Driving assistance method and device for electronically guided rubber-tyred vehicle, control apparatus and medium

Abstract

The application provides a driving assistance method and device for an electronic guided rubber-tyred vehicle, a control device and a medium. The control device is applied to a multi-carriage electronic guided rubber-tyred vehicle. The method comprises the following steps: in the process of driving the multi-carriage electronic guided rubber-tyred vehicle, the current steering radius and the current speed of the multi-carriage electronic guided rubber-tyred vehicle are obtained; according to the current speed, the current steering radius and the mapping relationship between the critical speed and the critical steering radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when the rollover occurs, the driving mode at the next moment is determined; the user is prompted to drive according to the driving mode at the next moment to avoid the rollover of the multi-carriage electronic guided rubber-tyred vehicle in the driving process. The method can help the electronic guided rubber-tyred vehicle to determine the rollover threshold to ensure the driving safety of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic guided rubber-tyred vehicles, and in particular to a driving assistance method and device for an electronic guided rubber-tyred vehicle, a control apparatus and a medium. BACKGROUND

[0002] The electronic guided rubber-tyred system is a new urban rail transit system developed by technical personnel in the field of rail transit. The development of the electronic guided rubber-tyred system aims to solve the problem that the existing urban transportation system cannot adapt to the rapid growth of travel demand of urban residents, so as to make urban travel more convenient and efficient. The electronic guided rubber-tyred system mainly uses an electronic guided rubber-tyred vehicle with active protection measures and full electric drive to complete the safe driving of the vehicle on a virtual track through intelligent tracking and autonomous guidance. The electronic guided rubber-tyred system has both urban public transportation and rail transportation properties, and combines the advantages of low cost, high flexibility of urban public transportation and energy saving, environmental protection, and large capacity of urban rail transportation. At present, the electronic guided rubber-tyred system is still in the research and development stage, and the study of its dynamic characteristics is the basis for ensuring the safe operation of the vehicle.

[0003] At present, the dynamic simulation method of the electronic guided rubber-tyred vehicle mainly corrects the model parameters of the simulation model to make the error of the model parameters as small as possible to obtain a more accurate simulation model, and then uses the model parameters of the more accurate simulation model to guide the production design of the actual electronic guided rubber-tyred vehicle, so as to improve the safety of the driver driving the vehicle through the improvement of the structure or components of the electronic guided rubber-tyred vehicle.

[0004] However, since the dynamic simulation method in the conventional way focuses on improving driving safety from the production design parameters of the electronic guided rubber-tyred vehicle itself, without considering the actual driving conditions of the user driving the vehicle, the safety of the auxiliary driver driving the vehicle cannot be completely guaranteed during actual driving. SUMMARY

[0005] The present application provides a driving assistance method, device, control apparatus and medium for an electronic guided rubber-tyred vehicle to solve the technical problem that the safety of the auxiliary driver driving the vehicle cannot be completely guaranteed in the prior art.

[0006] In a first aspect, the present application provides a driving assistance method for an electronic guided rubber-tyred vehicle, comprising:

[0007] the current steering radius and the current speed of the electronic guided rubber-tyred vehicle during the driving of the user driving the electronic guided rubber-tyred vehicle of the multi-carriage;

[0008] determine a driving mode at a next time according to the current speed, the current turning radius, and a mapping relationship between a critical speed and a critical turning radius corresponding to a simulation model of the multi-carriage electrically-steered rubber-tyred vehicle when rollover occurs;

[0009] prompt the user to drive according to the driving mode at the next time to avoid rollover of the multi-carriage electrically-steered rubber-tyred vehicle during driving.

[0010] In one embodiment, determining a driving mode at a next time according to the current speed, the current turning radius, and a mapping relationship between a critical speed and a critical turning radius corresponding to a simulation model of the multi-carriage electrically-steered rubber-tyred vehicle when rollover occurs includes:

[0011] looking up the current turning radius in the mapping relationship between the critical speed and the critical turning radius corresponding to the simulation model of the multi-carriage electrically-steered rubber-tyred vehicle when rollover occurs to determine a critical speed corresponding to the current turning radius;

[0012] if it is determined that the current speed is greater than or equal to the critical speed corresponding to the current turning radius, determining that the driving mode at the next time is to reduce the speed;

[0013] if it is determined that the current speed is less than the critical speed corresponding to the current turning radius, determining that the driving mode at the next time is to maintain the current speed or increase the speed.

[0014] In one embodiment, during driving of the multi-carriage electrically-steered rubber-tyred vehicle by the user, the method further includes, before the current speed and the current turning radius of the multi-carriage electrically-steered rubber-tyred vehicle are obtained:

[0015] constructing an initial simulation model of the multi-carriage electrically-steered rubber-tyred vehicle in Simpack software;

[0016] inputting structure parameters of the multi-carriage electrically-steered rubber-tyred vehicle into the initial simulation model to obtain a simulation model of the multi-carriage electrically-steered rubber-tyred vehicle;

[0017] determining a turning radius range and a speed range of the simulation model of the multi-carriage electrically-steered rubber-tyred vehicle when a rollover threshold is reached according to a preset formula and the structure parameters;

[0018] Obtain a plurality of sets of steering radius and vehicle speed from the steering radius range and the vehicle speed range, and perform simulation test on the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car through the plurality of sets of steering radius and vehicle speed, to determine the mapping relationship between the critical vehicle speed and the critical steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when rollover occurs.

[0019] In one embodiment, the structure parameters include the width of the single-section car, the vehicle gravity center height, and the wheelbase between two axles of each section of car.

[0020] In one embodiment, the preset formula includes at least a first preset formula, a second preset formula, and a third preset formula, and the determination of the steering radius range and the vehicle speed range of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when the rollover threshold is reached according to the preset formula and the structure parameters includes:

[0021] determining the rollover threshold of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car based on the width of the single-section car, the vehicle gravity center height, and the first preset formula;

[0022] determining the steering radius of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when the rollover threshold is reached based on the preset maximum steering angle, the wheelbase between two axles of each section of car, and the second preset formula, and determining the steering radius range based on the steering radius of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when the rollover threshold is reached;

[0023] determining the rollover critical vehicle speed of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when the rollover threshold is reached based on the rollover threshold, the steering radius of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when the rollover threshold is reached, and the third preset formula, and determining the vehicle speed range based on the vehicle speed of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when the rollover threshold is reached.

[0024] In a second aspect, the present application provides a driving assistance device of an electronic guided rubber-tyred vehicle, which is located in a control device of an electronic guided rubber-tyred vehicle of a multi-section car, and includes:

[0025] a data acquisition module, configured to acquire a current steering radius and a current vehicle speed of the electronic guided rubber-tyred vehicle of the multi-section car during the driving of the electronic guided rubber-tyred vehicle of the multi-section car by a user;

[0026] a decision module, configured to determine a driving mode at a next time according to the current vehicle speed, the current steering radius, and a mapping relationship between a critical vehicle speed and a critical steering radius corresponding to a simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when rollover occurs, which is stored in advance;

[0027] The driving prompt module is configured to prompt the user to drive in the next-time driving mode to avoid the electronic guided rubber-tyred vehicle of the multi-carriage from rolling over during driving.

[0028] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory connected with the processor in communication;

[0029] The memory stores computer-executable instructions.

[0030] The processor executes the computer-executable instructions stored in the memory to implement the method according to the first aspect.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method according to the first aspect.

[0032] In a fifth aspect, the present application provides a computer program product, comprising a computer program, and the computer program is executed by a processor to implement the method according to the first aspect.

[0033] The driving assistance method, device, control device and medium of the electronic guided rubber-tyred vehicle provided by the present application, in the process of driving the electronic guided rubber-tyred vehicle of the multi-carriage by the user, the current steering radius and the current speed of the electronic guided rubber-tyred vehicle of the multi-carriage are obtained; according to the current speed, the current steering radius and the mapping relationship between the critical speed and the critical steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when rolling over, the next-time driving mode is determined; the user is prompted to drive in the next-time driving mode to avoid the electronic guided rubber-tyred vehicle of the multi-carriage from rolling over during driving. Since the next-time driving mode is determined based on the current speed, the current steering radius and the mapping relationship between the critical speed and the critical steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when rolling over in the process of driving by the user, which is equivalent to determining the next-time driving mode based on the current driving mode of the user and the driving mode when the electronic guided rubber-tyred vehicle of the multi-carriage rolls over, thereby facilitating timely adjustment of the next-time driving mode, avoiding driving risks and preventing vehicle rollover, and completely ensuring the safety of the assisted driver driving the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1An application scene diagram of the driving assistance method of the electronic guided rubber-tyred vehicle according to an embodiment of the present application is shown in FIG. 1.

[0036] Figure 2 A flowchart of the driving assistance method of the electronic guided rubber-tyred vehicle according to an embodiment of the present application is shown in FIG. 2.

[0037] Figure 3 A flowchart of the driving assistance method of the electronic guided rubber-tyred vehicle according to another embodiment of the present application is shown in FIG. 3.

[0038] Figure 4 A structural diagram of the driving assistance method of the electronic guided rubber-tyred vehicle according to the present application is shown in FIG. 4.

[0039] Figure 5 A structural diagram of the electronic device used in the driving assistance method of the electronic guided rubber-tyred vehicle according to the present application is shown in FIG. 5.

[0040] The specific embodiments of the present application have been shown in the above-described drawings, and will be described in more detail hereinafter. These drawings and the following description are not intended to limit the scope of the present application in any way, but to explain the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0041] The exemplary embodiments will be described in detail herein below with reference to the drawings. In the following description, the same drawings refer to the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not meant to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0042] In order to clearly understand the technical solutions of the present application, the prior art solutions are first described in detail.

[0043] In the conventional way, the dynamics simulation method of the electronic guided rubber-tyred vehicle mainly corrects the model parameters of the simulation model to make the errors of the model parameters as small as possible, so as to obtain a more accurate simulation model, and then uses the model parameters of the more accurate simulation model to guide the production design of the actual electronic guided rubber-tyred vehicle, so as to improve the safety of the driver driving the vehicle by improving the structure or components of the electronic guided rubber-tyred vehicle. However, since the dynamics simulation method in the conventional way focuses on improving the driving safety from the production design parameters of the electronic guided rubber-tyred vehicle itself, without considering the actual driving conditions of the user driving the vehicle, the safety of the driver driving the vehicle cannot be completely guaranteed when driving in practice.

[0044] Therefore, in the face of the technical problems of the prior art, since the driving mode of the next moment is determined based on the current vehicle speed, the current turning radius and the mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle in the occurrence of rollover, which is pre-stored, during the driving process of the user, it is equivalent to determining the driving mode of the next moment based on the driving mode of the user at the current moment and the driving mode of the multi-carriage electronic guided rubber-tyred vehicle in the occurrence of rollover, thereby facilitating timely adjustment of the driving mode of the next moment, avoiding driving risks and preventing vehicle rollover, and the safety of the vehicle driven by the auxiliary driver can be completely guaranteed.

[0045] As shown in Figure 1 The application embodiment provides an application scenario of the driving assistance method of the electronic guided rubber-tyred vehicle, and in the application scenario, a network architecture corresponding thereto includes a control device 10 applied to the multi-carriage electronic guided rubber-tyred vehicle. In the process of driving the multi-carriage electronic guided rubber-tyred vehicle by the user, the control device obtains the current turning radius and the current vehicle speed of the multi-carriage electronic guided rubber-tyred vehicle. According to the mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle in the occurrence of rollover, which is pre-stored, the driving mode of the next moment is determined. The user is prompted to drive according to the driving mode of the next moment to avoid the occurrence of rollover of the multi-carriage electronic guided rubber-tyred vehicle during the driving process.

[0046] The technical solutions of the application and how the technical solutions of the application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0047] Figure 2 The driving assistance method of the electronic guided rubber-tyred vehicle provided by an embodiment of the application, as shown in Figure 2 The execution subject of the driving assistance method of the electronic guided rubber-tyred vehicle provided by the embodiment is an electronic device. The driving assistance method of the electronic guided rubber-tyred vehicle provided by the embodiment includes the following steps:

[0048] Step 101, in the process of driving the multi-carriage electronic guided rubber-tyred vehicle by the user, the current turning radius and the current vehicle speed of the multi-carriage electronic guided rubber-tyred vehicle are obtained.

[0049] Among them, the multi-carriage electronic guided rubber-tyred vehicle refers to an electronic guided rubber-tyred vehicle with multiple carriages. As shown in Figure 3As shown, the basic structure diagram of the electronic guided rubber-tyred vehicle with three carriages is shown, mainly including 8 shafts and 3 carriages. The 3 carriages are connected by hinged supports respectively, and the 3 carriages are named as Mc1, T and Mc2. Mc1 and Mc2 are built-in motors, which can be used as the power source of the vehicle, and T is a trailer without a motor and is not used as a power source. The first shaft and the second shaft, and the seventh shaft and the eighth shaft are connected by rigid supports, and the relative position of the shafts is determined, which can improve the carrying capacity of the vehicle. The third shaft and the fourth shaft, and the fifth shaft and the sixth shaft are connected by hinged supports, and the relative position of the shafts changes with the movement of the vehicle, which needs to ensure that the carriages can move relative to each other while carrying.

[0050] The current turning radius refers to the radius of the turning circle formed by the electronic guided rubber-tyred vehicle with multiple carriages when turning at the current time.

[0051] During the driving of the electronic guided rubber-tyred vehicle with multiple carriages by the user, the current turning radius and the current speed of the electronic guided rubber-tyred vehicle with multiple carriages can be obtained by the vehicle-mounted sensor. The current turning radius can be indirectly determined by the current turning angle measured in real time, and the current speed can be directly measured by the speed sensor. The current turning radius and the current speed of the electronic guided rubber-tyred vehicle with multiple carriages can be understood as the driving mode at the current time.

[0052] Step 102, according to the current speed, the current turning radius and the mapping relationship between the critical speed and the critical turning radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle with multiple carriages when rollover occurs, the driving mode at the next time is determined.

[0053] Wherein, the critical speed refers to the speed of the pre-stored simulation model of the electronic guided rubber-tyred vehicle with multiple carriages when rollover occurs. The critical turning radius refers to the turning radius of the pre-stored simulation model of the electronic guided rubber-tyred vehicle with multiple carriages when rollover occurs. The simulation model of the electronic guided rubber-tyred vehicle with multiple carriages is constructed in Simpack software based on the structure parameters of the real electronic guided rubber-tyred vehicle with multiple carriages, which can be used to guide the driving mode of the user driving the real electronic guided rubber-tyred vehicle with multiple carriages.

[0054] The mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs is obtained by pre-storing the critical vehicle speed and the critical turning radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs in the simulation test process. The mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs can be understood as the pre-stored driving mode corresponding to each group of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs.

[0055] Since both the vehicle speed being too large or the turning radius being too large will cause rollover when turning, the simulation model of the multi-carriage electronic guided rubber-tyred vehicle has multiple groups of the critical vehicle speed and the critical turning radius corresponding to rollover in the mapping relationship.

[0056] The driving mode at the next moment refers to the operation behavior of the user driving the multi-carriage electronic guided rubber-tyred vehicle at the next moment, for example, deceleration driving of the vehicle.

[0057] According to the current vehicle speed, the current turning radius, and the mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs, the driving mode at the next moment can be determined.

[0058] Step 103, prompting the user to drive according to the driving mode at the next moment to avoid rollover of the multi-carriage electronic guided rubber-tyred vehicle during driving.

[0059] Among them, after determining the driving mode at the next moment, the user can be prompted to drive according to the driving mode at the next moment in any form such as screen display or voice broadcast to avoid rollover of the multi-carriage electronic guided rubber-tyred vehicle during driving.

[0060] In the present application, during the process of the user driving the multi-section car of the electronic guided rubber-tyred vehicle, the current turning radius and the current speed of the multi-section car of the electronic guided rubber-tyred vehicle are acquired; according to the current speed, the current turning radius, and the mapping relationship between the critical speed and the critical turning radius corresponding to the simulation model of the multi-section car of the electronic guided rubber-tyred vehicle when rollover occurs, the driving mode at the next moment is determined; the user is prompted to drive according to the driving mode at the next moment to avoid rollover of the multi-section car of the electronic guided rubber-tyred vehicle during driving. Since the driving mode at the next moment is determined based on the current speed, the current turning radius, and the mapping relationship between the critical speed and the critical turning radius corresponding to the simulation model of the multi-section car of the electronic guided rubber-tyred vehicle when rollover occurs during the process of the user driving, which is equivalent to determining the driving mode at the next moment based on the current driving mode of the user and the driving mode when rollover of the multi-section car of the electronic guided rubber-tyred vehicle occurs, thereby facilitating timely adjustment of the driving mode at the next moment, avoiding driving risks, preventing vehicle rollover, and ensuring the safety of the auxiliary driver driving the vehicle.

[0061] As an optional implementation manner, as shown in Figure 3 In the present embodiment, step 102 includes the following steps:

[0062] Step 201, the current turning radius is searched in the mapping relationship between the critical speed and the critical turning radius corresponding to the simulation model of the multi-section car of the electronic guided rubber-tyred vehicle when rollover occurs, to determine the critical speed corresponding to the current turning radius.

[0063] In the present embodiment, step 102 includes the following steps:

[0064] Step 202, if it is determined that the current speed is equal to the critical speed corresponding to the current turning radius, it is determined that the driving mode at the next moment is to reduce the speed.

[0065] If it is determined that the current speed is equal to the critical speed corresponding to the current turning radius, it indicates that the current speed and the current turning radius are the speed and the turning radius that will cause the electronic guided rubber-tyred vehicle with multiple carriages to overturn, and thus the driving mode at the next moment is determined to be reducing the speed. In order to avoid the vehicle overturning when the current speed reaches the critical speed corresponding to the current turning radius, the overturning threshold value when overturning can be multiplied by a safety factor when simulating the simulation model of the electronic guided rubber-tyred vehicle with multiple carriages. The value of the safety factor can be between 0 and 1. Therefore, in this embodiment, even if the current speed is equal to the critical speed corresponding to the current turning radius, the vehicle will not overturn immediately, and at this time, the method of reducing the speed can be adopted to reduce the speed, thereby improving the driving safety.

[0066] In addition, the control device always monitors and obtains the current speed in real time. When the current speed is large and equal to the critical speed corresponding to the current turning radius, the user is prompted to reduce the speed, and thus the current speed is not greater than the critical speed corresponding to the current turning radius under normal circumstances.

[0067] If it is determined that the current speed is less than the critical speed corresponding to the current turning radius, the driving mode at the next moment is determined to be keeping the current speed or increasing the speed.

[0068] If it is determined that the current speed is less than the critical speed corresponding to the current turning radius, it indicates that the current speed and the current turning radius will not cause the electronic guided rubber-tyred vehicle with multiple carriages to overturn, and thus the driving mode at the next moment is determined to be keeping the current speed or increasing the speed. In the subsequent driving process, if the control device determines that the current speed is equal to the critical speed corresponding to the current turning radius, the driving mode at the next moment is determined to be reducing the speed.

[0069] In this embodiment, the current turning radius is looked up in the mapping relationship between the critical speed and the critical turning radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle with multiple carriages when overturning, to determine the critical speed corresponding to the current turning radius. If it is determined that the current speed is equal to the critical speed corresponding to the current turning radius, the driving mode at the next moment is determined to be reducing the speed. If it is determined that the current speed is less than the critical speed corresponding to the current turning radius, the driving mode at the next moment is determined to be keeping the current speed or increasing the speed. The critical speed corresponding to the current turning radius is determined based on the current turning radius, the current speed is compared with the critical speed corresponding to the current turning radius, and the driving mode at the next moment is determined, thereby facilitating preventing the vehicle from overturning by timely adjusting the speed.

[0070] As an optional implementation, before step 101, the embodiment further includes the following steps:

[0071] Step 301, constructing an initial simulation model of the multi-carriage electronic guided rubber-tyred vehicle in the Simpack software.

[0072] The Simpack software is located in the control device of the multi-carriage electronic guided rubber-tyred vehicle, and the Simpack software is a multi-body dynamics analysis software that can simulate and analyze the kinematics and dynamics of mechanical / electromechanical systems. In the Simpack software, each virtual module and component of the multi-carriage electronic guided rubber-tyred vehicle can be constructed by manually dragging the mouse, and the initial simulation model is constructed.

[0073] Step 302, inputting the structural parameters of the multi-carriage electronic guided rubber-tyred vehicle into the initial simulation model to obtain a simulation model of the multi-carriage electronic guided rubber-tyred vehicle.

[0074] The structural parameters of the multi-carriage electronic guided rubber-tyred vehicle are input into the initial simulation model to obtain the simulation model of the multi-carriage electronic guided rubber-tyred vehicle.

[0075] Step 303, determining the turning radius range and the vehicle speed range of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold according to a preset formula and the structural parameters.

[0076] The preset formula refers to the formula originally used to calculate the rollover threshold, the turning radius and the vehicle speed of the single-carriage electronic guided rubber-tyred vehicle. For the multi-carriage electronic guided rubber-tyred vehicle, since the multi-carriage forms a multi-segment structure, the center of gravity may be offset outside the carriage, and the specific center of gravity height position cannot be determined, so only the rough rollover threshold, turning radius and vehicle speed of the multi-carriage electronic guided rubber-tyred vehicle can be obtained through the preset formula.

[0077] Then, based on the rough rollover threshold, turning radius and vehicle speed of the multi-carriage electronic guided rubber-tyred vehicle, the turning radius range and the vehicle speed range of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold are determined.

[0078] Step 304, obtaining a plurality of sets of turning radii and vehicle speeds from the turning radius range and the vehicle speed range, and performing simulation test on the simulation model of the multi-carriage electronic guided rubber-tyred vehicle through the plurality of sets of turning radii and vehicle speeds to determine the mapping relationship between the critical vehicle speed and the critical turning radius of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs.

[0079] The turning radius range and the vehicle speed range are determined to obtain a plurality of sets of turning radius and vehicle speed from the turning radius range and the vehicle speed range, so that the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage is simulated and tested at each set of turning radius and vehicle speed to determine the mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when rollover occurs. This process can be understood as screening data in the approximate turning radius range and vehicle speed range through simulation testing to accurately obtain the vehicle speed range and the turning radius range of the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when rollover occurs.

[0080] In the embodiment, an initial simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage is constructed in the Simpack software; the structure parameters of the electronic guided rubber-tyred vehicle of the multi-carriage are input into the initial simulation model to obtain the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage; the turning radius range and the vehicle speed range of the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when reaching the rollover threshold are determined according to a preset formula and the structure parameters; a plurality of sets of turning radius and vehicle speed are obtained from the turning radius range and the vehicle speed range, and the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage is simulated and tested through the plurality of sets of turning radius and vehicle speed to determine the mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when rollover occurs. Since the mapping relationship is determined by first determining the turning radius range and the vehicle speed range of the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when reaching the rollover threshold based on the preset formula and the structure parameters of the vehicle, and then simulating and testing the simulation model through software simulation testing, a relatively accurate mapping relationship can be obtained.

[0081] As an optional implementation, in the embodiment, the structure parameters include the width of the single-carriage, the vehicle gravity center height, and the wheelbase between the two axles of each carriage.

[0082] The wheelbase between the two axles of each carriage refers to the distance between the two axles at the bottom of each carriage.

[0083] As an optional implementation, in the embodiment, step 303 includes the following steps:

[0084] Step 501 determines the rollover threshold of the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage based on the width of the single-carriage, the vehicle gravity center height, and the first preset formula.

[0085] The preset formula includes a first preset formula, a second preset formula, and a third preset formula, which can be used to calculate the rollover threshold, the turning radius, and the vehicle speed, respectively.

[0086] The first preset formula can be:

[0087]

[0088] B in formula (1) is the width of a single-carriage, h g is the height of the vehicle center of gravity, a y is the rollover threshold.

[0089] Taking the width of a single-carriage and the height of the vehicle center of gravity as input values of the first preset formula, the rollover threshold of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle can be calculated.

[0090] Step 502, based on the preset maximum steering angle, the wheelbase between the two axles of each carriage and the second preset formula, the steering radius of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold is determined, and the steering radius range is determined based on the steering radius of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold.

[0091] The preset maximum steering angle is artificially given based on experience value, which is the maximum steering angle when the vehicle overturns.

[0092] The second preset formula can be:

[0093]

[0094] L in formula (2) is the wheelbase between the two axles of each carriage, δ is the steering angle, and R is the steering radius when reaching the rollover threshold.

[0095] Taking the preset maximum steering angle and the wheelbase between the two axles of each carriage as input values of the second preset formula, the steering radius of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold can be calculated.

[0096] After obtaining the steering radius when reaching the rollover threshold, the steering radius range can be determined based on the steering radius when reaching the rollover threshold. For example, the steering radius when reaching the rollover threshold is 12 m, and the steering radius range can be a symmetrical range [10 m, 14 m] based on 12 m, or an asymmetrical range such as [10 m, 13 m].

[0097] Step 503, based on the rollover threshold, the steering radius of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold and the third preset formula, the critical vehicle speed of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold is determined, and the vehicle speed range is determined based on the vehicle speed of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold.

[0098] wherein the third preset formula can be:

[0099]

[0100] v in formula (3) is a rollover critical speed when reaching the rollover threshold.

[0101] The rollover threshold obtained based on the first preset formula and the rollover critical speed when reaching the rollover threshold obtained based on the second preset formula are taken as input values of the third preset formula, so as to determine the rollover critical speed of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when reaching the rollover threshold.

