Electronic guided rubber-tyred vehicle steering control method, device, system and storage medium

Abstract

The application provides an electronic guide rubber-tyred vehicle steering control method, device, system and storage medium, and belongs to the technical field of rail transit. The method comprises the following steps: determining the master steering shaft and the active steering shaft of the head vehicle in the current driving process, and determining the active steering shaft in each steering shaft of the trailer; acquiring the current various driving information and attitude information of the head vehicle and the trailer in real time, and recording the orientation information and driving track of the master steering shaft of the head vehicle; according to the orientation information and driving track of the master steering shaft of the head vehicle, and according to the current various driving information and attitude information of the head vehicle and the trailer, a steering angle calculation strategy is executed, and the steering instructions corresponding to each active steering shaft of the head vehicle and the trailer are calculated; the active steering shafts of the head vehicle and the trailer are controlled to steer according to the respective steering instructions, so that each steering shaft of the head vehicle and the trailer drives through the same road track. The application aims to stably control the steering of the electronic guide rubber-tyred vehicle.

Description

Technical Field

[0001] This application relates to the technical field of rail transit, and more specifically, to an electronically guided rubber-wheeled vehicle steering control method, apparatus, system, and storage medium. Background Technology

[0002] To address urban transportation issues, urban rail transit systems have developed rapidly. Currently, urban rail transit systems mainly include trams, light rail, and other transportation modes. At the same time, to adapt to the intelligent needs of urban rail transit systems, electronically guided rubber-wheeled vehicles have developed rapidly. Their highly intelligent and energy-saving design aligns with the development direction of urban rail transit systems and serves as a powerful supplement to existing urban transportation systems.

[0003] Electronically guided rubber-tired vehicles differ significantly from traditional rail vehicles. Traditional rail vehicles primarily use steel wheels and rails, a mode of transportation that is noisy and has low levels of automation. Furthermore, because steel-wheeled and rail vehicles have clearly defined clearance limits, their steering system design is relatively simple. In contrast, electronically guided rubber-tired vehicles use digital tracks instead of steel wheels and rails. Compared to steel-wheeled and rail vehicles, they do not have clearly defined traffic clearance limits. Therefore, for electronically guided rubber-tired vehicles, the design of the steering system is a crucial step in ensuring safe operation.

[0004] Existing steering control technology is still mainly based on mechanical structure control, which is no longer suitable for the steering control system requirements of electronically guided rubber-tired vehicles. Therefore, intelligent control of steering control for electronically guided rubber-tired vehicles is an urgent problem to be solved. Summary of the Invention

[0005] This application provides an electronically guided rubber-wheeled vehicle steering control method, apparatus, system, and storage medium, which aims to provide stable steering control for the electronically guided rubber-wheeled vehicle.

[0006] In a first aspect, embodiments of this application provide a steering control method for an electronically guided rubber-wheeled vehicle, applied to an electronically guided rubber-wheeled vehicle, the method comprising:

[0007] Given the configuration of the lead car and trailer during the current journey of the electronically guided rubber-tired vehicle, the main control steering shaft and active steering shaft of the lead car are determined, as well as the active steering shaft of each of the trailer's steering shafts.

[0008] The system acquires various driving and attitude information of the lead vehicle and the trailer in real time, and records the orientation information and driving trajectory of the lead vehicle's main control steering axis.

[0009] According to the orientation information and the driving track of the master controlled steering axle of the head vehicle, and according to the current various driving information and the attitude information of the head vehicle and the trailer, a steering angle calculation strategy is executed to calculate the steering instructions corresponding to the active steering axles of the head vehicle and the trailer;

[0010] The active steering axles of the head vehicle and the trailer are controlled to steer according to the corresponding steering instructions, so that the steering axles of the head vehicle and the trailer drive through the same road track.

[0011] Optionally, the current various driving information and the attitude information of the head vehicle and the trailer are acquired in real time, and the orientation information and the driving track of the master controlled steering axle of the head vehicle are recorded, including:

[0012] The current position information, the wheel steering angle information, the attitude information, the cabin heading angle, the inter-vehicle included angle and the speed information of the head vehicle and the trailer are acquired in real time through various types of sensors installed on the head vehicle and the trailer, or through the vehicle CAN bus;

[0013] The driving data of the master controlled steering axle of the head vehicle are acquired, and the orientation information and the driving track of the master controlled steering axle of the head vehicle are recorded in real time in the global electronic map arranged on the rubber-tyred vehicle.

[0014] Optionally, according to the orientation information and the driving track of the master controlled steering axle of the head vehicle, and according to the current various driving information and the attitude information of the head vehicle and the trailer, a steering angle calculation strategy is executed to calculate the steering instructions corresponding to the active steering axles of the head vehicle and the trailer, including:

[0015] The orientation information and the driving track of the master controlled steering axle of the head vehicle are read in the global electronic map;

[0016] According to the current position information, the wheel steering angle information, the attitude information, the cabin heading angle, the inter-vehicle included angle and the speed information of the head vehicle, a steering angle calculation strategy is executed to calculate the corresponding steering instructions of the active steering axle of the head vehicle, so that the active steering axle of the head vehicle drives through the same road track as the master controlled steering axle of the head vehicle;

[0017] According to the current position information, the wheel steering angle information, the attitude information, the cabin heading angle, the inter-vehicle included angle and the speed information of any of the trailers, a steering angle calculation strategy is executed to calculate the corresponding steering instructions of any of the active steering axles of the trailer, so that the active steering axles of the trailer all drive through the same road track as the master controlled steering axle of the head vehicle.

[0018] Optionally, the method further comprises:

[0019] In response to a driving mode selection operation on the driving buttons of the head and tail carriages, it is determined that the head carriage is a leading carriage and the remaining carriages are trailing carriages during the current driving process of the rubber-tyred vehicle; wherein the driving mode includes a manual driving mode and a tracking driving mode.

[0020] In a second aspect, the embodiments of the present application provide an electronic guided rubber-tyred vehicle steering control device, which comprises:

[0021] An active steering shaft determination module is configured to determine the master steering shaft and the active steering shaft of the head carriage and determine the active steering shafts of the respective trailing carriages when it is determined that the head carriage is a leading carriage and the remaining carriages are trailing carriages during the current driving process of the electronic guided rubber-tyred vehicle;

[0022] A data acquisition and recording module is configured to acquire the current respective multiple driving information and attitude information of the head carriage and the trailing carriages in real time and record the orientation information and driving trajectory of the master steering shaft of the head carriage;

[0023] A steering angle calculation module is configured to perform a steering angle calculation strategy according to the orientation information and driving trajectory of the master steering shaft of the head carriage and according to the current respective multiple driving information and attitude information of the head carriage and the trailing carriages, and calculate the respective steering instructions of the active steering shafts of the head carriage and the trailing carriages;

[0024] A steering execution module is configured to control the active steering shafts of the head carriage and the trailing carriages to steer according to the respective corresponding steering instructions, so that the respective steering shafts of the head carriage and the trailing carriages drive over the same road trajectory.

[0025] In a third aspect, the embodiments of the present application provide an electronic guided rubber-tyred vehicle steering control system, which is applied to an electronic guided rubber-tyred vehicle and comprises:

[0026] A coordination control subsystem is configured to acquire the respective multiple driving information and attitude information of the head carriage and the trailing carriages of the electronic guided rubber-tyred vehicle through various types of sensors arranged on the electronic guided rubber-tyred vehicle, and determine the respective corresponding steering instructions of each active steering shaft of the head carriage and the trailing carriages through calculation;

[0027] A steering execution subsystem is configured to send the respective corresponding steering instructions of each active steering shaft of the head carriage and the trailing carriages to the corresponding servo motor, so that each steering shaft of the head carriage and the trailing carriages drives over the same trajectory;

[0028] A driving assistance subsystem is configured to communicate with other systems on the electronic guided rubber-tyred vehicle and provide an obstacle avoidance function.

[0029] Optionally, the hardware configuration of the system comprises a master central controller, which comprises a plurality of processes according to different processing tasks, including a shared memory process, a system master control process, a sensor data processing process, a steering execution device driving process, a system external controller communication process, an important data recording process, and a host computer and slave controller network communication process.

