A dual-drive vehicle acceleration change curvature synchronization method, system and related device

Abstract

The invention discloses a double-drive vehicle acceleration variation curvature synchronization method. The double-drive vehicle acceleration variation curvature synchronization method comprises the steps of detecting a first average acceleration of a first wheel set and a second average acceleration of a second wheel set in a current period; calculating a first average acceleration curvature according to the first average acceleration and calculating a second average acceleration curvature according to the second average acceleration; judging whether the curvature ratio between the first average acceleration curvature and the second average acceleration curvature is larger than a first preset value or not; and if the curvature ratio between the first average acceleration curvature and thesecond average acceleration curvature is larger than the first preset value, issuing an acceleration adjusting instruction to adjust the first average acceleration or the second average accelerationof the next period to make the curvature ratio be less than or equal to a second preset value. According to the double-drive vehicle acceleration variation curvature synchronization method, the problem that vehicle yawing or driver error-reporting caused by mechanical structure of the vehicle can be solved. The invention further discloses a double-drive vehicle acceleration variation curvature synchronization system, a computer readable storage medium and a driver of the double-drive vehicle; and the double-drive vehicle acceleration variation curvature synchronization system, the computer readable storage medium and the driver of the double-drive vehicle have the above advantageous effects.

Description

Technical field

[0001] The invention relates to the field of vehicle control, and in particular to a method and system for synchronizing acceleration change curvature of 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 provides power through the front or rear wheels and has good flexibility. The essence of dual-drive vehicles is the dual-drive chassis. The dual-drive chassis is a motion structure composed of left and right wheels and left and right wheel drives. Because there are two drives and other mechanical structures, it is unavoidable that one side of the drive cannot track the speed The situation of the drive on the other side causes the vehicle to yaw or the drive to report an error.

[0003] In response to the above-mentioned problems, the prior art can only restore the normal walking route of the vehicle through manual control, and there is no techni...

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