102results about How to "Stable and safe driving" patented technology

The invention belongs to the field of intelligent transportation, and provides an automatic driving lane change trajectory planning method based on quadratic form planning and a neural network. The method provided by the invention comprises the steps of: obtaining driving information of a lane change vehicle and surrounding vehicles by using an information sensing module; providing, by a lateral deviation recommendation module, a lateral deviation value based on the vehicle driving information so as to determine starting point and ending point position information of the lane change vehicle; calculating, by a path planning module, a static lane change path in a plane coordinate system of the lane change vehicle by using the vehicle driving information and the lateral deviation as input; and finally, providing, by a trajectory planning module, a time varying change law of the lane change vehicle and the surrounding vehicles to complete the target of lane change process planning. By adopting the automatic driving lane change trajectory planning method provided by the invention, under the premise of ensuring the safety of the lane change vehicle, the movement trajectories of the lanechange vehicle and the surrounding vehicles are comprehensively considered, and fast solution is achieved by using the quadratic form planning to improve the speed and comfort of the lane change process, thereby satisfying the requirements of automatic driving for the lane change sub-task optimization solution fastness.

The invention relates to an intersection identification and intersection trajectory planning method for an intelligent vehicle in an urban road running process. The method is actual application of an automatic driving technology and an auxiliary driving technology on the basis of intelligent traffic. The method is characterized in that intersections are divided into four types of typical intersection bodies, intersection identification is conducted through a multisensory infusion mode and a four-layer early warning template matching method, road edge disappearing points are determined as intersection entry points, template center points matched with the intersections are determined as intersection exit points, trajectory planning is conducted through a double-RRT method as so to achieve intersection identification and tracking. The intersection identification and intersection trajectory planning method has the advantages that the intelligent vehicle can cope with the complex environment of urban traffic intersections through intersection identification and planning, the intelligent driving problems that the intelligent vehicle is lost at the intersections and can pass through the intersections only through accurate navigation are solved, the adaptive capacity to the environment of the intelligent vehicle is improved, and important technological support is provided for intelligent driving under the complex urban environment.

The invention relates to a fitting part in a tank truck, in particular to a waving resistance device in the tank truck and the tank truck with the same. The waving resistance device comprises a main body and a fixing base, wherein the fixing base is arranged at the top of the main body and is provided with an air inlet-outlet servo control device, and the main body is a soft air-tight capsule body. The waving resistance device is made of soft elastic materials instead of a traditional waving resistant plate made of hard materials, such as metal and the like, thereby performing the upgrade from a one-dimensional waving resistance to three-dimensional waving resistance, effectively absorbing the energy of fluid waves in the tank, reducing impact to the tank from waves, improving the effect of the waving resistance and ensuring the service life of the tank and the stable running of the tank truck.

The invention provides a press wheel device for an inspection robot of an overhead high-voltage power transmission line. The press wheel device comprises a press wheel part and a press wheel transmission part, wherein the two parts are connected into a whole by a press wheel support, the press wheel part can rotate around the axial line of the press wheel support so as to be adaptive to the power transmission lines at different dip angles, two Hall sensors are arranged on the press wheel part, one of the two Hall sensors is used with magnetic steel on a press wheel in a matching way, is used for detecting whether a travelling wheel slips or not and also can be used for measuring the travelling distance of the robot, and the other Hall sensor is used with magnetic steel on a baffle plate in a matching way and used for detecting an obstacle on the power transmission line in a touch way. In the press wheel transmission part, a press mechanism spring is used for increasing a press force of the press wheel on the power transmission line, so that the travelling wheel is effectively prevented from slipping; the whole press wheel device is driven by a single independent motor, a screw nut is used for transmission, and thus, the press wheel device is simple and reliable in structure, high in efficiency and high in practicability.

The invention relates to a high driving range all-electric logistics vehicle structure. Refitting is carried out through a microcalorie chassis 1, a power battery pack is composed of a large battery box and two small battery boxes, and a vehicle-mounted battery charger and a DC-DC converter are of an integrated structure to form an integrated component 21; the front battery box 2 is installed under a cab, and a vehicle control unit 27 is installed below a copilot seat; a driving motor 5, a driving motor controller 20, a high voltage distribution box 19, the integrated component 21 and an electric vacuum pump are installed below the chassis; the front battery box 2 is installed behind a front bridge, the driving motor 5 is installed between a beam II and a beam III, the second rear battery box 13 and the first rear battery box 23 are installed between the beam III and a beam IV through a rear battery box rear support 22, and a rear support 16 is installed between a beam V and a beam VI. By means of the high driving range all-electric logistics vehicle structure, an electric logistic vehicle has the advantages of being high in driving range, safe and stable in driving and large in vehicle capacity.

The invention discloses a liquid tank with a surge prevention function and a tank truck with the liquid tank. The liquid tank mainly comprises a tank body, at least one surge prevention device and a pressure control system, the at least one surge prevention device is disposed in the tank body, at least two guide columns are mounted in the tank body, each surge prevention device is mounted on the tank body through a fixing seat, a mechanical structure part connected with a pipeline of the pressure control system is mounted on each fixing seat to facilitate pipeline connection, and a pressure sensor is mounted in an air bag to monitor internal pressure of the air bag in real time. Shaking of liquid in the tank body can be effectively controlled to further effectively control surging, impact of waves on the tank body can be effectively reduced, effectiveness in surge prevention is improved, and consequently service life of the tank body can be guaranteed while stability and safety in movement of the tank truck can be guaranteed. In addition, installation of shaking prevention partition plates made of hard materials in the tank body is not needed, so that overall weight of the tank truck can be effectively reduced, oil consumption is reduced, and transport efficiency is improved.

An electric power assist device and a driving method for an electric vehicle are provided. The electric power assist device adapted for the electric vehicle includes an angle sensing unit, a driving module, and a control module. The angle sensing unit senses a tilting angle of the electric vehicle on the road. The driving module includes a power driving unit and a motor. The driving module receives a control signal for driving the electric vehicle by the motor. The control module is coupled to the angle sensing unit and the driving module. The control module adjusts the control signal according to a change of the tilting angle to increase a torque force of the motor when the electric vehicle is on an uphill road.

The present invention relates to a two-wheel brake device of light tricycle and four-wheel car. Said brake device is characterized by that one of band brave, expanding brake or dish brake of bicycle is selected, and can be left and right symmetrically mounted on the outside of connecting strap assembly, and placed on same axis with spring of connecting strap assembly. Said connecting strap assembly includes left and right connecting straps, transverse connecting pipe whose two ends are connected with left and right connecting straps and spring mounted between said connecting straps. Its structure is simple and brake is reliable.

The invention discloses a non-pneumatic tire capable of reducing rolling resistance and recovering energy. The non-pneumatic tire capable of reducing the rolling resistance and recovering the energy comprises a hub, a crank rotor mechanism, a dual-mold motor, an electronic assembly, a spring plate set and a tread member, wherein when the tire is driven to run under a critical speed of the tire, asignal of electric energy and tire rotating speed generated through rotation of the dual-mold motor driven by the deformation of the tire is collected, the electronic assembly carries out voltage stabilization and storage, and the tire rotating speed signal is conditioned and transmitted to a central processor through wireless communication; and when the tire is driven to run higher than the critical speed of the tire, the crank rotor mechanism collects a tire rotating speed signal (namely a state I) generated through the rotation of the dual-mold motor driven by the tire deformation of the tire, the electronic assembly controls the motor to rotate to drive the crank rotor mechanism to move (namely a state II), and the high frequency alternating operation of the state I and the state II achieves the inhibition of the occurrence of the " tire standing wave " phenomenon. According to the non-pneumatic tire, the wheel speed can be collected, the deformation energy of the tire can be recycled, the phenomenon of the " tire standing wave " phenomenon can be inhibited, and the vibration reducing performance is good while the rolling resistance is reduced during driving.

The invention provides a turnout driver-controlling device for a monorail crane. The device comprises a framework, a movable rail, a track, a push air cylinder, a locking air cylinder, a master controller, a solenoid valve a and a solenoid valve b, wherein the solenoid valve a and the solenoid valve b are controlled by the master controller and connected with the master controller. The device further comprises an infrared remote control device for sending information instructions to the master controller. The push air cylinder is arranged on the framework and connected with the movable rail. The locking air cylinder is arranged at the tail end, connected with the track, of the movable rail. The solenoid valve a is connected with the push air cylinder and controls the push air cylinder to move. The solenoid valve b is connected with the locking air cylinder and controls the locking air cylinder to move. According to the technical scheme, a driver can control the operation track of a turnout remotely, the situation that the driver must get down to change the turnout manually is avoided, meanwhile safe driving of a locomotive is guaranteed, and the service life of the locomotive is prolonged.

The invention belongs to the technical field of vehicle fittings, in particular to an inflation-free tire. The traditional inflation-free tire-sheet combined tire needs to connect in series and mount an inner tube in advance, has complicated structure, troublesome mounting and high processing requirements for tire sheets; and the position deviation of a connecting hole and a connecting piece can cause the unsuitable splicing of adjacent tire sheets so that the series connection assembly of the inner tire and the normal use of the tire are influenced. The invention provides the inflation-free tire which has no need of on-site series-connection mounting, simple manufacture process and low cost, and comprises a circular tire body with a tire tread at the outer side and a tire holder at the inner side; the tire body is internally provided with a circular inner hole extending in the same direction and symmetrically provided with a plurality of deformed groove groups at both sides along the length direction; each deformed groove group comprises a plurality of parallel deformed grooves arranged between the tire tread and the tire holder; and a separation rib is arranged between every two adjacent deformed grooves. The invention has favorable elasticity and working reliability, no need of on-site series-connection mounting, rapid replacements, low processing requirement and little manufacture cost.

The invention relates to a supporting chain wheel for a track-laying vehicle. The supporting chain wheel comprises a main shaft, a wheel body rotationally arranged on the outer peripheral wall of the main shaft and a bearing part for supporting the main shaft and the wheel body by an installation seat of a track beam of the vehicle. The bearing part comprises two end seats arranged on the two sides of the main shaft respectively. The two end seats provide the bearing effect for the main shaft at the two ends of the main shaft, and the end seats are matched with the ends of the main shaft through center holes formed in the end seats. Due to the fact that the supporting chain wheel provides the bearing effect for the main shaft at the two ends of the main shaft, the risks that the supporting chain wheel is deformed in the axis direction and is even broken due to single-end bearing can be effectively avoided, a track is well borne and more stably moves, and then the track-laying vehicle can more stably and safely run. Due to the fact that the supporting chain wheel is not prone to deformation and is longer in service life, the use and maintenance cost of the track-laying vehicle can be greatly reduced.

The invention proposes a driving direction control method and a control system after vehicle tire puncture. The control method comprises the steps of: obtaining the tire pressure information of each tire of a vehicle; obtaining the wheel rotating speed information; obtaining the steering wheel pointing information; obtaining the vehicle driving lane information; recording and analyzing the vehicle driving state and driving trajectory according to the obtained information; and immediately braking a non-punctured tire at the other side coaxial with a punctured tire if judging the vehicle has a flat tire, and reducing and controlling the rotating speed of the non-punctured tire at the other side coaxial with the punctured tire, so that the rotating speed of the coaxial non-punctured tire is kept in a safe and reasonable range compared with the rotating speed of the punctured tire. The method can enable the vehicle to timely eliminate the adverse effects generated by such factors as wheel diameter reduction and rolling resistance increment after the tire puncture, so that the vehicle is driven according to the planned trajectory, steering wheel pointing direction and lane trajectory to prevent the vehicle driving direction from being out of control suddenly after the tire puncture, and the tire puncture derived accidents are prevented.

The invention relates to an airbus, which is characterized by comprising a carriage and a rail, wherein the rail is erected in the air, the top of the carriage is fixedly provided with a hanging rod, the top end of the hanging rod is hinged with a hanging arm, the other end of the hanging arm is provided with a wheel axle through a bearing, wheels are arranged on the wheel axle and are clamped in the rail, the wheel axle is connected with an electric motor arranged in the carriage, and the electric motor is electrically connected with a vehicle controller arranged in the carriage. The airbus can be used as a traffic tool for relieving traffic conditions, can also be used as a traffic tool for sightseeing and can also be used as tools for conveying passengers in playgrounds and the like. The running is safe and stable, the influence by weather is small, in addition, the occupied area is small, and the urban space is saved.

The invention relates to an amphibian bicycle, in particular to a bicycle capable of realizing water running function. The main devices capable of realizing water running function are as follows: a floating device, a connecting rod supporting device, a cushion and a front flywheel linkage lifting device, a tap adjusting device, a hub paddle wheel pick driving device and a front wheel steering device, wherein floating bodies take the shape of dumbbells and are fixed with the connecting rod supporting device and symmetrically mounted on the two sides of the bicycle. When the bicycle runs on the land, the floating body can be picked up by the connecting rod supporting device and is clung to the two sides of the bicycle, so as to realize land cycling function of general bicycles; when the bicycle runs on the water, the connecting rod support device can be put down and the floating body is placed on the water surface, and meanwhile, the cushion and the front flywheel can be elevated through the cushion and the front flywheel linkage lifting device, so that foot wet or cloth wet caused by water cycling can be avoid. Water running steering can be realized by treading pedals, controlling the tap by hand, and swing a front solid wheel.

The invention discloses a leg supporting frame convenient to the height and angle adjustment for gynecological clinical examination. The leg supporting frame comprises a bracket assembly and a slewingassembly, a fixed rod is mounted below the bracket assembly, a lifting assembly is connected below the fixed rod, one end of an air pipe is fixed to the outer wall of the lower right corner of the lifting assembly, the other end of the air pipe is connected to a micro air pump, a slewing bearing is fixed to the lower portion of the lifting assembly, the slewing assembly is installed below the slewing bearing, the lower portion of the slewing assembly is connected to a horizontal moving assembly, bearing pedestals are installed at the left end and the right end of the horizontal moving assembly, and a fixed bottom plate is installed on the lower surface of the horizontal moving assembly. The whole equipment is compact in layout and reasonable in structure, the lifting height, the horizontal position and the slewing angle of the whole supporting frame can be adjusted through electric and pneumatic driving, and compared with a traditional manual adjusting mode, the supporting frame is rapid and convenient to use and beneficial to relieving the workload of medical staff.

The invention discloses a vehicle path planning method adopting a hybrid potential field-ant colony algorithm. The method comprises the steps that 1, vehicle information and environment information are acquired; 2, through analysis of the vehicle information and the environment information, a virtual potential field force currently borne by a vehicle is obtained, and an improved vehicle virtual potential field force model is established; 3, relevant parameters of the ant colony algorithm are initialized; 4, at an initial stage of path planning, an improved virtual potential field resultant force is introduced into the ant colony algorithm to serve as a heuristic information function, a weight coefficient is introduced, and a transition probability function of the ant colony algorithm is improved; 5, along with deepening of obstacle avoidance path planning, pheromone concentration and distance inspiration jointly play a role, the action of improving the potential field resultant force is lowered gradually, and the improved ant colony algorithm is used for performing path planning; and 6, an electronic control unit controls vehicle speed and a turning angle of a steering wheel according to a path planned in the steps 4 and 5. Through the method, stagnation of a path search process is effectively avoided, and path search efficiency is improved.

The invention belongs to the field of kayaks and particularly relates to a kayak with a slit tail, wherein the kayak is more stable and safer in running. The kayak comprises a kayak body, wherein the kayak body comprises a kayak body tail, a kayak body head and a kayak body middle. The kayak is characterized in that the kayak body tail is rotatably connected with two slit parts, and the included angle between the two slit parts is 0-160 degrees. Since the kayak body tail is rotatably connected with two slit parts, and the included angle between the two slit parts is 0-160 degrees, the running is more stable and safer especially when the included angle is 160 degrees; the kayak body middle is provided with a motor used as a kayak power, due to the torque, the movement distance of the kayak under the same power is increased; the kayak body middle is provided with a handrail with left and right support rods, and the handrail is conductive to keeping the balance of the body of a stand-up person, and also can be used for placing a fishing rack.

The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a medium, and belongs to the technical field of automatic driving. The vehicle control method comprises the steps of determining whether a vehicle is in a special scene or not in response to obtained positioning data of the vehicle and obtained sensing data of the vehicle; and if the vehicle is in the special scene, planning a target driving track of the vehicle passing through the special scene according to the sensing data of the vehicle. Through the vehicle control method and device, the electronic equipment and the medium of the technical schemes of the embodiment of the invention, safe and stable driving of an automatic driving vehicle on a special road can be accurately ensured.