[0102] After the rollover critical speed is obtained, the speed range can be determined based on the rollover threshold when reaching the rollover threshold. For example, the speed when reaching the rollover threshold is 8 m / s, and the steering radius range can be a symmetrical [6 m / s, 10 m / s] range based on 8 m / s, or an asymmetrical range such as [7 m / s, 10 m / s].

[0103] In the embodiment, the rollover threshold of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car is determined based on the width of the single-section car, the height of the vehicle gravity center and the first preset formula; the steering radius of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when reaching the rollover threshold is determined based on the preset maximum steering angle, the wheelbase between the two axles of each section car and the second preset formula, and the steering radius range is determined based on the steering radius of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when reaching the rollover threshold; and the rollover critical speed of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when reaching the rollover threshold is determined based on the rollover threshold, the steering radius of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when reaching the rollover threshold and the third preset formula, and the speed range is determined based on the speed of the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when reaching the rollover threshold. That is, the rollover threshold is obtained by the first preset formula, and then the steering radius range and the speed range are determined according to the rollover threshold, the second preset formula and the third preset formula, so that the two ranges obtained are more accurate.

[0104] As an optional implementation, in the embodiment, step 304 comprises the following steps:

[0105] In step 601, the multiple sets of steering radii and speeds are respectively input into the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car for simulation test, and at least one set of steering radius and speed corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-section car when rollover occurs in the simulation test are determined as at least one set of critical steering radius and critical speed.

[0106] The multiple sets of steering radius and vehicle speed are respectively input into the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage to perform simulation testing, and each set of steering radius and vehicle speed can obtain a corresponding simulation test result, for example, whether the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturns or not.

[0107] When the mapping relationship is obtained, only multiple sets of steering radius and vehicle speed when the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturns are needed. That is, at least one set of steering radius and vehicle speed corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturning in the simulation test is determined as at least one set of critical steering radius and critical vehicle speed. In order to distinguish from other sets of steering radius and vehicle speed, the steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturning can be referred to as critical steering radius, and the vehicle speed corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturning can be referred to as critical vehicle speed.

[0108] In step 602, the at least one set of critical steering radius and critical vehicle speed is determined as the mapping relationship between the critical vehicle speed and the critical steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturning.

[0109] In this embodiment, the multiple sets of steering radius and vehicle speed are respectively input into the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage to perform simulation testing, and at least one set of steering radius and vehicle speed corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturning in the simulation test is determined as at least one set of critical steering radius and critical vehicle speed; and the at least one set of critical steering radius and critical vehicle speed is determined as the mapping relationship between the critical vehicle speed and the critical steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturning. Since the mapping relationship between the critical vehicle speed and the critical steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multiple-carriage overturning is determined based on at least one set of critical steering radius and critical vehicle speed when the simulation model overturns in the simulation test, the mapping relationship is more accurate.

[0110] As an optional implementation, in step 101, the following steps are included:

[0111] In step 701, a current steering angle measured by a sensor is obtained.

[0112] The sensor can measure the steering angle of the electronic guided rubber-tyred vehicle of the multiple-carriage in real time.

[0113] In step 702, a current steering radius of the electronic guided rubber-tyred vehicle of the multiple-carriage is determined according to the current measured steering angle, the wheelbase between the two axles of each carriage, and the second preset formula.

[0114] wherein the current measured steering angle and the wheelbase between two axles of each carriage are taken as inputs of the second preset formula, so as to determine the steering radius of the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when reaching the rollover threshold.

[0115] In this embodiment, the current measured steering angle is acquired by the sensor; and the current steering radius of the multi-carriage electronic guided rubber-tyred vehicle is determined according to the current measured steering angle, the wheelbase between two axles of each carriage and the second preset formula. The current steering radius can be acquired in time based on the current measured steering angle acquired by the sensor and the second preset formula.

[0116] Figure 4 is a structural schematic diagram of a driving assistance device of an electronic guided rubber-tyred vehicle provided in an embodiment of the present application, as shown in Figure 4 The driving assistance device 40 of the electronic guided rubber-tyred vehicle provided in this embodiment is located in the control device of the multi-carriage electronic guided rubber-tyred vehicle, and the driving assistance device 40 of the electronic guided rubber-tyred vehicle provided in this embodiment comprises:

[0117] a data acquisition module 41, configured to acquire the current steering radius of the multi-carriage electronic guided rubber-tyred vehicle and the current vehicle speed in the process of driving the multi-carriage electronic guided rubber-tyred vehicle by a user;

[0118] a decision module 42, configured to determine the driving mode at the next moment according to the current vehicle speed, the current steering radius and the mapping relationship between the critical vehicle speed and the critical steering radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs which is stored in advance;

[0119] a driving prompt module 43, configured to prompt the user to drive according to the driving mode at the next moment, so as to avoid rollover of the multi-carriage electronic guided rubber-tyred vehicle in the driving process.

[0120] Optionally, the decision module 42 is specifically configured to: find the current steering radius in the mapping relationship between the critical vehicle speed and the critical steering radius corresponding to the simulation model of the multi-carriage electronic guided rubber-tyred vehicle when rollover occurs which is stored in advance, to determine the critical vehicle speed corresponding to the current steering radius; if it is determined that the current vehicle speed is equal to the critical vehicle speed corresponding to the current steering radius, it is determined that the driving mode at the next moment is to reduce the vehicle speed; if it is determined that the current vehicle speed is less than the critical vehicle speed corresponding to the current steering radius, it is determined that the driving mode at the next moment is to maintain the current vehicle speed or to increase the vehicle speed.

[0121] Optionally, the driving assistance device 40 of the electronic guided rubber-tyred vehicle is further configured to: during the driving of the electronic guided rubber-tyred vehicle with the multi-carriage, obtain a current turning radius of the electronic guided rubber-tyred vehicle with the multi-carriage and a current vehicle speed, and before the current turning radius and the current vehicle speed, construct an initial simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage in the Simpack software; input a structure parameter of the electronic guided rubber-tyred vehicle with the multi-carriage into the initial simulation model to obtain a simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage; determine a turning radius range and a vehicle speed range of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage when reaching a rollover threshold according to a preset formula and the structure parameter; obtain a plurality of turning radii and vehicle speeds from the turning radius range and the vehicle speed range, and perform simulation test on the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage through the plurality of turning radii and vehicle speeds to determine a mapping relationship between a critical vehicle speed and a critical turning radius of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage when rollover occurs.

[0122] Optionally, the structure parameter includes a width of a single carriage, a vehicle gravity center height, and an axle distance between two axles of each carriage.

[0123] Optionally, the preset formula includes at least a first preset formula, a second preset formula, and a third preset formula, and the driving assistance device 40 of the electronic guided rubber-tyred vehicle is specifically configured to: determine the rollover threshold of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage based on the width of the single carriage, the vehicle gravity center height, and the first preset formula; determine the turning radius of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage when reaching the rollover threshold based on a preset maximum turning angle, the axle distance between the two axles of each carriage, and the second preset formula, and determine the turning radius range based on the turning radius of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage when reaching the rollover threshold; and determine the rollover critical vehicle speed of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage when reaching the rollover threshold based on the rollover threshold, the turning radius of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage when reaching the rollover threshold, and the third preset formula, and determine the vehicle speed range based on the vehicle speed of the simulation model of the electronic guided rubber-tyred vehicle with the multi-carriage when reaching the rollover threshold.

[0124] Optionally, the driving assistance device 40 of the electronic guided rubber-tyred vehicle is configured to determine the mapping relationship between the critical vehicle speed and the critical steering radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage rolls over, by inputting the plurality of sets of steering radius and vehicle speed into the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage for simulation test, and determining at least one set of steering radius and vehicle speed corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage when the simulation model of the electronic guided rubber-tyred vehicle of the multi-carriage rolls over as at least one set of critical steering radius and critical vehicle speed.

[0125] Optionally, the data acquisition module 41 is configured to acquire the current steering radius of the electronic guided rubber-tyred vehicle of the multi-carriage, and specifically configured to acquire the current measured steering angle of the sensor, and determine the current steering radius of the electronic guided rubber-tyred vehicle of the multi-carriage according to the current measured steering angle, the wheelbase between the two axles of each carriage, and the second preset formula.

[0126] Figure 5 is a block diagram of an electronic device according to an exemplary embodiment. The device can be, for example, a mobile phone, a computer, a tablet, a server, or any other electronic device. Figure 5 As shown in the figure, the electronic device includes a memory 51 and a processor 52. The memory 51 is configured to store processor-executable instructions. The processor 52 is configured to execute computer programs or instructions to implement the driving assistance method of the electronic guided rubber-tyred vehicle provided in any one of the above embodiments.

[0127] The memory 51 is configured to store programs. Specifically, the programs can include program codes, and the program codes include computer operation instructions. The memory 51 can include a high-speed RAM memory, and can also include a non-volatile memory such as at least one disk memory.

[0128] The processor 52 can be a central processing unit (CPU) or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0129] Optionally, in a specific implementation, if the memory 51 and the processor 52 are implemented independently, the memory 51 and the processor 52 can be connected to each other through a bus 53 and complete communication between each other. The bus 53 can be an Industry Standard Architecture (ISA) bus 53, a Peripheral Component (PCI) bus 53, or an Extended Industry Standard Architecture (EISA) bus 53, etc. The bus 53 can be divided into an address bus 53, a data bus 53, a control bus 53, etc. For convenience of representation, Figure 5 Only one thick line is used in the middle to represent that there is only one bus 53 or only one type of bus 53.

[0130] Optionally, in a specific implementation, if the memory 51 and the processor 52 are integrated on a chip, the memory 51 and the processor 52 can complete communication between each other through an internal interface.

[0131] A non-transitory computer readable storage medium, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the above-mentioned electronic guiding rubber-tyred vehicle driving assistance method of the electronic device.

[0132] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the application be limited only by the scope of the claims, a properly construed, and any variations, uses, or adaptations of the application following in general the principles of the application and including such as come within the scope of the following claims are intended to be within the scope of the application. The specification and examples are to be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.

[0133] It should be understood that the application is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

Claims

1. A driving assist method for an electrically steered rubber-tyred vehicle, characterized by, The application relates to a control device of an electronic-guided rubber-tyred vehicle applied to a multi-carriage, and the method comprises the following steps: An initial simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage is constructed in Simpack software; Structure parameters of the electronic-guided rubber-tyred vehicle of the multi-carriage are input into the initial simulation model to obtain a simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage; the structure parameters comprise the width of a single carriage, the height of the gravity center of the vehicle, and the wheelbase between two shafts of each carriage; determine a rollover threshold of the simulation model of the electronic guided rubber-tyred vehicle with the multi-section carriages based on the width of the single-section carriage, the height of the vehicle center of gravity and a first preset formula; the first preset formula is ; in the formula, is the width of the single-section carriage, is the height of the vehicle center of gravity, is the rollover threshold. Based on a preset maximum steering angle, the wheelbase between two shafts of each carriage, and a second preset formula, the steering radius of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when reaching a rollover threshold is determined, and the steering radius range is determined based on the steering radius of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when reaching the rollover threshold; based on the rollover threshold, the steering radius of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when reaching the rollover threshold, and a third preset formula, the critical vehicle speed of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when reaching the rollover threshold is determined, and the vehicle speed range is determined based on the vehicle speed of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when reaching the rollover threshold; A plurality of steering radii and vehicle speeds are obtained from the steering radius range and the vehicle speed range, the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage is simulated and tested through the plurality of steering radii and vehicle speeds, and the mapping relationship between the critical vehicle speed and the critical steering radius of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when rollover occurs is determined; In the process that a user drives the electronic-guided rubber-tyred vehicle of the multi-carriage, the current steering radius and the current vehicle speed of the electronic-guided rubber-tyred vehicle of the multi-carriage are obtained; According to the current vehicle speed, the current steering radius, the mapping relationship between the critical vehicle speed and the critical steering radius of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when rollover occurs, and the driving mode at the next moment is determined; The user is prompted to drive according to the driving mode at the next moment to avoid rollover of the electronic-guided rubber-tyred vehicle of the multi-carriage in the driving process.

2. The method of claim 1, wherein, The driving mode at the next moment is determined according to the current vehicle speed, the current steering radius, and the mapping relationship between the critical vehicle speed and the critical steering radius of the simulation model of the electronic-guided rubber-tyred vehicle of the multi-carriage when rollover occurs, and the driving mode at the next moment is determined. The current steering radius is searched in the mapping relationship between the critical vehicle speed and the critical steering radius when rollover occurs to determine the critical vehicle speed corresponding to the current steering radius; If it is determined that the current vehicle speed is equal to the critical vehicle speed corresponding to the current steering radius, the driving mode at the next moment is determined to be reducing the vehicle speed; If it is determined that the current vehicle speed is less than the critical vehicle speed corresponding to the current steering radius, the driving mode at the next moment is determined to be keeping the current vehicle speed or increasing the vehicle speed.

3. The method of claim 1, wherein, The simulation model of the electronic guided rubber-tyred vehicle of the multi-section carriages is simulated by the multiple sets of turning radii and vehicle speeds, to determine a mapping relationship between a critical vehicle speed and a critical turning radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-section carriages when rollover occurs, including: The multiple sets of turning radii and vehicle speeds are input into the simulation model of the electronic guided rubber-tyred vehicle of the multi-section carriages for simulation test, and at least one set of turning radii and vehicle speeds corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-section carriages when rollover occurs in the simulation test is determined as at least one set of critical turning radii and critical vehicle speeds; The at least one set of critical turning radii and critical vehicle speeds is determined as the mapping relationship between the critical vehicle speed and the critical turning radius corresponding to the simulation model of the electronic guided rubber-tyred vehicle of the multi-section carriages when rollover occurs.

4. The method according to any one of claims 1-3, characterized in that, The current turning radius of the electronic guided rubber-tyred vehicle of the multi-section carriages is obtained, including: A current measured turning angle of a sensor is obtained; The current turning radius of the electronic guided rubber-tyred vehicle of the multi-section carriages is determined according to the current measured turning angle, an axle distance between two axles of each carriage, and the second preset formula.

5. A driving assist device for an electronic guided rubber-tyred vehicle, which is provided in a control device of a multi-car electronic guided rubber-tyred vehicle, for implementing the driving assist method for an electronic guided rubber-tyred vehicle according to any one of claims 1 to 4, characterized in that, The device includes: A data acquisition module is configured to obtain a current turning radius and a current vehicle speed of the electronic guided rubber-tyred vehicle of the multi-section carriages during driving of the electronic guided rubber-tyred vehicle of the multi-section carriages by a user; A decision module is configured to determine a driving mode at a next time according to the current vehicle speed, the current turning radius, and a mapping relationship between a critical vehicle speed and a critical turning radius corresponding to a simulation model of the electronic guided rubber-tyred vehicle of the multi-section carriages when rollover occurs, which is stored in advance; A driving prompt module is configured to prompt the user to drive according to the driving mode at the next time to avoid rollover of the electronic guided rubber-tyred vehicle of the multi-section carriages during driving.

6. A control device comprising: A processor and a memory in communication connection with the processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory to implement the method according to any one of claims 1-4.

7. A computer readable storage medium characterized by The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method according to any one of claims 1-4.

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