Method and system for synchronizing speed change curvatures of dual-drive vehicle, and related component

Abstract

The invention discloses a method for synchronizing speed change curvatures of a dual-drive vehicle. The method for synchronizing the speed change curvatures of the dual-drive vehicle comprises the steps of receiving a speed command sent by a controller; detecting actual speeds of a first wheel set and a second wheel set at a current moment; calculating a first speed tracking rate according to a first execution speed and the actual speed of the first wheel set, and calculating a second speed tracking rate according to a second execution speed and the actual speed of the second wheel set; judging whether a tracking rate difference value between the first tracking rate and the second tracking rate is greater than a first preset value; and if so, adjusting the actual speed of the first wheel set or the actual speed of the second wheel set. With the method, a time difference between the first wheel set and the second wheel set that reach a target speed in a control command can be reduced and the probability of vehicle yawing is reduced. The invention further discloses a system for synchronizing the speed change curvatures of the dual-drive vehicle, a computer-readable storage medium anda driver of the dual-drive vehicle. The system for synchronizing the speed change curvatures of the dual-drive vehicle, the computer-readable storage medium and the driver of the dual-drive vehicle have the abovementioned beneficial effects.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a speed change curvature synchronization method and system for a dual-drive vehicle, a computer-readable storage medium and a driver for a dual-drive vehicle. Background technique [0002] A dual-wheel drive vehicle is a vehicle that is powered by either the front or rear wheels and has better flexibility. The essence of a dual-drive vehicle is the use of a dual-drive chassis. The dual-drive chassis is a moving structure composed of left and right wheels and left and right wheel drivers. Due to the existence of two drivers and other mechanical structures, it is inevitable that the speed of one driver cannot be tracked. In the case of the driver on the other side, if the speed changes of the left and right wheels are inconsistent during driving, it will cause the vehicle to yaw or the driver will report an error. [0003] In the field of vehicle driving, the speed issued by the con...

AI Technical Summary

Problems solved by technology

The essence of a dual-drive vehicle is the use of a dual-drive chassis. The dual-drive chassis is a moving structure composed of left and right wheels and left and right wheel drivers. Due to the existence of two drivers and other mechanical structures, it is inevitable that the speed of one driver cannot be tracked. In the case of the driver on the other side, if the speed changes of the left and right wheels are inconsistent during driving, it will cause the vehicle to yaw or the driver will report an error

[0003] In the field of vehicle driving, the speed issued by the controller to the wheel is often called the execution speed, and the speed of the wheel at th...

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