Curve turning control method and device, storage medium and vehicle
A turning control and curve technology, applied to vehicle components, non-deflectable wheel steering, steering mechanism, etc., can solve problems such as imperfection, poor flexibility, and time-consuming curve turning
Active Publication Date: 2020-07-28
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology
[0003] In the process of realizing the present invention, the inventor found that there are at least the following technical problems in the prior art: the AGV often needs to make a curved turn during the travel process, but the existing The curve turning control scheme is still not perfect, such as time-consuming and poor flexibility when making curve turns, which need to be improved
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[0025] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
[0026] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processing, many of the steps may be performed in parallel, concurrently, or simultaneously. Additionally, the order of steps may be rearranged. The process may be terminated when its operations are complete, but may also have addit...
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The embodiment of the invention discloses a curve turning control method and device, a storage medium and a vehicle. The method comprises the steps that at the current sampling moment in the curve turning process of a vehicle, obtaining the current remaining driving time, a first pose of the last sampling moment and the current speed of left and right wheels; calculating a second pose at the current sampling moment, and calculating the expected planning speed corresponding to the current sampling period of left and right wheels based on the second pose and an end point pose of a turning destination; according to the current speed of the left and right wheels and expected planning speed corresponding to the current sampling period of the left and right wheels, calculating the left and rightwheel actual planning speed corresponding to the current sampling period; and controlling the vehicle to travel at the actual planning speed of the left and right wheels in the current sampling period. By the adoption of the technical scheme, the speed continuity of the vehicle can be kept in the turning process, the speed of the vehicle during turning can be planned in real time, and flexibilityis achieved.
Description
technical field [0001] The embodiments of the present invention relate to the technical field of vehicle control, and in particular, to a curve turning control method, device, storage medium, and vehicle. Background technique [0002] In recent years, with the rapid development of domestic and foreign logistics and e-commerce industries, automated guided vehicles (Automated Guided Vehicle, AGV) have been widely used in application scenarios such as intelligent unmanned warehouses and unmanned distribution. In related industries, the driving mode of AGV is mainly differential drive. [0003] In the process of realizing the present invention, the inventor found that there are at least the following technical problems in the prior art: AGVs often need to perform curved turns during travel, but the existing control schemes for curved turns are still not perfect, such as when performing curved turns Time-consuming, poor flexibility, etc., need to be improved. Contents of the i...
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IPC IPC(8): B62D11/00
CPCB62D11/003Y02T10/72
Inventor 余卫勇张强
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD