44results about How to "Improve parking accuracy" patented technology

The present invention relates to a method for achieve automatic driving curve generation between stations during operation by an automatic train driving system. The method comprises that: the system real timely acquires operation information of an automatic train monitoring system, train parameter information and track information of a track database; the driving curve information at each operation stage between the stations is real timely and adaptively calculated; the key point information at each operation stage between the stations is extracted and recorded according to the driving curve information; the best automatic driving curve of the train between the stations during the operation is real timely generated. With adopting the method for achieve the automatic driving curve generation between the stations during the operation by the automatic train driving system, a plurality of disadvantages of the train in the automatic driving process are effectively overcome; the advantages of higher comfort, good energy saving effect, high parking precision, easy adjustment, stable and reliable work performance, and wide application range are provided; the purposes of punctual operation, energy saving operation, high comfort operation, safe and smooth operation of the train are achieved, and the operation requirements of the CBTC system are completely met.

A method for determining an ego-motion of a vehicle is described, which is carried out in driver assistance systems, particularly in parking assistance systems. The method involves: taking a sequence of images, successive in time of a vehicle surroundings by a vehicle camera; determining, based on the image sequence, at least one motion flow with regard to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow.

The invention discloses a braking method for the automatic driving of a train. The braking method comprises the following steps of: calculating the shortest distance S2 including a braking traction resection distance, a coasting distance, a braking exertion distance and a braking release distance for automatic driving of the train, and calculating the shortest distance S1 of performing traction, coasting and braking control for the automatic driving of the train; before the automatic driving of the train is controlled, if the distance between the current position of the train and the front stopping spot is larger than S1 and smaller than S2, and the distance between the current position of the train and the front stopping spot is smaller than v<2> / 2a, controlling the train to start brakingat a constant accelerated speed a; if the distance between the current position of the train and the front stopping spot is larger than S1 and smaller than S2, and the distance between the current position of the train and the front stopping spot is larger than v<2> / 2a, controlling the train to accelerate to a speed v at a certain constant accelerated speed and then run at a constant speed; and if the distance between the train and the front stopping spot is smaller than or equal to S1 during control on the automatic driving of the train, outputting a preset constant accelerated speed b and outputting the maximum brake on the stopping spot to stop the train. Compared with the prior art, the method disclosed by the invention is higher in stopping accuracy.

The invention relates to a method and to a device for increasing the stopping accuracy of a moving object, in particular a rail vehicle (1), at a predetermined stopping point (7), wherein an RFID (Radio Frequency Identification) signal generated at the stopping point is received by the object and is used as a guidance variable for approaching the stopping point (7).

The invention relates to the technical field of AGV positioning. The invention relates to a positioning method, in particular to a positioning method integrating laser SLAM and two-dimensional code navigation and a carrying platform. A laser SLAM navigation system is used for enabling a carrying platform vehicle body to move to a two-dimensional code marking position near a terminal point througha driving mechanism; the two-dimensional code scanner scans the two-dimensional code; the ID information of the two-dimensional code is obtained, and the accurate pose deviation of the carrying platform vehicle body is calculated through the vehicle control unit assembly; then the process enters a secondary positioning state, wherein an originally used global coordinate is changed into a relativecoordinate of a two-dimensional code coordinate system; the vehicle control unit assembly plans a feasible curve path according to the starting point coordinates and the corner point coordinates of the carrying platform vehicle body, and the carrying platform vehicle body is driven by the rear servo steering wheel assembly and the front servo steering wheel assembly to smoothly move to the terminal point. According to the technical scheme, the defects that in the prior art, AGV parking precision is low, the structure is complex, and cost is high can be effectively overcome.

