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Track switching control method, device, storage medium and vehicle

A control method and track technology, which is applied to vehicle components, transportation center control systems, electric vehicles, etc., can solve problems such as poor flexibility, imperfection, and time-consuming track switching, and achieve the effect of maintaining speed continuity

Active Publication Date: 2022-06-07
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
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  • Description
  • Claims
  • Application Information

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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 perform track switching during the traveling process, but the existing track switching control scheme is still not perfect, such as when performing track switching Time-consuming, poor flexibility, etc. need to be improved

Method used

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  • Track switching control method, device, storage medium and vehicle
  • Track switching control method, device, storage medium and vehicle
  • Track switching control method, device, storage medium and vehicle

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Embodiment Construction

[0028] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific embodiments. It should be understood that the specific embodiments described herein 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, the drawings only show some but not all structures related to the present invention.

[0029] Before discussing the exemplary embodiments in greater detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowchart depicts the steps as a sequential process, many of the steps may be performed in parallel, concurrently, or concurrently. Furthermore, the order of the steps can be rearranged. The process may be terminated when its operation is complete, but may also have additional steps not included in the...

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Abstract

The embodiment of the invention discloses a track switching control method, device, storage medium and vehicle. The method includes: at the current sampling moment, obtaining the current remaining travel time, the first pose at the previous sampling moment, and the current left and right wheel speeds; if the current remaining travel time is greater than zero, calculating the second digit at the current sampling moment pose; based on the second pose and the terminal pose on the target track, calculate the expected planning speed of the left and right wheels corresponding to the current sampling period; according to the current left and right wheel speeds and the expected left and right wheels corresponding to the current sampling period Planned speed, calculating the real planned speed of the left and right wheels corresponding to the current sampling period, so as to control the vehicle to travel at the real planned speed of the left and right wheels. The embodiment of the present invention adopts the above-mentioned technical solution, so that the vehicle can maintain the speed continuity during the track switching process, and can plan the vehicle track and speed in real time, which has flexibility.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicle control, and in particular, to a track switching 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 (AGVs) 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 driving. [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: AGV often needs to perform track switching during the traveling process, but the existing track switching control scheme is still not perfect, such as when performing track switching. Time-consuming, poor flexibility, etc., need to be improved. SUMMARY OF THE INVENTIO...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B61L27/40
CPCB61L27/00B61L27/40Y02T10/72
Inventor 余卫勇
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD