273results about How to "Smooth ride" patented technology

The invention relates to a vehicle obstacle avoidance trajectory planning method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps of obtaining information of obstacles around a current vehicle; predicting driving tracks of all obstacles in a future preset time period according to the information of the obstacles around the current vehicle; under the condition that the condition that no fast approaching obstacle exists behind the current vehicle is obtained based on the driving track analysis, target obstacles needing to be subjected to in-lane obstacle avoidance are screened and recognized; calculating a lane occupation space of the target obstacle based on the driving data of the target obstacle; calculating the lane driving space of the current vehicle according to the lane occupation space of the target obstacle; and performing path planning and speed planning solution based on the lane driving space of the current vehicle, and generating an obstacle avoidance track of the current vehicle. By adopting the method, vehicles in the same direction of the adjacent lanes can be effectively avoided during driving on the expressway, and the driving safety is improved.

The invention discloses a road adhesion coefficient identification method based on a road side unit and a network-connected train set. The method comprises the following steps: shooting a road surface condition through a plurality of road side unit nodes arranged on the side of a road and obtaining a corresponding road surface type; comparing with a pre-stored road surface type and road surface adhesion coefficient comparison table to obtain a first road surface adhesion coefficient value of the corresponding road surface; the real-time information of the vehicle is synchronized back to the central cloud, and at the moment, the central cloud calculates a second road adhesion coefficient value of the current road according to the tire slip rate of the intelligent networked vehicle; and the center cloud carries out numerical value fusion based on the first road adhesion coefficient value and the second road adhesion coefficient value to obtain an accurate road adhesion coefficient and issues the accurate road adhesion coefficient to a vehicle. According to the invention, the cost of large-scale deployment can be effectively reduced, resource waste is saved, the accuracy and efficiency of vehicle-road-cloud fusion perception are improved, and the driving safety of the intelligent networked vehicle is ensured at the same time.

The invention discloses an AGV trajectory tracking method based on vision, and relates to the technical field of heavy-load AGVs, comprising the following steps: S1, the AGV is equipped with a vision acquisition and image processing unit; s2, obtaining a tracking algorithm based on a geometric method; s3, adjusting the visual distance and the planned path to obtain the position coordinates of a front view point; s4, outputting an AGV steering instruction by using the method; s5, a set speed is added, so that the AGV vehicle can realize a trajectory tracking effect; and S6, displaying the effect picture through communication. According to the AGV trajectory tracking method based on vision, the image provided by vision is analyzed and processed to obtain the next motion point, so that the AGV trajectory tracking precision is improved, manual operation of male and female head rotation butt joint is not needed, time and labor are saved, and harm of chemical engineering places to human bodies is reduced; the method can achieve the effects that the path is planned by using environmental information, and the system is controlled by using PID control and an advanced algorithm.

The invention discloses a road feeling feedback control method and device, electronic equipment, a storage medium and a vehicle. The method comprises the steps that the rack force of a steering execution motor of a wheel is obtained; according to the current vehicle speed of the vehicle, the road feeling feedback torque of the rack force is determined; adjusting the road feeling feedback torque to obtain a target road feeling feedback torque; according to the target road feeling feedback torque, a road feeling motor of the vehicle is controlled to output counter force acting on a steering wheel, and the counter force is the same as the target road feeling feedback torque and opposite to the steering wheel in rotating direction. The torque fluctuation amplitude of the vehicle can be reduced, so that the vehicle runs stably.

The invention discloses a non-coaxial two-wheeled unmanned platform trajectory tracking hierarchical control method and system, and relates to the technical field of intelligent robots, and the method comprises the steps: obtaining the real-time pose information and coordinate information of an unmanned motorcycle in the driving process; inputting the pose data and the coordinate information into a vehicle-mounted calculation unit, and correcting the driving deviation of the non-coaxial double-wheel system on the premise of ensuring the stability of the vehicle based on a double-closed-loop trajectory tracking control strategy so as to track an expected trajectory; an off-line expected trajectory, a trajectory tracking controller, a self-balancing controller, an unmanned motorcycle system kinematics model and an unmanned motorcycle system dynamics model are preset in the vehicle-mounted calculation unit; the double-closed-loop trajectory tracking control strategy comprises an outer-loop pose planning layer and an inner-loop balance control layer. According to the invention, a double-closed-loop control structure is adopted, so that the trajectory tracking precision and stability of the unmanned motorcycle can be effectively improved.

The invention provides a slope cropland fertilizing device and method, belongs to the technical field of fertilizing, and aims to solve the problem that a fertilizing device special for slope cropland is lacked in the prior art. Comprising a vehicle body, a chemical fertilizer box, a fertilizer distributor, a mixer, a fertilization angle adjusting assembly and a fertilization gun, a power device is arranged on the vehicle body, the vehicle body is driven by the power device to advance, and a handrail is fixedly arranged on the back of the vehicle body; the chemical fertilizer boxes are symmetrically and fixedly arranged on the two sides of the vehicle body, through holes are formed in the bottoms of the chemical fertilizer boxes, the through holes in the bottoms of the chemical fertilizer boxes are communicated with the fertilizer distributors, and the fertilizer distributors are used for quantitatively measuring chemical fertilizers; the bottom of the fertilizer distributor is communicated with the mixer; the fertilization angle adjusting assembly is arranged at the bottom of the vehicle body; the fertilization angle adjusting assembly is used for adjusting the fertilization angle; the fertilizing gun is mounted on the fertilizing angle adjusting assembly.

The invention discloses a wall surface self-adaptive wheel type magnetic adsorption pipeline wall-climbing robot, which relates to the technical field of intelligent machinery and comprises a vehicle body, a passive self-adaptive device, a driving device, a permanent magnet adsorption magnetic wheel group and a sensing device, through mutual cooperation of the passive self-adaptive device, the driving device, the permanent magnet adsorption magnetic wheel set and the sensing device, the problem that when the wheel type magnetic adsorption wall-climbing robot walks on an uneven working face, the rotating speeds of all wheels are not synchronous can be solved; the wheel type magnetic adsorption wall-climbing robot smoothly walks on the working face and crosses the external corner of the pipeline, the use reliability of the robot is improved, then the working efficiency of the robot is improved, the front and back network cameras can transmit image information in the pipeline in real time, and an operator can conveniently monitor and adjust the working state of the robot.

The utility model provides an underground carry-scraper intelligent operation device which comprises a machine frame and a driving assembly, and the driving assembly comprises a lifting mechanism assembly, a bucket adjusting mechanism assembly and a control assembly. The lifting mechanism assembly comprises a lifting driving mechanism, an upper lifting arm, a lower lifting arm and a lifting arm connecting frame; the bucket adjusting mechanism assembly comprises a branch chain, a branch chain fixing plate and a bucket; one ends of the upper lifting arm and the lower lifting arm are connected with the rack, the other ends of the upper lifting arm and the lower lifting arm are fixed in the middle of the lifting arm connecting frame, one end of the lifting arm connecting frame is connected with the bucket, the other end of the lifting arm connecting frame is connected with the rack, the lifting driving mechanism is simultaneously connected with the upper lifting arm and the lower lifting arm, and the branch chain fixing plate is simultaneously connected with the rack and the lifting arm connecting frame. One end of the branch chain is connected with the branch chain fixing plate, the other end of the branch chain is connected with the bucket, and the bucket adjusting mechanism assembly and the lifting driving mechanism are both connected with the control assembly. According to the utility model, the functions of energy consumption saving, accurate dynamic weighing and the like are realized.