The invention discloses a rail traffic signal product vehicle positioning calibration system based on a virtual beacon. The rail traffic signal product vehicle positioning calibration system based onthe virtual beacon comprises rail side subject matters, a rail map data storage and updating module, a positioning sensor and a train positioning module, wherein the rail side subject matters are arranged beside train running rails, each subject matter has the characteristic of being different from the other matters; the rail map data storage and updating module is used for storing rail map data,the rail map data comprise the characteristics of the subject matters beside the rails and is synchronously updated when the characteristics of the subject matters beside the rails change; the positioning sensor is provided with at least two positioning sensor bodies, and at least one of the positioning sensor bodies collects characteristic information of subject matters on two sides of the railsand vehicle positioning is realized in combination with rail map data; and the train positioning module is used for fusing the vehicle positioning information of the at least two positioning sensor bodies and approving final vehicle positioning information by voting. By adopting the technical scheme that the position of the vehicle-mounted equipment is calculated in real time through multi-sensorsynchronous acquisition and sensing fusion, the positioning resolution and the positioning accuracy of the vehicle-mounted equipment are improved, and the parking accuracy is conveniently improved.

The invention discloses a secure computer module and a secure computer. The secure computer module comprises a first channel and a second channel. The first channel and the second channel form a two-out-of-two structure. The first channel comprises a first central processing unit CPU. The second channel includes a second CPU, the first CPU and the second CPU operate ATP software by creating a train automatic protection ATP software thread and operate ATO software by creating a train automatic driving ATO software thread respectively, and the priority of the ATP software thread is higher than that of the ATO software thread. The ATP software thread is created through the first CPU of the first channel and the second CPU of the second channel respectively to operate the ATP software, and theATO software thread is used for operating the ATO software, so that the communication delay between the ATP software and the ATO software is reduced, and the parking precision of the train control system is improved.

The invention provides a subway train speed automatic control method based on a second-order ADRC algorithm. The method comprises the following steps of: arranging a transition process from the running target speed of the train through a tracking differentiator, extracting a differential signal and then acquiring a tracking speed and a tracking acceleration, acquiring an observation disturbance, an observation speed and an observation acceleration after the actual running speed of the train passes through an extended state observer to estimate the state of an object and the uncertain disturbance effect, and processing the tracking speed error and the tracking acceleration error through a nonlinear feedback link to obtain an output quantity, and subtracting the product of the observation disturbance and the reciprocal of the system gain from the output quantity to obtain a system control quantity. the system control quantity is converted to a control force of a mathematical model of thetrain, and the control force is outputted to the mathematical model of the train. According to the method, the speed tracking error is corrected by combining the advantages of the ADRC algorithm, sothat the speed tracking error is reduced, the train is controlled more accurately, and the train can run more stably.

The invention discloses a vehicle composite braking control method, device and system, as well as a vehicle composite braking controller. The method comprises the following steps: calculating to determine a total braking force needed by a vehicle, and calculating to determine exerted braking forces needed by various braking modes, respectively distributing the braking forces to the corresponding controller, and realizing vehicle braking by the controller in response to the distributed output braking forces. The method, device and system, as well as the controller are capable of solving problems that in the prior art, braking force response is slow, the efficiency is low and the reliability is poor, and have the advantages of better braking control efficiency, better reliability and the like.

The invention relates to the technical field of automatic driving, and provides an all-round view parking space detection result processing method and device, equipment and a storage medium. After determining that the matching reliability between the detection result of the frame and the estimation result of the previous frame is greater than or equal to the matching reliability threshold, the Kalman filtering model obtains the prediction result of the frame according to the vehicle state information at the shooting moment of the frame and the estimation result of the previous frame; based onthe set measurement noise covariance matrix (available R characterization) and prediction noise covariance matrix (available Q characterization), a current frame estimation result is obtained by usingthe current frame prediction result and the current frame detection result; wherein R in negative correlation with the matching reliability and Q in positive correlation with the matching reliabilitycan be determined based on the matching reliability, so that when the Kalman filtering model obtains the estimation result of the frame, the Kalman filtering model can selectively take the predictionresult of the frame as the principal thing or the detection result of the frame as the principal thing, the deviation with the actual parking space is reduced, and the parking accuracy is improved.

The invention relates to a method and an apparatus for determining the movement of a synchronous machine (1). The apparatus for determining the movement of a synchronous machine comprises a determination for at least one electrical magnitude (4,4') of the synchronous machine; a determination (9) of the position error of the rotor of the synchronous machine, which is fitted to determine the position error (8) of the rotor on the basis of the aforementioned at least one electrical magnitude (4) of the synchronous machine; and also a correction (10) of the movement signal of the incremental sensor, which is fitted to correct the read movement signal (3) of the incremental sensor on the basis of the aforementioned determination (9) of the position error of the rotor of the synchronous machine.

The invention relates to an automatic driving vehicle parking control method and device, and belongs to the technical field of automatic driving passenger cars. The control method comprises the following steps of obtaining the actual off-station distance between a vehicle and a front parking point, the current deceleration of the vehicle and the current vehicle speed, and estimating the braking distance according to the current deceleration of the vehicle and the current vehicle speed; obtaining a parking control error according to the difference between the actual off-station distance and thebraking distance; obtaining a given deceleration through PID control according to the parking control error; controlling the brake using the difference between the given deceleration and the currentdeceleration as a controlled variable for brake control or using the given deceleration as a controlled variable for brake control. According to the method, the deceleration is controlled according tothe error between the actual off-station distance and the estimated braking distance, and then the brake is controlled to decelerate, so that the vehicle can be stably parked.

The invention relates to a method and system for assisting automatic parking of an unmanned vehicle based on GPS, which are suitable for side direction parking, the method comprise the following stepsof: acquiring GPS position information of a parking space at a target area; obtaining minimum turning radius information and brake distance information of the vehicle; dotting according to the GPS position information, marking the middle point of the parking space entrance according to the parking space dotting information; setting a turning point and a speed reduction point according to the middle point of the parking space entrance, the minimum turning radius information and the brake distance information; and generating an optimal parking driving track according to the preset turning angle, the turning point and the deceleration point. By setting auxiliary points by using the GPS, the position, the angle and the speed, when the vehicle enters the parking space, are guided to appropriate values, so that the optimal parking driving track is generated, the uncertainty is reduced, and the parking accuracy is improved.

The invention discloses an image type reversing guiding method, and belongs to the field of intelligent transportation. The method comprises the steps that detection data for a plurality of obstaclesacquired by a distance measuring device arranged on a vehicle is acquired; position information of each obstacle is determined according to the detection data, wherein the position information comprises distance between the obstacles and the vehicle and azimuthal angles of the obstacles relative to the vehicle; an obstacle corresponding to the distance less than a predetermined value is determinedas a target obstacle; position information of the target obstacle is displayed through a display screen; the problem of misjudgment easily occurring due to the fact that a driver cannot intuitively determine the position of the obstacles around a vehicle body during parking is solved; and the effects of providing convenience for the driver to know the surrounding environment of the vehicle duringparking, improving the accuracy of parking, and avoiding bump and collision are achieved.

The invention relates to a system for assisting accurate parking of a subway train at a platform. The system comprises a master controller, a first sub-system and a second sub-system, wherein the first sub-system is used for assisting parking during manual driving of the train, the second sub-system is used for assisting parking during automatic driving of the train, the first sub-system and the second sub-system are connected to the master controller, the first sub-system comprises a speed reduction prompt device arranged on the platform, the speed reduction prompt device is used for displaying the optimal train speed of the train to a train driver, the second sub-system comprises a carried passenger mass measuring device arranged in a carriage, the carried passenger mass measuring deviceis used for measuring the carried passenger mass of the train and sending the carried passenger mass to an automatic train driving system, and the automatic train driving system controls the runningspeed according to the carried passenger mass of the train. Compared with the prior art, the system has the advantages that parking assistance in the manual driving mode and the automatic driving modeof the train can be realized, so that the parking precision of the subway train at the platform can be comprehensively improved.

The invention discloses a rapid and accurate train stopping method based on state identification. The method comprises the following steps: firstly, acquiring basic data, then planning a train stopping speed-distance reference curve according to the basic data, solving a braking level, then planning a train reference stopping curve, and forming a speed-distance curve cluster; and enabling the train to stop according to the settled brake level, when the running time of the train exceeds the brake adjustment time, carrying out rapid matching according to the actual running speed-distance curve of the train and the generated curve cluster, and updating the train reference curve according to the matching result. Train running state deviation caused by uncertain factors such as vehicle characteristic deviation, braking system response process deviation, train weight deviation and the like is considered, the train reference speed curve is adjusted so that the train stopping precision is improved, errors of a controller tracking curve and the reference stopping curve are reduced by adjusting the train reference stopping curve, a train control level fluctuation is decreased, and the riding comfort of passengers is improved.

The invention provides a shared vehicle returning processing method and device and a shared vehicle. The method comprises the steps of detecting whether a shared vehicle is subjected to a vehicle returning event or not; acquiring a target image acquired by a camera arranged on a basket of the shared vehicle under the condition that the shared vehicle is detected to have the vehicle returning event; according to the target image, detecting whether the shared vehicle meets a fixed-point directional parking condition or not; and under the condition that the shared vehicle meets the fixed-point directional parking condition, a vehicle lock is controlled to be locked.

The invention discloses a train parking method and device, computer equipment and a storage medium. The train parking method comprises the steps: acquiring a historical tracking curve and a historicalbraking curve of a previous train adjacent to a current train; processing the historical tracking curve and the historical braking curve to obtain a current braking curve of the current train; and ifan arrival signal that the current train arrives at the preset position is received, controlling the current train to stop according to the current braking curve. According to the method, the parkingprecision of the current train can be ensured, and the number of equipment (including but not limited to responders) for triggering the arrival signal is relatively small, so that the cost is greatlyreduced.

The invention provides a vehicle skylight slide rail assembly overturning device. The device comprises a conveying rail; a carrying plate is arranged on the conveying rail; a fixed bracket is arranged on the carrying plate; a hoisting rotating plate is arranged on the conveying rail; a lifting cylinder is arranged at the lower end of the hoisting rotating plate; a rotating motor is arranged between the hoisting rotating plate and the lifting cylinder; a limiting stopper is arranged beside the hoisting rotating plate; a clamping lifting block is arranged on the hoisting rotating plate; a buckle is arranged on the carrying plate; and when the carrying plate is in place, the clamping lifting block is lifted up to clamp in the buckle to fix the carrying plate. Skylights are transported through the carrying plate; the hoisting rotating plate drives the carrying plate to overturn to prevent manual position change, so that the working efficiency is improved; the carrying plate and the hoisting rotating plate are clamped through the clamping lifting block and the buckle to improve the production safety; and a contact sensor and a carrying plate stopper control the positions of the carrying plate and the hoisting rotating plate to improve the placing precision.

The invention provides a train fault-tolerant control method which comprises the following steps: carrying out train longitudinal motion stress analysis on the basis of a multi-mass-point model, and establishing a train nonlinear state space expression under an actuator fault by taking the real-time displacement and the real-time speed of each compartment as state variables; constructing a T-S fuzzy rule, and establishing a train T-S fuzzy control system expression; designing a disturbance observer, compensating the influence of modeling disturbance on the train drivability, and establishing a disturbance error state space expression; constructing a candidate sub-Lyapunov function, and solving a gain coefficient of the disturbance observer by using a linear matrix inequality; defining a train operation displacement tracking error and a speed tracking error based on a train operation reference trajectory, and designing a train operation fault-tolerant control method based on T-S fuzzy logic and a separation principle; and constructing a candidate Lyapunov function of the total system to verify the stability of the system, solving a controller gain coefficient by using a linear matrix inequality, and ensuring that the train can still maintain expected performance and operate safely when an actuator of the train fails.

The invention discloses a target trajectory discretization method and a parking path tracking error optimization method and system. The method comprises the following steps: updating a path, calculating a central angle deltA of an arc, a central angle StepA between points and a total point number, and finally calculating a position coordinate of each point; and calculating the total length and the slope of the straight line, and finally calculating the coordinate of each point, and for the combination of the arc and the straight line, if the last section remains the Last PhaseRes, calculating the target course angle of each discrete point from the place of the preset distance Last PhaseRes in the next section. The method is used for calculating and optimizing the path tracking error in the parking process in the scenes of parallel parking spaces, vertical parking spaces, inclined parking spaces and the like, so that the parking precision is improved, and the parking effect and experience are improved.

The invention proposes an automatic guided transport vehicle AGV and a motion control method and device, and relates to the field of logistics technology. Among them, an AGV motion control method of the present invention includes: determining the AGV's travel plan based on the path length and predetermined deceleration, which includes the maximum driving speed and deceleration point; and driving the AGV movement according to the travel plan. Through this method, the itinerary plan can be determined based on the length of the path that the AGV needs to travel and the deceleration of the AGV, so that the AGV can travel according to the itinerary plan, making the AGV's itinerary more targeted and ensuring that the AGV can stop at the destination more accurately. location, improve parking accuracy, reduce time waste, improve operating efficiency, and meet high-speed operating rhythm requirements.

The invention relates to a conveying method of carried objects, meal delivery equipment and a storage medium. The conveying method for the carried objects comprises steps that a running state of meal delivery equipment is obtained; wherein the running state comprises a current stop position and an opening and closing state of the opening and closing cover; when it is confirmed that the current stop position and the opening and closing state of the opening and closing cover both meet the conveying condition of the carried objects, the current state of the containing device and the placement position of the carried objects on the meal delivery equipment being obtained; and outputting a push command according to the placement position and the current working state. The method is advantaged in that parking precision of the meal delivery equipment is improved by obtaining the current stop position of the meal delivery equipment, and then the situation that when a follow-up push rod mechanism acts, carried objects fall off due to the fact that the pushing position is inaccurate is prevented; an opening and closing state of the opening and closing cover is obtained to avoid mechanical collision between the push rod mechanism and the opening and closing cover; and a pushing command is outputted according to the placement position and the current working state so as to reduce the risk that the carried object falls off in the pushing process due to the fact that the placement position is not centered.

The invention relates to a parking control method and device for an automatic driving vehicle, and belongs to the technical field of automatic driving passenger cars. The control method includes the following steps: obtaining the actual distance from the vehicle to the stop in front, the current deceleration and the current speed of the vehicle, and estimating the braking distance according to the current deceleration and the current speed of the vehicle; value to obtain the parking control error; according to the parking control error, the given deceleration is obtained through PID control; the difference between the given deceleration and the current deceleration is used as the control quantity of the brake control or the given deceleration is used as the control quantity of the brake control. The brakes take control. This method controls the deceleration according to the error between the actual departure distance and the estimated braking distance, and then controls the brake to decelerate, so that the vehicle can stop smoothly.

The invention relates to a laser-guiding and inertially anti-shock porter, belonging to the hauling equipment which is automatically guided and can prevent shock inertially used for stereo warehouses, comprising a console, a laser, a vehicle body, and a travel apparatus, as well as a goods stabilizing device. The goods stabilizing device is arranged above the vehicle body. The laser-guiding and inertially anti-shock porter aims at solving the problems of the prior automatically guided porters that the unloading can not keep stable and goods can not avoid shock during quick starting and urgent stopping. The laser-guiding and inertially anti-shock porter has the advantages of being equipped with omnidirectional transport capacity, being able to maintain the stability during unloading, and enabling goods to avoid shock while quick starting or urgent stopping.