target vehicle, the algorithm call adaptation and scheduling of crossing different chassis types are realized, multiple algorithms suitable for different engineering vehicle chassis models and motion modes can be uniformly scheduled and managed, engineering application is facilitated, the purpose of chassis model universality can be achieved, the technical effect of free smooth switching algorithm according to actual working scenes is achieved, and the problem that the chassis model algorithm does not have universality among each type of engineering vehicles in the related technology is solved.
As an alternative embodiment, the first determining module includes:
a first determining unit for determining a running track of the target vehicle according to the driving steering mode;
and the second determining unit is used for determining the position information of the point to be tracked according to the running track.
As an alternative embodiment, the calling module includes:
the third determining unit is used for determining a chassis kinematics calculation formula according to the driving steering mode;
the obtaining unit is used for obtaining a target relation according to the structural parameters and the chassis kinematics calculation formula;
and the calling unit is used for calling out the target control algorithm according to the target relation.
As an alternative embodiment, the third determining unit comprises:
the first acquisition submodule is used for acquiring the rotation speed of the left differential wheel and the rotation speed of the right differential wheel under the condition that the driving steering mode is determined to be the driving wheel axle steering;
and the determining submodule is used for respectively determining corresponding chassis kinematics calculation formulas according to any value of 0 or all values of 0 existing between the rotating speed of the left differential wheel and the rotating speed of the right differential wheel.
As an alternative embodiment, the calling unit comprises:
the second acquisition sub-module is used for acquiring the position information of the point to be tracked;
and the calling sub-module is used for taking the position information of the point to be tracked and the target relation as a calling interface and calling a target control algorithm.
As an alternative embodiment, the apparatus further comprises:
the system comprises a setting module, a calling algorithm plug-in and a control module, wherein the setting module is used for setting the calling algorithm plug-in before a target control algorithm of a chassis model belonging to a target vehicle is called from a chassis model algorithm set, and the calling algorithm plug-in comprises the chassis model algorithm set;
and the matching module is used for traversing the chassis model algorithm set according to the calling interface after receiving the calling information and matching the chassis model algorithm set to the target control algorithm.
As an alternative embodiment, the apparatus further comprises:
the second determining module is used for determining a target object for driving the target vehicle to finish steering according to the driving steering mode and the point to be tracked after a target control algorithm of a chassis model belonging to the target vehicle is called from the chassis model algorithm set;
and the third acquisition module is used for executing calculation on the target object based on the target control algorithm and acquiring the steering angle of the target object.
According to still another aspect of the embodiments of the present application, there is further provided an electronic device for implementing the algorithm scheduling method of the chassis model described above, where the electronic device may be a server, a terminal, or a combination thereof.
Fig. 6 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 601, a communication interface 602, a memory 603, and a communication bus 604, as shown in fig. 6, wherein the processor 601, the communication interface 602, and the memory 603 perform communication with each other via the communication bus 604, wherein,
a memory 603 for storing a computer program;
the processor 601 is configured to execute the computer program stored in the memory 603, and implement the following steps:
acquiring a driving steering mode of a target vehicle;
determining position information of a point to be tracked according to a driving steering mode, wherein the point to be tracked is a center point of an object on which a target vehicle depends when steering is completed;
acquiring structural parameters of a target vehicle according to the position information of the point to be tracked;
and calling a target control algorithm belonging to the chassis model of the target vehicle from the chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
Alternatively, in the present embodiment, the above-described communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The memory may include RAM or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
As an example, as shown in fig. 6, the memory 603 may include, but is not limited to, a first obtaining module 501, a first determining module 502, a second obtaining module 503, and a calling module 504 in the algorithm scheduling apparatus including the chassis model. In addition, other module units in the algorithm scheduling apparatus of the chassis model may be further included, but are not limited to, and are not described in detail in this example.
The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
In addition, the electronic device further includes: and the display is used for displaying the algorithm scheduling result of the chassis model.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
It will be understood by those skilled in the art that the structure shown in fig. 6 is only schematic, and the device implementing the algorithm scheduling method of the chassis model may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palm computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 6 is not limited to the structure of the electronic device described above. For example, the terminal device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in fig. 6, or have a different configuration than shown in fig. 6.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.
According to yet another aspect of embodiments of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used for executing the program code of the algorithm scheduling method of the chassis model.
Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.
Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:
acquiring a driving steering mode of a target vehicle;
determining position information of a point to be tracked according to a driving steering mode, wherein the point to be tracked is a center point of an object on which a target vehicle depends when steering is completed;
acquiring structural parameters of a target vehicle according to the position information of the point to be tracked;
and calling a target control algorithm belonging to the chassis model of the target vehicle from the chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.
According to yet another aspect of embodiments of the present application, there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium; the computer instructions are read from the computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the algorithm scheduling method steps of the chassis model in any of the embodiments described above.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions to cause one or more computer devices (which may be personal computers, servers or network devices, etc.) to execute all or part of the steps of the algorithm scheduling method of the chassis model of the various embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and are merely a logical functional division, and there may be other manners of dividing the apparatus in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (10)
1. An algorithm scheduling method for a chassis model, the method comprising:
acquiring a driving steering mode of a target vehicle;
determining position information of a point to be tracked according to the driving steering mode, wherein the point to be tracked is a center point of an object on which the target vehicle depends when steering is completed;
acquiring structural parameters of the target vehicle according to the position information of the point to be tracked;
and calling a target control algorithm belonging to the chassis model of the target vehicle from a chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
2. The method according to claim 1, wherein determining the position information of the point to be tracked according to the driving steering manner includes:
determining the running track of the target vehicle according to the driving steering mode;
and determining the position information of the point to be tracked according to the running track.