The invention discloses a safety protection system for a cable guide vehicle of a coke dry quenching elevator, relates to the technical field of guide vehicle safety protection, solves the technical problems that in the prior art, the hidden danger protection efficiency of the guide vehicle cannot be detected, and risk management and control cannot be carried out in time, and particularly relates to a guide vehicle track detection unit. The guide rail detection module is used for carrying out guide rail detection on a cable guide, collecting rail detection information, substituting the rail detection information into a formula to obtain a detection coefficient of a guide rail, and comparing and deducing whether the guide rail detection is abnormal or not according to a coefficient threshold; the guide vehicle running analysis unit is used for analyzing the running process of the guide vehicle, collecting bearing running information and wheel running information, and deducing whether the running analysis of the cable guide vehicle is abnormal or not through information comparison; and the protection detection unit is used for detecting and analyzing safety protection measures of the cable guide vehicle, acquiring peak-to-time ratio information and braking information, and analyzing and deducing whether protection detection of the cable guide vehicle is abnormal or not according to the information.

The invention relates to the technical field of computers, in particular to a vehicle torque control method, device and equipment, and the method comprises the steps: obtaining a corresponding speed difference between front and rear wheels through the speed difference between the front and rear wheels of a target vehicle, and adjusting the torque of the target vehicle according to the total demand torque and the speed difference between the front and rear wheels of the target vehicle when the target vehicle meets a torque adjustment condition; and adjusting the front and rear axle torques of the target vehicle to obtain target front and rear axle torques. Thus, by monitoring the speed difference of the front and rear wheels of the vehicle in real time, when the vehicle possibly slips or steers unstably, the torque of the front and rear shafts is dynamically adjusted and distributed in a balanced mode through feedback control in time so as to cooperate with the front and rear shafts to work, the out-of-control risk caused by slipping or insufficient adhesive force of the vehicle is reduced, and stable running of the vehicle is guaranteed; the situation that the vehicle slips excessively or the road holding force is insufficient under different terrains or complex road conditions is effectively avoided, and the control performance, safety and stability of vehicle driving are improved.

The invention discloses a self-propelled water and fertilizer irrigation device and method based on intelligent navigation and a multi-energy system, and relates to the field of agricultural irrigation.The self-propelled water and fertilizer irrigation device comprises a rear rack, a front rack is arranged on the front side of the rear rack, a machine body is connected to the upper portion of the rear rack and the upper portion of the front rack, and stability adjusting mechanisms are installed on the rear side wall of the rear rack and the rear side wall of the front rack correspondingly; the bottom of the stable adjusting mechanism is connected with a wheel carrier, wheels are installed below the wheel carrier, a wheel shaft is connected to the middle of each wheel in a penetrating mode, and a bearing is connected between each wheel shaft and the corresponding wheel carrier. By arranging the hybrid energy system, the dependency of device power supply on the environment can be reduced, the storage battery can be automatically switched to provide power in rainy days and windless days, continuous supply of energy is ensured, and the reliability of the system is greatly improved; and by arranging the stability adjusting mechanism, the movement stability of the device on the uneven ground or the muddy area can be improved, and the possibility of slipping is reduced.

The invention provides a smooth trajectory planning and anti-skid cooperative control system for a four-axis global vehicle. The smooth trajectory planning and anti-skid cooperative control system comprises a signal input preprocessing module, a reference trajectory planning module and a wheel torque control module, the signal input preprocessing module is used for collecting and preprocessing the control expectation instruction and the vehicle state information to obtain an input signal; the reference trajectory planning module is used for planning an executable reference trajectory in real time according to the input signal in combination with physical constraints of vehicle movement and calculating a tracking reference value according to the executable reference trajectory, and the reference value at least comprises a reference rotating speed and a reference yaw velocity; and the wheel torque control module is used for tracking the reference trajectory, calculating the control torque of each wheel in real time in combination with the dynamic state of vehicle motion, and issuing the control torque to the corresponding wheel. According to the invention, global vehicles can stably run, and the situations of vehicle instability, overturning and collision damage are avoided.

The electric scooter comprises a scooter body, a handlebar, a rear wheel and a front wheel, a protection mechanism is arranged at the bottom of the scooter body and comprises a protection assembly and two sets of fixing assemblies, the protection assembly comprises a protection plate, rotating shafts are arranged on the front face and the back face of the protection plate, and the fixing assemblies are arranged on the front face and the back face of the protection plate. Rollers are fixedly arranged at the ends of the rotating shafts, and the protection plate is located at the bottom of the vehicle body. By means of the designed protection mechanism, when the electric scooter travels from the protruding position of the road surface to support the bottom in the using process, the protection plate and the idler wheels can protect the bottom of the scooter body, the protruding road surface is prevented from making direct contact with the bottom of the scooter body, and abrasion is avoided. And the rollers can rotate when being in contact with the bulges on the road surface, so that the friction force is reduced, and the electric scooter can stably run.

The invention provides a high mountain mining electric transportation system, which relates to the technical field of mining transportation, and comprises a chassis, a walking driving system, a recovery power generation mechanism, a bearing mechanism and a control system, a walking driving system is fixedly arranged below the chassis, a lifting bearing mechanism is fixedly arranged at the top of the chassis, a recycling power generation mechanism is fixedly arranged below the chassis and electrically connected with the walking driving system, a control system is fixedly arranged at the left end of the chassis, and the walking driving system, the recycling power generation mechanism and the lifting bearing mechanism are all electrically connected with the control system. By means of the bearing mechanism and the control system, efficient and environment-friendly transportation under complex terrains such as high mountains is achieved, the walking driving system provides power for the system, and stable running is ensured; the recovery power generation mechanism generates power by using energy in the walking process and can transport ores or heavy objects from a high position to a low position; according to the method, the influence on the environment is reduced, energy is saved, and remarkable economic benefits and social benefits are achieved.

The invention relates to an automatic running control system and method for a trolley, belongs to the technical field of automatic control, is used for controlling the trolley to run automatically on a set track, and comprises a sensor module, a main control module, a speed control module and a direction control module. The sensor module is used for identifying a set track and acquiring the speed and the driving direction of the trolley in real time; the main control module is used for generating a first driving control instruction and a second driving control instruction when the speed and the driving direction of the trolley are not the target speed and the target direction; the speed control module is used for responding to the first driving control instruction and adjusting the speed of the trolley to the target speed; and the direction control module is used for calibrating the gyroscope, after a Kalman filter is adopted to predict calibrated data in real time, a second driving control instruction is responded, the driving direction of the trolley is adjusted to the target direction based on a direction ring-motor ring cascade PID, and the control precision and stability are improved.

The invention discloses an autonomous vehicle queue cooperative control method and device, the distance and speed between vehicles are ensured to be accurately controlled through a longitudinal control strategy, the safe distance can be maintained, the change of traffic flow can be adapted, the fluency and safety of a vehicle queue are improved, a transverse control strategy is responsible for lane keeping, steering and lane changing of the vehicles, and the vehicle queue cooperative control method and device are provided. By accurately controlling the transverse position and the steering angle of the vehicle, it is ensured that the vehicle stably runs in a lane, meanwhile, the lane changing operation can be safely and efficiently completed, the sharp turning and obstacle avoidance cooperative safety control strategy enables a motorcade to rapidly make adjustments when facing a complex scene, sharp turning and obstacle avoidance actions of the vehicle are achieved through cooperative control, and the driving safety of the vehicle is improved. According to the method, collision is avoided, driving safety is kept, information sharing and action coordination between vehicles are achieved through cooperative control of the motorcade, and the safety and stability of the motorcade are further improved.

The invention provides a vehicle control method and system and a storage medium. The method comprises the following steps: detecting a shifting mode of a steering shifting rod; the current driving intention of the driver of the vehicle is recognized based on the shifting mode of the steering shifting rod; acquiring current environment information of the vehicle; determining whether a current driving intention of the driver can be executed based on the current environment information; when it is determined that the current driving intention of the driver can be executed, the vehicle is controlled to execute the current driving intention of the driver. According to the invention, intelligent decision and execution of the vehicle based on the driving lever operation of the driver can be realized.

