Two-wheel differential vehicle chassis control method, device, computer equipment and medium

Abstract

The present invention provides a two-wheel differential vehicle chassis control method, device, computer equipment and medium. The method includes: obtaining the control instructions of the two-wheel differential vehicle, the current speed of the inner wheel and the current speed of the outer wheel; determining the vehicle's travel direction angle and motor speed based on the control instructions; calculating the inner wheel target speed and the outer wheel target speed based on the vehicle's travel direction angle and motor speed; and gradually adjusting the inner wheel current speed and the outer wheel current speed to the same as the inner wheel target speed and the outer wheel target speed. Through the present invention, the speed of the motor of the two-wheel differential vehicle can be smoothly achieved to the target speed by simply collecting the current speed of the motor in real time, thereby achieving smooth control of the two-wheel differential vehicle. By making a smooth transition according to the target speed, the drive wheel speed remains smooth during the process of increasing and decreasing the speed, further making the vehicle's travel more continuous and the speed transition smoother.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a two-wheel differential vehicle chassis control method, device, computer equipment and medium. Background Art

[0002] Combined with the user interface, the two-wheel differential car needs to achieve the following features to provide users with a smooth control experience: smooth transitions from straight-line driving to rotating in place; smooth transitions between acceleration and deceleration at start and stop within a certain timeframe, without any lag; the car's center of gravity remains relatively stable with no swaying during frequent starting and stopping cycles with point-to-point control; and the video feed of the car rotating in place does not cause dizziness.

[0003] In related technologies, two-wheel differential vehicles, such as balancing scooters, often don't support remote control. Remote-controlled vehicles are often relatively low in height and have a low center of gravity. For two-wheel differential vehicles with a high center of gravity, combined with remote control, high requirements are placed on the continuity of control and smooth speed transitions. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the control of the car in the prior art cannot be completely smooth, thereby providing a two-wheel differential car chassis control method, device, computer equipment and medium.

[0005] In conjunction with the first aspect, the present invention provides a two-wheel differential vehicle chassis control method, the method comprising:

[0006] Obtain the control instructions of the two-wheel differential car, the current speed of the inner wheel, and the current speed of the outer wheel;

[0007] Determine the vehicle's travel direction angle and motor speed based on the control instructions;

[0008] Based on the vehicle's travel direction angle and motor speed, the inner wheel target speed and the outer wheel target speed are calculated;

[0009] The current speed of the inner wheel and the current speed of the outer wheel are gradually adjusted to be the same as the target speed of the inner wheel and the target speed of the outer wheel.

[0010] In this method, the target speeds of the inner and outer wheels can be calculated using the vehicle's travel angle and motor speed. Simply by acquiring the current motor speed in real time, the motor speeds of the two-wheel differential vehicle can be smoothly brought to the target speeds, enabling smooth control of the two-wheel differential vehicle. By smoothly transitioning according to the target speeds, the drive wheel speeds remain smooth during both increasing and decreasing speeds, further ensuring more continuous vehicle travel and smoother speed transitions.

[0011] In combination with the first aspect, in a first embodiment of the first aspect, calculating the inner wheel target speed and the outer wheel target speed based on the vehicle's travel direction angle and the motor speed includes:

[0012] Based on the vehicle's travel direction angle and motor speed, the linear speed and length coefficient of the two-wheel differential vehicle are calculated;

[0013] Based on the linear velocity and the length coefficient, the inner wheel target speed and the outer wheel target speed are calculated.

[0014] In combination with the first aspect, in a second embodiment of the first aspect, gradually adjusting the current speed of the inner wheel and the current speed of the outer wheel to be the same as the target speed of the inner wheel and the target speed of the outer wheel includes:

[0015] Based on the inner wheel target speed and the outer wheel target speed, determining whether the acceleration directions of the inner wheel current speed and the outer wheel current speed are opposite to the acceleration directions of the inner wheel target speed and the outer wheel target speed;

[0016] When the acceleration directions of the inner wheel current speed and the outer wheel current speed are opposite to the inner wheel target speed and the outer wheel target speed, the inner wheel current speed and the outer wheel current speed of the vehicle are linearly adjusted in minimum speed units until the inner wheel current speed and the outer wheel current speed are respectively the same as the corresponding inner wheel target speed and the outer wheel target speed.

[0017] In combination with the second embodiment of the first aspect, in a third embodiment of the first aspect, when the acceleration directions of the current inner wheel speed and the current outer wheel speed are not opposite to the acceleration directions of the inner wheel target speed and the outer wheel target speed, determining whether the current inner wheel speed and the current outer wheel speed are the same as the inner wheel target speed and the outer wheel target speed;

[0018] When the current speed of the inner wheel and the current speed of the outer wheel are different from the target speed of the inner wheel and the target speed of the outer wheel, the current speed of the inner wheel is linearly adjusted until the current speed of the inner wheel is the same as the target speed of the inner wheel; and at the same time, based on the ratio between the target speed of the inner wheel and the target speed of the outer wheel, the current speed of the outer wheel is linearly adjusted until the current speed of the outer wheel is the same as the target speed of the outer wheel.

[0019] In combination with the second embodiment of the first aspect, in a fourth embodiment of the first aspect, linearly adjusting the current speed of the inner wheel and the current speed of the outer wheel in minimum speed units includes:

[0020] A speed adjustment cycle is set. In each speed adjustment cycle, the current speed of the inner wheel and the current speed of the outer wheel are increased / decreased by the minimum speed unit until the current speed of the inner wheel and the current speed of the outer wheel are respectively the same as the corresponding target speed of the inner wheel and the target speed of the outer wheel.

[0021] In combination with the first aspect, in a fifth embodiment of the first aspect, before obtaining the control instruction of the two-wheel differential vehicle, the method further includes:

[0022] Setting a control instruction interval, wherein the control instruction interval is greater than the sum of multiple speed adjustment cycles;

[0023] Determining whether the time interval after the last control instruction is issued exceeds the control instruction interval;

[0024] When the time interval between the issuance of the last control instruction exceeds the control instruction interval, the two-wheel differential vehicle is controlled to stop.

[0025] In combination with the fifth embodiment of the first aspect, in a sixth embodiment of the first aspect, controlling the two-wheel differential vehicle to stop includes:

[0026] The inner wheel target speed and the outer wheel target speed are set to 0, and the process returns to the step of gradually adjusting the inner wheel current speed and the outer wheel current speed to be the same as the inner wheel target speed and the outer wheel target speed.

[0027] In a second aspect of the present invention, the present invention further provides a two-wheel differential vehicle chassis control device, the device comprising:

[0028] An acquisition unit is used to obtain the control instructions of the two-wheel differential vehicle, the current speed of the inner wheel, and the current speed of the outer wheel;

[0029] A determination unit, configured to determine the vehicle's travel direction angle and motor speed based on the control instruction;

[0030] a calculation unit, configured to calculate a target speed of the inner wheel and a target speed of the outer wheel based on the traveling direction angle of the vehicle and the motor speed;

[0031] The speed adjustment unit is used to gradually adjust the current speed of the inner wheel and the current speed of the outer wheel to the same as the target speed of the inner wheel and the target speed of the outer wheel to obtain the vehicle's travel direction angle and motor speed.

[0032] In conjunction with the second aspect, in a first embodiment of the second aspect, the computing unit includes:

[0033] A first calculation unit is configured to calculate the linear velocity and length coefficient of the two-wheel differential vehicle based on the vehicle's travel direction angle and the motor speed;

[0034] The second calculation unit is configured to calculate the inner wheel target speed and the outer wheel target speed based on the linear velocity and the length coefficient.

[0035] In combination with the second aspect, in a second embodiment of the second aspect, the speed adjustment unit includes:

[0036] a first determining unit configured to determine, based on the inner wheel target speed and the outer wheel target speed, whether an acceleration direction of the inner wheel target speed and the outer wheel target speed is opposite to an acceleration direction of the inner wheel target speed and the outer wheel target speed;

[0037] The first adjustment unit is used to linearly adjust the current speed of the inner wheel and the current speed of the outer wheel of the vehicle in a minimum speed unit when the acceleration direction of the current speed of the inner wheel and the current speed of the outer wheel are opposite to the acceleration direction of the inner wheel target speed and the outer wheel target speed, until the current speed of the inner wheel and the current speed of the outer wheel are respectively the same as the corresponding inner wheel target speed and the outer wheel target speed.

[0038] In combination with the second embodiment of the second aspect, in a third embodiment of the second aspect, the speed adjustment unit further includes:

[0039] a second determining unit, configured to determine whether the current inner wheel speed and the current outer wheel speed are the same as the inner wheel target speed and the outer wheel target speed when the acceleration directions of the current inner wheel speed and the current outer wheel speed are not opposite to the acceleration directions of the inner wheel target speed and the outer wheel target speed;

[0040] a second adjustment unit, configured to linearly adjust the current speed of the inner wheel until the current speed of the inner wheel is the same as the target speed of the inner wheel when the current speed of the inner wheel and the current speed of the outer wheel are different from the target speed of the inner wheel and the target speed of the outer wheel; and simultaneously, based on a ratio between the target speed of the inner wheel and the target speed of the outer wheel, linearly adjust the current speed of the outer wheel until the current speed of the outer wheel is the same as the target speed of the outer wheel.

[0041] In combination with the second embodiment of the second aspect, in a fourth embodiment of the second aspect, the first adjustment unit includes:

[0042] The cycle adjustment unit is used to set a speed adjustment cycle. In each speed adjustment cycle, the current speed of the inner wheel and the current speed of the outer wheel are increased / decreased by the minimum speed unit until the current speed of the inner wheel and the current speed of the outer wheel are respectively the same as the corresponding target speed of the inner wheel and the target speed of the outer wheel.

[0043] In combination with the second aspect, in a fifth embodiment of the second aspect, the apparatus further includes:

[0044] An instruction interval unit, used for setting a control instruction interval, wherein the control instruction interval is greater than the sum of multiple speed adjustment cycles;

[0045] An instruction interval determination unit, configured to determine whether a time interval after a previous control instruction is issued exceeds the control instruction interval;

[0046] The parking unit is used to control the two-wheel differential vehicle to stop when the time interval between the issuance of the last control instruction exceeds the control instruction interval.

[0047] In combination with the fifth embodiment of the second aspect, in a sixth embodiment of the second aspect, the parking unit includes:

[0048] The parking subunit is configured to set the inner wheel target speed and the outer wheel target speed to 0, and return to the step of gradually adjusting the inner wheel current speed and the outer wheel current speed to be the same as the inner wheel target speed and the outer wheel target speed.

[0049] According to a third aspect, an embodiment of the present invention further provides a computer device comprising a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the two-wheel differential vehicle chassis control method of the first aspect and any one of its optional embodiments by executing the computer instructions.

[0050] According to a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the two-wheel differential vehicle chassis control method of the first aspect and any one of its optional embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 The present invention is a flowchart of a two-wheel differential vehicle chassis control method proposed according to an exemplary embodiment.

[0053] Figure 2 The present invention is a schematic diagram of a communication architecture of a two-wheel differential vehicle chassis control system according to an exemplary embodiment.

[0054] Figure 3The present invention is a flowchart of a process for adjusting the current speed of an inner wheel and the current speed of an outer wheel according to an exemplary embodiment.

[0055] Figure 4 1 is a flow chart of an adjustment algorithm for setting the motor speed Vs of the inner and outer wheels per instruction cycle according to an exemplary embodiment.

[0056] Figures 5A to 5B The figure is a schematic diagram showing the speed change of a motor before and after speed adjustment according to an exemplary embodiment.

[0057] Figure 6 The present invention is a structural block diagram of a two-wheel differential vehicle chassis control device proposed according to an exemplary embodiment.

[0058] Figure 7 The figure is a schematic diagram of the hardware structure of a computer device according to an exemplary embodiment. DETAILED DESCRIPTION

[0059] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0060] In related technologies, two-wheel differential vehicles, such as balancing scooters, often don't support remote control. Remote-controlled vehicles are often relatively low in height and have a low center of gravity. For two-wheel differential vehicles with a high center of gravity, combined with remote control, high requirements are placed on the continuity of control and smooth speed transitions.

[0061] To solve the above problems, an embodiment of the present invention provides a two-wheel differential vehicle chassis control method for use in a computer device. It should be noted that its execution subject can be a two-wheel differential vehicle chassis control device, and the device can be implemented as part or all of the computer device through software, hardware, or a combination of software and hardware. Among them, the computer device can be a terminal, a client, or a server. The server can be a single server or a server cluster composed of multiple servers. The terminal in the embodiment of the present application can be a smart phone, a personal computer, a tablet computer, a wearable device, an intelligent robot, or other intelligent hardware devices. In the following method embodiments, the execution subject is described as an example of a computer device.

[0062] The computer device in this embodiment is suitable for use in scenarios where a two-wheel differential vehicle chassis is controlled via a control terminal located in the computer device. The two-wheel differential vehicle chassis control method provided by the present invention can calculate the target speeds of the inner and outer wheels using the vehicle's travel direction angle and motor speed. Simply by acquiring the current motor speed in real time, the motor speed of the two-wheel differential vehicle can be smoothly brought to the target speed, achieving smooth control of the two-wheel differential vehicle. By smoothly transitioning according to the target speed, the drive wheel speed remains smooth during both increasing and decreasing speeds, further ensuring more continuous vehicle travel and smoother speed transitions.

[0063] Figure 1 This is a flow chart of a two-wheel differential vehicle chassis control method proposed according to an exemplary embodiment. Figure 1 As shown, the two-wheel differential vehicle chassis control method includes the following steps S101 to S104.

[0064] In step S101, a control instruction of the two-wheel differential vehicle, a current rotation speed of the inner wheel, and a current rotation speed of the outer wheel are obtained.

[0065] In step S102, the vehicle's travel direction angle and motor speed are determined based on the control instruction.

[0066] In the embodiment of the present invention, the control instruction is a control instruction transmitted from the vehicle control terminal to the chassis lower computer.

[0067] Figure 2 : is a schematic diagram of a communication architecture of a two-wheel differential vehicle chassis control system according to an exemplary embodiment. In one example, Figure 2 As shown in the figure, the communication process between the control end and the servo motor of the two-wheel differential car chassis can include: after the control end calculates the command angle θ based on the user operation, it sends it to the host computer through the MQTT / RTM channel, and the host computer forwards it to the slave computer through the serial port. The slave computer then sets the speed for the servo motor through the serial port, and the servo motor changes the speed to control the car to change the direction of movement.

[0068] In one example, the control end issues a direction angle θ to control the movement of the vehicle; the chassis calculates the rotation radius based on θ and a given speed. For straight-ahead travel, θ = 0. With counterclockwise direction as the positive direction, forward θ = 0°, left rotation θ = 90°, backward θ = 180°, and right rotation θ = 270°. Clockwise instructions are: forward θ = 0°, left rotation θ = -270°, backward θ = -180°, right rotation θ = -90°, and 360° is the stop instruction. The direction angles can be divided into four quadrants: 0°, 90°, 180°, and 270°. Simply calculate the inner and outer wheel speeds within the range (0, 90°) for the direction angle θ. By combining this with the upper quadrant determination, the corresponding speed can be issued to the motor (the positive or negative speed controls the forward and reverse rotation of the motor).

[0069] In step S103, based on the vehicle's travel direction angle and the motor speed, the inner wheel target speed and the outer wheel target speed are calculated.

[0070] In this embodiment of the present invention, the target speeds of the inner and outer wheels of a two-wheel differential vehicle can be determined simply by issuing the vehicle's heading angle and motor speed via the control terminal. The linear velocity and length coefficient of the two-wheel differential vehicle are calculated based on the vehicle's heading angle and motor speed; the target speeds of the inner and outer wheels are then calculated based on the linear velocity and length coefficient. Determining the target speeds of the inner and outer wheels of the two-wheel differential vehicle provides guidance for adjusting the current speeds of the inner and outer wheels of the two-wheel differential vehicle.

[0071] In one example, calculating the inner wheel target speed and the outer wheel target speed may include: using the formula

[0072] V c =s×cosθ

[0073]

[0074]

[0075] Calculate the inner wheel target speed V 内 and outer wheel target speed V 外 Where s is the motor speed, θ is the travel direction angle, λ is the rotation adjustment parameter, Vc is the linear velocity, and K is the rotation coefficient.

[0076] At θ=0, when the two-wheel differential car moves in a straight line, the inner and outer wheels move in a straight line at the motor speed s. When θ=90 degrees, Vc=0, the inner and outer wheel speeds are positive or negative Kθ, and the car rotates in place. The speed of the rotation is controlled by adjusting λ at a speed that does not make the user dizzy. Experiments have shown that λ=200 is the best effect, and the rotation in place is still controlled by the motor speed s. During the curved motion, V cDecreasing with the cosθ curve can ensure nonlinear changes from straight line to in-situ rotation; when the θ change is small, V c The decreasing speed is slow, and the user does not have obvious left and right shaking when controlling; when θ changes greatly and the user has obvious turning intention, V c The speed decreases rapidly, and when Kθ is changed to rotate in place, the speed is low and there is no dizziness. Variable speed movement can be achieved by simply transmitting the motor speed s in real time from the control end. The control end determines whether the motor speed s is a real-time calculated value to control the car's uniform or variable speed movement. When the s transmitted by the control end is a constant, such as s = 0.5, the car moves at a uniform speed. When s is a linear variable value calculated based on user interaction gestures, such as the distance from the sliding center point, and is transmitted to the chassis, the car moves at a variable speed.

[0077] In step S104 , the current inner wheel speed and the current outer wheel speed are gradually adjusted to be the same as the inner wheel target speed and the outer wheel target speed.

[0078] In an embodiment of the present invention, the process of adjusting the current rotational speed of the inner wheel and the current rotational speed of the outer wheel of the two-wheel differential vehicle is a linear adjustment, which further reduces the speed change difference in the adjustment process, makes the speed change smoother, and reduces the sense of jamming when the vehicle is running.

[0079] Through the above embodiment, the target speeds of the inner and outer wheels can be calculated using the vehicle's travel direction angle and motor speed. By simply acquiring the current motor speed in real time, the motor speeds of the two-wheel differential vehicle can be smoothly brought to the target speeds, achieving smooth control of the two-wheel differential vehicle. By smoothly transitioning according to the target speeds, the drive wheel speeds remain smooth during both increasing and decreasing speeds, further ensuring more continuous vehicle travel and smoother speed transitions.

[0080] The following embodiments will specifically describe the process of gradually adjusting the current speed of the inner wheel and the current speed of the outer wheel to be the same as the target speed of the inner wheel and the target speed of the outer wheel.

[0081] Figure 3 The present invention is a flowchart of a process for adjusting the current speed of an inner wheel and the current speed of an outer wheel according to an exemplary embodiment.

[0082] In one embodiment, gradually adjusting the current speed of the inner wheel and the current speed of the outer wheel to be the same as the target speed of the inner wheel and the target speed of the outer wheel may include: judging whether the acceleration direction of the current speed of the inner wheel and the current speed of the outer wheel is opposite to the acceleration direction of the inner wheel target speed and the outer wheel target speed based on the target speed of the inner wheel and the target speed of the outer wheel; when the acceleration direction of the current speed of the inner wheel and the current speed of the outer wheel is opposite to the acceleration direction of the inner wheel target speed and the outer wheel target speed, linearly adjusting the current speed of the inner wheel and the current speed of the outer wheel of the vehicle in a minimum speed unit until the current speed of the inner wheel and the current speed of the outer wheel are the same as the corresponding target speed of the inner wheel and the target speed of the outer wheel, respectively.

[0083] In this embodiment of the present invention, when the inner and outer wheels of the vehicle accelerate or decelerate to any value and receive a new instruction to adjust in the opposite direction, the speed change slope is relatively large. In extreme cases, if the user clicks repeatedly to activate the point control operation, the vehicle may continuously move in the opposite direction when the speed approaches the target value. To ensure smooth speed changes, a speed adjustment cycle is set. Within each speed adjustment cycle, the current speed of the inner and outer wheels is incremented or decremented by the minimum speed unit until the current speed of the inner and outer wheels reaches the corresponding target speed of the inner and outer wheels, respectively.

[0084] In one example, the acceleration reversal situation includes: the current wheel is accelerating or has reached the target speed and is moving at a constant speed to turn left, and the calculated target speed requires turning right, then the current wheel target speed needs to be accelerated in the opposite direction (the same applies to turning right and turning left, the left and right turns here refer to the left and right turns of the wheels, not the left and right turns of the car). The current wheel is accelerating or has reached the target speed and is moving at a constant speed, and the calculated target speed needs to stop (the speed is 0 or less than the current speed), and the wheel needs to decelerate (the direction of wheel rotation here is not reversed, but the direction of acceleration is reversed). Similarly, if the current wheel suddenly needs to accelerate during the deceleration process, it also needs to accelerate in the opposite direction. Only when the current inner and outer wheel speeds of the car are accelerating, and the target inner and outer wheel speeds are also accelerating, that is, the acceleration direction and the speed direction are consistent, no adjustment is required, and linear acceleration is performed.

[0085] Figure 4This is a flow chart of an algorithm for adjusting the motor speed Vs set per instruction cycle for the inner and outer wheels, according to an exemplary embodiment. In one example, gradually adjusting the current speed of the inner and outer wheels to the same as the target speed of the inner and outer wheels may include: setting an initial speed adjustment frame count to 0, setting the speed adjustment period in each adjustment frame to 20ms, determining whether the initial speed adjustment frame count is greater than 0, and if not, determining whether the target speed is in reverse acceleration or deceleration. If the target speed is in reverse acceleration or deceleration, setting the speed adjustment frame count to 5, increasing or decreasing the current speed of the inner and outer wheels by the minimum speed unit, and determining whether the current speed of the inner and outer wheels is the same as the target speed of the inner and outer wheels. If not, the algorithm returns to determining whether the speed adjustment frame count is greater than 0. If the speed adjustment frame count is greater than 0, decrementing the speed adjustment frame count by 1, and continuing to increase or decrease the current speed of the inner and outer wheels by the minimum speed unit until the current speed of the inner and outer wheels is the same as the target speed of the inner and outer wheels. When the speed adjustment frame count returns to 0 and the inner wheel current speed and the outer wheel current speed are not adjusted to the inner wheel target speed and the outer wheel target speed respectively, the process returns to setting the initial speed adjustment frame count until the inner wheel current speed and the outer wheel current speed are adjusted to the inner wheel target speed and the outer wheel target speed respectively.

[0086] Figures 5A to 5B This is a schematic diagram of the speed change before and after the motor speed is adjusted according to an exemplary embodiment. When the motor speed Vs is accelerated or decelerated to any value, when a new instruction is received to make a reverse adjustment, the speed change slope is large. When the user clicks continuously to perform a point control operation, in extreme cases, if the reverse movement is continuously performed when the speed is close to the target value, the speed change curve is as follows Figure 5A As shown. Vs1, Vs2, Vs3, Vs4, Vs5, Vs6, Vs7... correspond to the adjustment process of Vs in every 20ms instruction cycle. In order to ensure that the motor speed Vs is as smooth as possible, a low-speed deceleration process of 5-10 instruction cycles is performed when the motor speed Vs is judged to be moving in the opposite direction, so as to ensure the inertia buffering during the movement of the trolley. The speed change curve after adjustment is as follows Figure 5B shown.

[0087] In another embodiment, when the acceleration directions of the inner wheel's current speed and the outer wheel's current speed are not opposite to the inner wheel's target speed and the outer wheel's target speed, the adjustment process may include: determining whether the inner wheel's current speed and the outer wheel's current speed are the same as the inner wheel's target speed and the outer wheel's target speed; if they are different, linearly adjusting the inner wheel's current speed until the inner wheel's current speed and the inner wheel's target speed are the same; and simultaneously, linearly adjusting the outer wheel's current speed based on the ratio between the inner wheel's target speed and the outer wheel's target speed until the outer wheel's current speed and the outer wheel's target speed are the same. By utilizing the ratio between the inner wheel's target speed and the outer wheel's target speed, the outer wheel's current speed is adjusted faster than the inner wheel's current speed, ensuring a smooth transition between the inner and outer wheel curves. The incremental and decrement calculation simultaneously determines the vehicle's current speed and the decrement direction to record whether the current adjustment is an acceleration or deceleration adjustment.

[0088] In one example, when the inner wheel target speed and the outer wheel target speed are accelerating and decelerating in opposite directions, the adjustment process may include: adjusting the inner wheel target speed and the outer wheel target speed by the formula:

[0089]

[0090] Adjust the current speed of the inner wheel and the current speed of the outer wheel until they are the same as the corresponding target speed of the inner wheel and the target speed of the outer wheel respectively. 外t is the target speed of the outer wheel, V 内t is the target speed of the inner wheel, a and b are adjustment coefficients. According to experimental results, a=1, b=8 has a good effect.

[0091] Through the above-described embodiment, a linear smooth transition is performed every 20ms based on the target speed, smoothing the increase and decrease of the drive wheel speed, thereby achieving more accurate chassis control for the two-wheel differential vehicle. The calculation process is simple, and smooth control of linear, curved, and in-place rotational motion is achieved through a unified mathematical function. Variable speed motion is achieved simply by acquiring the motor speed s in real time, providing a highly flexible algorithm. The algorithm calculates the speeds of the inner and outer wheels of the two-wheel differential based on the control command angle θ and the motor speed s. The servo motor's addition and subtraction processes are controlled in a linear increment / decrement manner, achieving smooth transitions in control, such as starting, stopping, and switching between straight and curved driving.

[0092] In one implementation scenario, in order to prevent the vehicle from entering a speed adjustment dead loop, for the purpose of safety protection, before obtaining the control instruction of the two-wheel differential vehicle, the method also includes: setting a control instruction interval, the control instruction interval being greater than the sum of multiple speed adjustment cycles; judging whether the time interval after the last control instruction is issued exceeds the control instruction interval; when the time interval after the last control instruction is issued exceeds the control instruction interval, controlling the two-wheel differential vehicle to stop.

[0093] In an embodiment of the present invention, after a safety time interval has expired and the vehicle has not received a new control command, it is necessary to smoothly stop the vehicle to avoid an unsafe situation where the vehicle continues to run. Controlling the two-wheel differential vehicle to stop includes setting the inner wheel target speed and the outer wheel target speed to 0, and then gradually adjusting the inner wheel current speed and the outer wheel current speed to the same as the inner wheel target speed and the outer wheel target speed.

[0094] In one example, the control end continuously sends instructions to the chassis lower computer at a frequency of 100ms. If the chassis lower computer does not receive any instructions within 150ms, it sends a stop instruction to the motor.

[0095] Based on the same inventive concept, the present invention also provides a two-wheel differential vehicle chassis control device.

[0096] Figure 6 This is a structural block diagram of a two-wheel differential vehicle chassis control device according to an exemplary embodiment. Figure 6 As shown, the two-wheel differential vehicle chassis control device includes an acquisition unit 601, a determination unit 602, a calculation unit 603 and a speed adjustment unit 604.

[0097] The acquisition unit 601 is used to acquire the control instruction of the two-wheel differential vehicle, the current speed of the inner wheel and the current speed of the outer wheel.

[0098] The determination unit 602 is used to determine the vehicle's travel direction angle and motor speed based on the control instruction.

[0099] The calculation unit 603 is used to calculate the target speed of the inner wheel and the target speed of the outer wheel based on the vehicle's travel direction angle and the motor speed.

[0100] The speed adjustment unit 604 is used to gradually adjust the current speed of the inner wheel and the current speed of the outer wheel to the same as the target speed of the inner wheel and the target speed of the outer wheel to obtain the vehicle's travel direction angle and motor speed.

[0101] In one embodiment, the calculation unit 603 includes: a first calculation unit, which is used to calculate the linear speed and length coefficient of the two-wheel differential vehicle based on the vehicle's travel direction angle and the motor speed; and a second calculation unit, which is used to calculate the inner wheel target speed and the outer wheel target speed based on the linear speed and the length coefficient.

[0102] In another embodiment, the speed adjustment unit 604 includes: a first judgment unit, used to judge whether the acceleration direction of the current speed of the inner wheel and the current speed of the outer wheel are opposite to the acceleration direction of the inner wheel target speed and the outer wheel target speed based on the inner wheel target speed and the outer wheel target speed; a first adjustment unit, used to linearly adjust the current speed of the inner wheel and the current speed of the outer wheel of the vehicle in a minimum speed unit when the acceleration direction of the current speed of the inner wheel and the current speed of the outer wheel are opposite to the acceleration direction of the inner wheel target speed and the outer wheel target speed, until the current speed of the inner wheel and the current speed of the outer wheel are the same as the corresponding inner wheel target speed and the outer wheel target speed, respectively.

[0103] In another embodiment, the speed adjustment unit 604 further includes: a second judgment unit, configured to judge whether the current speed of the inner wheel and the current speed of the outer wheel are the same as the target speed of the inner wheel and the target speed of the outer wheel when the acceleration directions of the current speed of the inner wheel and the current speed of the outer wheel are not opposite to the acceleration directions of the target speed of the inner wheel and the target speed of the outer wheel; a second adjustment unit, configured to linearly adjust the current speed of the inner wheel until the current speed of the inner wheel and the target speed of the inner wheel are the same as the target speed of the inner wheel when the current speed of the inner wheel and the current speed of the outer wheel are different; and simultaneously, linearly adjust the current speed of the outer wheel based on the ratio between the target speed of the inner wheel and the target speed of the outer wheel until the current speed of the outer wheel and the target speed of the outer wheel are the same.

[0104] In another embodiment, the first adjustment unit includes: a period adjustment unit, which is used to set a speed adjustment period. In each speed adjustment period, the current speed of the inner wheel and the current speed of the outer wheel are increased / decreased by the minimum speed unit until the current speed of the inner wheel and the current speed of the outer wheel are respectively the same as the corresponding target speed of the inner wheel and the target speed of the outer wheel.

[0105] In another embodiment, the device further includes: an instruction interval unit, used to set a control instruction interval, the control instruction interval being greater than the sum of multiple speed adjustment cycles; an instruction interval judgment unit, used to judge whether the time interval after the last control instruction is issued exceeds the control instruction interval; and a parking unit, used to control the two-wheel differential vehicle to stop when the time interval after the last control instruction is issued exceeds the control instruction interval.

[0106] In another embodiment, the parking unit includes: a parking sub-unit, configured to set the inner wheel target speed and the outer wheel target speed to 0, and return to the step of gradually adjusting the inner wheel current speed and the outer wheel current speed to be the same as the inner wheel target speed and the outer wheel target speed.

[0107] The specific limitations and beneficial effects of the above-mentioned two-wheel differential vehicle chassis control device can be found in the above-mentioned limitations of the two-wheel differential vehicle chassis control method and will not be repeated here. Each of the above-mentioned modules can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0108] Figure 7 FIG. 1 is a schematic diagram of the hardware structure of a computer device according to an exemplary embodiment. Figure 7 As shown, the device includes one or more processors 710 and a memory 720, and the memory 720 includes a persistent memory, a volatile memory, and a hard disk. Figure 7 The apparatus may further include an input device 730 and an output device 740.

[0109] The processor 710, the memory 720, the input device 730 and the output device 740 may be connected via a bus or other means. Figure 7 The bus connection is taken as an example.

[0110] The processor 710 may be a central processing unit (CPU). The processor 710 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips. The general-purpose processor may be a microprocessor or any conventional processor.

[0111] Memory 720, as a non-transitory computer-readable storage medium, includes persistent memory, volatile memory, and a hard disk, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as the program instructions / modules corresponding to the business management method in the embodiments of the present application. Processor 710 executes the non-transitory software programs, instructions, and modules stored in memory 720 to execute various server functional applications and data processing, thereby implementing any of the aforementioned two-wheel differential vehicle chassis control methods.

[0112] The memory 720 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data required for use, etc. In addition, the memory 720 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 720 may optionally include a memory remotely located relative to the processor 710, and these remote memories may be connected to the data processing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0113] The input device 730 can receive input digital or character information and generate key signal input related to user settings and function control. The output device 740 can include a display device such as a display screen.

[0114] One or more modules are stored in the memory 720 and when executed by one or more processors 710, perform the following operations: Figures 1 to 4 The method shown.

[0115] The above-mentioned product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. Figures 1 to 4 Related description of the embodiment shown.

[0116] An embodiment of the present invention further provides a non-transitory computer storage medium storing computer-executable instructions that can execute the authentication method of any of the above method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the storage medium can also include a combination of the above types of memory.

[0117] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A two-wheel differential vehicle chassis control method, characterized in that: The method comprises: Obtain the control instructions of the two-wheel differential car, the current speed of the inner wheel, and the current speed of the outer wheel; Determine the vehicle's travel direction angle and motor speed based on the control instructions; Based on the vehicle's travel direction angle and motor speed, the target speeds of the inner and outer wheels are calculated using the following formulas: in, is the target speed of the inner wheel, is the target speed of the outer wheel, is the motor speed, is the value of the traveling direction angle, is the rotation adjustment parameter, is the linear velocity, is the rotation coefficient; The current speed of the inner wheel and the current speed of the outer wheel are gradually adjusted to be the same as the target speed of the inner wheel and the target speed of the outer wheel.

2. The method according to claim 1, characterized in that The inner wheel target speed and the outer wheel target speed are calculated based on the vehicle's travel direction angle and the motor speed, including: Based on the vehicle's travel direction angle and motor speed, the linear speed and length coefficient of the two-wheel differential vehicle are calculated; Based on the linear velocity and the length coefficient, the inner wheel target speed and the outer wheel target speed are calculated.

3. The method according to claim 1, characterized in that The step of gradually adjusting the current inner wheel speed and the current outer wheel speed to be the same as the inner wheel target speed and the outer wheel target speed includes: Based on the inner wheel target speed and the outer wheel target speed, determining whether the acceleration directions of the inner wheel current speed and the outer wheel current speed are opposite to the acceleration directions of the inner wheel target speed and the outer wheel target speed; When the acceleration directions of the inner wheel current speed and the outer wheel current speed are opposite to the inner wheel target speed and the outer wheel target speed, the inner wheel current speed and the outer wheel current speed of the vehicle are linearly adjusted in minimum speed units until the inner wheel current speed and the outer wheel current speed are respectively the same as the corresponding inner wheel target speed and the outer wheel target speed.

4. The method according to claim 3, characterized in that When the acceleration directions of the inner wheel current speed and the outer wheel current speed are not opposite to the acceleration directions of the inner wheel target speed and the outer wheel target speed, determining whether the inner wheel current speed and the outer wheel current speed are the same as the inner wheel target speed and the outer wheel target speed; When the current inner wheel speed and the current outer wheel speed are different from the inner wheel target speed and the outer wheel target speed, linearly adjusting the current inner wheel speed until the current inner wheel speed is the same as the inner wheel target speed; At the same time, based on the ratio between the inner wheel target speed and the outer wheel target speed, the outer wheel current speed is linearly adjusted until the outer wheel current speed is the same as the outer wheel target speed.

5. The method according to claim 3, characterized in that The linearly adjusting the current speed of the inner wheel and the current speed of the outer wheel using the minimum speed unit includes: A speed adjustment cycle is set. In each speed adjustment cycle, the current speed of the inner wheel and the current speed of the outer wheel are increased / decreased by the minimum speed unit until the current speed of the inner wheel and the current speed of the outer wheel are respectively the same as the corresponding target speed of the inner wheel and the target speed of the outer wheel.

6. The method according to claim 1, characterized in that Before obtaining the control instruction of the two-wheel differential vehicle, the method further includes: Setting a control instruction interval, wherein the control instruction interval is greater than the sum of multiple speed adjustment cycles; Determining whether the time interval after the last control instruction is issued exceeds the control instruction interval; When the time interval between the issuance of the last control instruction exceeds the control instruction interval, the two-wheel differential vehicle is controlled to stop.

7. The method according to claim 6, characterized in that The controlling of the two-wheel differential vehicle to stop comprises: The inner wheel target speed and the outer wheel target speed are set to 0, and the process returns to the step of gradually adjusting the inner wheel current speed and the outer wheel current speed to be the same as the inner wheel target speed and the outer wheel target speed.

8. A two-wheel differential vehicle chassis control device, characterized in that: The device comprises: An acquisition unit is used to obtain the control instructions of the two-wheel differential vehicle, the current speed of the inner wheel, and the current speed of the outer wheel; A determination unit, configured to determine the vehicle's travel direction angle and motor speed based on the control instruction; The calculation unit is used to calculate the target speed of the inner wheel and the target speed of the outer wheel based on the vehicle's travel direction angle and the motor speed using the following formula: in, is the target speed of the inner wheel, is the target speed of the outer wheel, is the motor speed, is the value of the traveling direction angle, λ is the rotation adjustment parameter, is the linear velocity, is the rotation coefficient; The speed adjustment unit is used to gradually adjust the current speed of the inner wheel and the current speed of the outer wheel to the same as the target speed of the inner wheel and the target speed of the outer wheel to obtain the vehicle's travel direction angle and motor speed.

9. A computer device, characterized in that: The invention comprises a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the two-wheel differential vehicle chassis control method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the two-wheel differential vehicle chassis control method according to any one of claims 1 to 7.

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