3. The method of claim 1, wherein invoking the target control algorithm for the chassis model belonging to the target vehicle from a set of chassis model algorithms based on the structural parameters and a chassis kinematic calculation formula comprises:
determining the chassis kinematics calculation formula according to the driving steering mode;
obtaining a target relation according to the structural parameters and the chassis kinematics calculation formula;
and calling the target control algorithm according to the target relation.
4. A method according to claim 3, wherein said determining said chassis kinematic calculation formula according to said drive steering mode comprises:
under the condition that the driving steering mode is driving wheel shaft steering, obtaining the rotation speed of a left differential wheel and the rotation speed of a right differential wheel;
and determining the corresponding chassis kinematics calculation formula according to any value of 0 or all values of 0 existing between the left differential wheel rotating speed and the right differential wheel rotating speed.
5. A method according to claim 3, wherein said invoking the target control algorithm according to the target relation comprises:
acquiring the position information of the point to be tracked;
and calling the target control algorithm by taking the position information of the point to be tracked and the target relation as a calling interface.
6. The method of claim 5, wherein prior to invoking the target control algorithm belonging to the chassis model of the target vehicle from the set of chassis model algorithms, the method further comprises:
setting a calling algorithm plug-in, wherein the calling algorithm plug-in comprises the chassis model algorithm set;
after receiving the call information, traversing the chassis model algorithm set according to the call interface, and matching the chassis model algorithm set with the target control algorithm.
7. The method according to any one of claims 1 to 6, characterized in that after the invoking of the target control algorithm belonging to the chassis model of the target vehicle from the set of chassis model algorithms, the method further comprises:
determining a target object for driving the target vehicle to finish steering according to the driving steering mode and the point to be tracked;
and executing calculation on the target object based on the target control algorithm to acquire the steering angle of the target object.
8. An algorithmic scheduling apparatus for chassis models, the apparatus comprising:
the first acquisition module is used for acquiring a driving steering mode of the target vehicle;
the determining module is used for determining the position information of a point to be tracked according to the driving steering mode, wherein the point to be tracked is the center point of an object on which the target vehicle depends when steering is completed;
the second acquisition module is used for acquiring the structural parameters of the target vehicle according to the position information of the point to be tracked;
and the calling module is used for calling a target control algorithm belonging to the chassis model of the target vehicle from a chassis model algorithm set according to the structural parameters and the chassis kinematic calculation formula.
9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus, characterized in that,
the memory is used for storing a computer program;
the processor is configured to perform the method steps of any of claims 1 to 7 by running the computer program stored on the memory.
10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program, wherein the computer program, when executed by a processor, implements the method steps of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310163990.XA CN116167166A (en) | 2023-02-15 | 2023-02-15 | Method and device for scheduling algorithm of chassis model, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310163990.XA CN116167166A (en) | 2023-02-15 | 2023-02-15 | Method and device for scheduling algorithm of chassis model, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116167166A true CN116167166A (en) | 2023-05-26 |
Family
ID=86419802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310163990.XA Pending CN116167166A (en) | 2023-02-15 | 2023-02-15 | Method and device for scheduling algorithm of chassis model, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116167166A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117972910A (en) * | 2024-03-29 | 2024-05-03 | 湖南大学 | Steering system collaborative design method of multi-axis intelligent chassis |
-
2023
- 2023-02-15 CN CN202310163990.XA patent/CN116167166A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117972910A (en) * | 2024-03-29 | 2024-05-03 | 湖南大学 | Steering system collaborative design method of multi-axis intelligent chassis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109434831B (en) | Robot operation method and device, robot, electronic device and readable medium | |
| CN109648571A (en) | Teaching trajectory reproducing method, system and the robot of industrial robot | |
| CN116167166A (en) | Method and device for scheduling algorithm of chassis model, electronic equipment and storage medium | |
| US20220412742A1 (en) | Coordinate determination method and apparatus, computer device and storage medium | |
| CN111319041B (en) | Robot pose determining method and device, readable storage medium and robot | |
| DE102021121715A1 (en) | ANOMALITY DETECTION IN MULTIDIMENSIONAL SENSOR DATA | |
| CN111332279A (en) | Parking path generation method and device | |
| CN116872950A (en) | Vehicle driving track prediction method and device, electronic equipment and storage medium | |
| CN113553881A (en) | Parking space detection method and related device | |
| CN112157651B (en) | Pose determination method and device and robot | |
| CN112720478B (en) | Robot torque control method and device, readable storage medium and robot | |
| CN111223193B (en) | Object rotation method, rotation device, terminal device, and computer-readable storage medium | |
| CN116534123B (en) | Trailer transverse control method and device and target trailer | |
| CN113788017A (en) | Lane keeping control method, system, electronic device and storage medium | |
| CN115303291B (en) | Trailer trajectory prediction method and device for towed vehicle, electronic device and storage medium | |
| CN115230696B (en) | Centering control method for single-lane running of vehicle | |
| CN115269763B (en) | Local point cloud map updating and maintaining method and device, mobile tool and storage medium | |
| CN111832142A (en) | Method and apparatus for outputting information | |
| CN115675454B (en) | Vehicle collision recognition method, vehicle-mounted terminal, vehicle, and storage medium | |
| CN114940178B (en) | Method, device and storage medium for predicting pose of multi-axis vehicle | |
| CN116215654A (en) | Steering control method and device for horizontal transport vehicle and computer equipment | |
| CN115793663A (en) | Automatic navigation vehicle path control method and device and terminal equipment | |
| CN117032177A (en) | Vehicle vertical and horizontal coupling domain control system and method | |
| CN118377298A (en) | Formation butt joint control method and device for intelligent network-connected buses | |
| CN115257779A (en) | Vehicle cornering stiffness calculation method, device and equipment and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |