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A speed change curvature synchronization method, system and related components of a dual-drive vehicle

A speed change and synchronization system technology, applied in the field of vehicle control, can solve the problems of inconsistent speed curvature of the left and right wheels of a dual-wheel drive vehicle, the driver's speed tracking cannot keep up, and the driver reports errors.

Active Publication Date: 2020-06-16
ZHEJIANG GUOZI ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 the current moment is called the actual speed. The speed tracking rate of the wheel can be obtained according to the relationship between the execution speed and the actual speed. When When the speed tracking rate of the left and right wheels differs greatly, the problem described above that the speed tracking of one side of the drive cannot keep up with the other side of the drive will appear
In view of the above problems, the existing technology can only restore the normal driving route of the vehicle through manual control, and there is no technical solution to fundamentally solve the inconsistency of the curvature of the left and right wheels of the dual-drive vehicle

Method used

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  • A speed change curvature synchronization method, system and related components of a dual-drive vehicle
  • A speed change curvature synchronization method, system and related components of a dual-drive vehicle
  • A speed change curvature synchronization method, system and related components of a dual-drive vehicle

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Embodiment Construction

[0049] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0050] see below figure 1 , figure 1 It is a flow chart of a method for synchronizing the speed change and curvature of a dual-drive vehicle provided in the embodiment of the present application.

[0051] Specific steps can include:

[0052] S101: Receive the speed command sent by the controller; wherein, the speed command includes the first execut...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20
CPCG06F30/20
Inventor 黄衎澄赵宇峰张国亮
Owner ZHEJIANG GUOZI ROBOT TECH
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