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A multi-steering mode control method based on obstacle avoidance system

A mode control, multi-steering technology, applied in the field of vehicle steering, can solve the problems of small field of view, waste of space resources, inflexible steering, etc., to achieve the effect of improving flexibility, saving steering space, and simplifying side storage operations.

Active Publication Date: 2022-01-28
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The invention not only solves the technical defects of too small field of vision of traditional vehicles, inflexible steering, and waste of space resources, but also can realize different steering modes for different obstacles, greatly improving steering flexibility

Method used

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  • A multi-steering mode control method based on obstacle avoidance system
  • A multi-steering mode control method based on obstacle avoidance system
  • A multi-steering mode control method based on obstacle avoidance system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0070] The wheelbase L of the vehicle used is 1200mm, the wheelbase W is 1000mm, the effective distance set on the touch screen is 3000mm, and the speed is 1m / s. The movement of a servo motor drives the bogie to rotate through an angle of The four hub motors rotate at v 1 =-v 2 =-v 3 =v 4 = 1, the vehicle starts to spin at last, and when there is no obstacle in front of the vehicle, it can drive out of the obstacle zone by linear motion.

[0071] Such as figure 2 The control structure diagram is shown, the touch screen sends commands to the PLC, the PLC controls eight motors, and the encoder and laser radar system feed back real-time signals to the PLC.

[0072] Such as Figure 4 As shown, when the lidar system detects obstacles on both sides of the vehicle, that is, the shadow area. When the four wheels of the vehicle rotate forward or reverse at the same speed, forward or backward movement can be realized.

[0073] Such as Figure 5 As shown, when the lidar system...

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Abstract

The invention is a multi-steering mode control method based on an obstacle avoidance system. The method includes the following steps: the first step, press the start button on the touch screen, the laser radar starts to scan the surrounding environment, and finally transmits the pixel data to the programmable logic controller; the second step, the programmable logic controller calculates according to the pixel data Get the distance information, and then select different motion modes and obstacle avoidance modes according to the distance information of the obstacle; the third step is to set the effective distance and collision distance of the obstacle on the touch screen, and finally the programmable logic controller judges based on this ; In the fourth step, the programmable logic controller executes different modes according to different orientations of obstacles; the present invention not only solves technical defects such as too small field of view of traditional vehicles and inflexible steering, but also realizes different obstacles to be adopted in response to different obstacles. The unique steering mode greatly improves the steering flexibility.

Description

Technical field: [0001] The invention relates to the technical field of vehicle steering, in particular to a multi-steering mode control method based on an obstacle avoidance system. Background technique: [0002] With the rapid development of the automobile industry and the continuous improvement of people's living standards, more and more people start to own their own cars, but it also brings many unexpected problems. Vehicles will inevitably encounter various obstacles during driving, how to effectively and flexibly avoid obstacles is an important indicator to measure the practicality of vehicles. [0003] Traffic accidents continue to occur, causing huge economic losses and seriously threatening the safety of people's lives. In the collision accidents that take place, because the detection range of the reversing radar is extremely limited, the vehicle collision caused by the blind area of ​​the driver's vision is the main reason. In order to reduce the occurrence of su...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09
CPCB60W30/09B60W2420/52
Inventor 董砚黄安震雷兆明刘斌杨富荃刘学奥张宏伟
Owner HEBEI UNIV OF TECH
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