The utility model discloses a mower. The mower comprises a mower main body, a cutter assembly and an elastic piece, the machine body is provided with a cutter connecting end and comprises a first cutter fixing structure located at the cutter connecting end, the first cutter fixing structure comprises a first elastic piece fixing part, the cutter assembly comprises a second cutter fixing structure used for fixing a cutter, and the second cutter fixing structure comprises a second elastic piece fixing part used for fixing a cutter. The elastic piece is located between the first elastic piece fixing part and the second elastic piece fixing part so that the first cutter fixing structure and the second cutter fixing structure can be elastically connected. The cutter assembly of the mower can float to a certain extent relative to the mower main body so as to adapt to uneven road surfaces.

The invention provides an electrorheological damping aircraft nose landing gear and an aircraft. The landing gear comprises a damping cylinder body; one end of the piston rod is slidably arranged in the damping cylinder, the other end of the piston rod is connected with an aircraft wheel, and a supporting shoulder is arranged in the middle of the piston rod; the electrorheological damping assembly comprises a plurality of electrorheological damping units which are stacked on the supporting shoulder; each electrorheological damping unit comprises electrorheological elastomers, a first electrode plate and a second electrode plate, and the adjacent electrorheological elastomers share one electrode plate; each first electrode plate is arranged on the inner wall of the damping cylinder body through a first insulating snap ring seat, and the end away from the snap ring seat is in sliding contact with the outer wall of the piston rod; each second electrode plate is arranged on the outer wall of the piston rod through a second insulating snap ring seat, and the end away from the snap ring seat is slidably contacted with the inner wall of the damping cylinder body; the power supply and the two electrodes are electrically connected with the piston rod and the damping cylinder body respectively to form a conductive loop; the rigidity can be adjusted in a self-adaptive mode, and the stability and comfort of aircraft operation are improved.

The invention provides a method and system for connecting a tractor and a trailer, a storage medium and a vehicle, and belongs to the technical field of vehicles. The method for connecting the tractor and the trailer comprises the steps that the first position and path planning information of the trailer are acquired; based on the first position, the target position of a tractor is determined, and the tractor is connected with the trailer at the target position; based on path planning information, determining a target path for the tractor to automatically travel to the target position; and the tractor is controlled to automatically run to the target position according to the target path, so that the tractor is connected with the trailer. According to the application, before the tractor is connected with the trailer, the influence on the driving of the tractor after the trailer is connected with the tractor is considered in advance, so that the problem that the tractor is blocked in driving if the tractor is driven out according to the target path after the tractor is connected with the trailer is ensured; and finally, smooth running of the tractor after being connected with the trailer is guaranteed.

The invention relates to a double-wheel stable swing arm structure of a vehicle. Comprising a frame, a wheel suspension frame and a support fixedly connected with the frame, and a support center hole is formed in the support and located on the left-right symmetry line of the support. A swing arm center hole is formed in the center of the swing arm, a swing arm left connecting hole is formed in the left end portion of the swing arm, a swing arm right connecting hole is formed in the right end portion of the swing arm, and the swing arm left connecting hole and the swing arm right connecting hole are arranged in a bilateral symmetry mode with the swing arm center hole as the left and right. A central shaft penetrates through the central hole of the bracket and the central hole of the swing arm for connection; the swing arm left connecting hole is fixedly connected with a left spring of the wheel suspension bracket, and the swing arm right connecting hole is fixedly connected with a right spring of the wheel suspension bracket. According to the technical scheme, when the left wheel and the right wheel swing up and down, the swing arms can compensate the head warping distance of the wheels so as to achieve'no head warping ', so that a vehicle runs more stably, and the long-term problem about the safety and comfort of vehicle head warping in the market is solved.

The utility model relates to the technical field of bicycle frames, and discloses a magnesium alloy frame with a damping cavity, which is characterized in that the magnesium alloy frame with the damping cavity comprises a saddle main shaft, two sides of the outer wall of the saddle main shaft are rotatably connected with rotating rods, the other ends of the rotating rods are rotatably connected with rear wheel inclined rods, and the rear wheel inclined rods are connected with the damping cavity. A second connecting block is fixedly connected to the outer wall of the saddle main shaft, a lower sleeve is rotatably connected to the outer wall of the second connecting block, a telescopic sleeve is fixedly connected to the top end of the lower sleeve, a moving rod is slidably connected to the inner wall of the telescopic sleeve, and a first buffering assembly is arranged on the outer wall of the moving rod. According to the shock absorber, the first spring is compressed through the movable rod, the movable rod drives the extrusion plate to extrude the pressed plate, the pressed plate compresses the second spring, and therefore the two-time buffering effect is achieved, and the honeycomb-shaped shock absorption cavity can absorb and disperse shock energy through deformation of the honeycomb-shaped shock absorption cavity, and the shock absorption effect is achieved.

The utility model discloses a flat plate type chassis of an agricultural unmanned trolley, which belongs to the technical field of agricultural vehicle parts, aims at solving the problem that the loss rate of crops is increased due to the fact that the agricultural vehicle generates large vibration in the driving process, and comprises a chassis frame, and two front wheels are rotatably arranged at the bottom of the chassis frame close to the front end. Two rear wheels are rotatably mounted at the positions, close to the rear end, of the bottom of the chassis frame, the cushioning mechanisms, the transverse cushioning springs and the longitudinal cushioning springs are matched, under the action of the pipe sleeves and the damping rods, vibration borne by the box body can be buffered, the situation that the vibration is transmitted into the storage box from the chassis can be effectively reduced, and the storage box is convenient to use. By means of the technical scheme, the vehicle can run more stably, the stability and safety of crops in the transportation process are improved, the crops can be prevented from being excessively squeezed, collided and damaged in the transportation process, and especially for easily-damaged fruits and vegetables, the shape and quality of the fruits and the vegetables can be kept, and the loss rate is reduced.

The light high-performance crawler-type platform suitable for the amphibious unmanned aerial vehicle is composed of the two racks, the control box and the two crawler-type walking mechanisms, and the structure is simple and compact. Through the design of a carbon fiber integrated rack and the optimization of a crawler-type walking structure, the land walking function and the flight function are efficiently coupled, and the lightweight design of the mechanism is achieved. The crawler belt adopts a middle convex meshing and clearance type bulge design, so that the road holding force and the obstacle crossing ability are improved, meanwhile, redundant structures are reduced, and the overall weight is reduced; the design of the inclined hollow machine arm gives consideration to light weight and stability, and an axial tensioning mechanism effectively avoids the falling risk. The platform has high stability, strong environment adaptability and operation flexibility, and is suitable for tasks of environment monitoring, disaster rescue and the like under complex terrains.

The invention provides a vehicle emergency processing method and device. When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined as the target two-wheeled vehicle, and the delay duration of triggering the AEB signal corresponding to the preset delay condition and the motion type of the target two-wheeled vehicle are determined; and when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matched with the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle. By delaying the time length and increasing the compensation distance, inaccurate distance judgment during running of the target two-wheeled vehicle is avoided, so that stable and reliable running of the vehicle is guaranteed, and false triggering of the AEB is avoided.

The utility model relates to the technical field of constructional engineering equipment, in particular to a crawler-type lifting platform which comprises two groups of portal frames symmetrically arranged on the upper surface of a base mechanism, and a first platform is horizontally arranged between the two groups of portal frames; the base mechanism comprises square telescopic rods arranged on the two side walls of a base frame body correspondingly, hydraulic limiting rods are arranged at the ends of the square telescopic rods correspondingly, two sets of crawler wheels are arranged on the two sides of the bottom of the base frame in the length direction of the base frame body correspondingly, and a motor, a battery and an electric hydraulic module are sequentially and fixedly arranged in the base frame body. The motor and the electric hydraulic module are electrically connected with the battery. The hydraulic limiting rods save time and labor and are easy to operate, the stability and safety of the lifting platform are improved, the overall stability and terrain adaptability are improved through the two sets of crawler wheels, and the problems that an existing four-wheel lifting platform is poor in stability and limited in use scene are solved.

The invention discloses a high-precision path planning method based on a GPS and a gyroscope and application, the navigation direction of a trolley and the rotating speed of a motor are adjusted in real time by collecting GPS data of a current position and combining yaw angle calculation of the gyroscope, it is ensured that the trolley stably travels to a target point, and the trolley is automatically switched to a next target after reaching the target, so that the accuracy of path planning is improved. And all paths are completed. According to the path planning method in combination with the GPS and the gyroscope, through real-time yaw angle error updating, motor dynamic speed regulation and accurate target point distance judgment, it is ensured that the intelligent trolley stably travels in a complex environment, and path deviation and errors are effectively avoided. A nine-axis sensor and a gradient descent algorithm are used for improving the yaw angle calculation precision, the anti-interference capability and the navigation precision of the system are enhanced, and the operation efficiency and the response speed are optimized.

The invention relates to the technical field of vehicle power control, in particular to a vehicle power control system and method, and aims to solve the problem that the drivability of a vehicle becomes poor due to the fact that electric braking torque distribution is too large easily under the fixed electric braking and hydraulic braking torque distribution coefficients of an existing vehicle. In order to achieve the purpose, the vehicle power control method comprises the following steps that a target electro-hydraulic torque distribution coefficient of a target vehicle on a target road section is determined according to driving data of a preceding vehicle on the target road section; according to the method, the target electro-hydraulic torque distribution coefficient can be relatively fit to the actual road condition of the target road section instead of a fixed value, so that the target electro-hydraulic torque distribution coefficient of the target vehicle can be more reasonable; according to the target electro-hydraulic torque distribution coefficient and the total demand deceleration torque, the motor feedback torque and the hydraulic braking torque of the target vehicle are determined; through accurate application of the target electro-hydraulic torque distribution coefficient, the optimal electric braking torque suitable for the road section is obtained, and the stability is improved.

The invention discloses a road sweeper fluted disc meshing transmission front wheel with a nitrogen damping function, and relates to the technical field of vehicle engineering, the road sweeper fluted disc meshing transmission front wheel comprises a front fork weldment, deep groove ball bearings III are mounted on the two sides of the front fork weldment, and crank weldments are connected to the outer sides of the deep groove ball bearings III in a sleeving manner; nitrogen buffer shock-proof modules are installed at the bottom of the front fork weldment and the top of the crank weldment and used for reducing shock of the sweeper in the running process. The nitrogen buffer shock-proof module comprises spring seats installed at the bottom of the front fork weldment and the top of the crank weldment, and a nitrogen shock absorber is installed between the lower set of spring seats and the upper set of spring seats. Through the nitrogen buffering and shock-absorbing module, the problems that the vehicle is difficult to control and the sweeping operation quality is affected due to bumpy road surfaces can be solved, and the continuity and high efficiency of sweeping operation are guaranteed.

A pure electric bus ABS system driving anti-skid device comprises front wheels and rear wheels, the front wheels and the rear wheels are provided with four wheel speed sensors, and the pure electric bus ABS system driving anti-skid device is characterized in that the wheel speed sensors are connected to an ABS-ECU control unit, the upper portion of the ABS-ECU control unit is connected with a VCU through a CAN communication protocol, and the lower portion of the ABS-ECU control unit is connected with the VCU through a CAN communication protocol. The left side of the VCU is connected with other modules through a CAN communication protocol; the VCU vehicle control unit and the vehicle speed sensor are matched with each other, and the vehicle speed sensor transmits wheel speed data to the VCU vehicle control unit for analysis, so that stable running of a vehicle is guaranteed.