[0030] Optionally, the hardware configuration of the system comprises a slave central controller, which is used for data recording and backup for the master central controller, and performs double-redundancy logical judgment with the master central controller.

[0031] Optionally, the system further comprises:

[0032] An automatic storage subsystem is configured to record driving data of the rubber-tyred vehicle at a specified time interval, wherein the driving data comprises driving mileage, vehicle speed, steering system turning angle instruction, vehicle cabin heading angle, vehicle inter-vehicle included angle, state of each sensor, driver fault message, frequency converter fault message, vehicle active end, vehicle special scene mode serial number, tracking system state, and vehicle driving state.

[0033] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the electronic guided rubber-tyred vehicle steering control method according to the first aspect of the embodiment.

[0034] Advantages:

[0035] The method can determine the master control steering shaft of the lead vehicle and the active steering shaft of each of the lead vehicle and the trailer, and then acquire real-time current various driving information and attitude information of the lead vehicle and the trailer, and record the orientation information and driving trajectory of the master control steering shaft of the lead vehicle. Then, according to the orientation information and driving trajectory of the master control steering shaft of the lead vehicle, and according to the current various driving information and attitude information of the lead vehicle and the trailer, a steering angle calculation strategy is executed to calculate the steering instructions corresponding to the active steering shafts of the lead vehicle and the trailer. The active steering shafts of the lead vehicle and the trailer are controlled to steer according to the corresponding steering instructions, so that the active steering shafts of the lead vehicle and the trailer travel along the same road trajectory.

[0036] The method makes the active steering shafts of the rubber-tyred vehicle travel along the same road trajectory, realizes coordinated steering control of the vehicle, and not only can stabilize straight driving, but also can minimize the turning footprint of the rubber-tyred vehicle when turning, i.e., achieve the most efficient turning swing, thereby realizing stable steering control of the electronic guided rubber-tyred vehicle under straight and curved road conditions. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0038] Figure 1 is a step flow chart of the electronic guided rubber-tyred vehicle steering control method provided by an embodiment of the present application;

[0039] Figure 2 is a structural schematic diagram of the electronic guided rubber-tyred vehicle provided by an embodiment of the present application;

[0040] Figure 3 is a functional module diagram of the electronic guided rubber-tyred vehicle steering control device provided by an embodiment of the present application;

[0041] Figure 4 is a structural diagram of the electronic guided rubber-tyred vehicle steering control system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of protection of the present application.

[0043] Compared with the traditional rail vehicles, the electronic guided rubber-tyred vehicle has no fixed running track, i.e. no obvious traffic limit. When the steering control of the whole vehicle is performed based on the current mechanical structure, the head vehicle generally runs on the preset track under human control, but the multiple trailers connected through the mechanical connection behind the head vehicle are prone to large turning swing, i.e. the turning coverage of the whole vehicle is large. Therefore, the electronic guided rubber-tyred vehicle has a high requirement for the width of the running road. If the width of the road is not enough, the trailers are prone to collision when swinging.

[0044] Therefore, for the electronic guided rubber-tyred vehicle, the design of the steering system is an important step for its safe running. The existing steering control technology cannot meet the requirements of the electronic guided rubber-tyred vehicle for the steering control system. Therefore, the present application provides an electronic guided rubber-tyred vehicle steering control method.

[0045] Reference Figure 1, shows a step flow chart of a steering control method of an electronic guided rubber-tyred vehicle in the embodiment of the application, the method is applied to an electronic guided rubber-tyred vehicle, and specifically can include the following steps:

[0046] S101: in the case that the configuration of the head vehicle and the trailer in the current driving process of the electronic guided rubber-tyred vehicle is determined, the main control steering shaft and the active steering shaft of the head vehicle are determined, and the active steering shafts in the steering shafts of the trailer are determined.

[0047] In actual implementation, a control system for executing the method can be arranged on the electronic guided rubber-tyred vehicle, and the control system can be arranged on a separately installed hardware or on an existing hardware device of the electronic guided rubber-tyred vehicle.

[0048] The electronic guided rubber-tyred vehicle can generally include multiple mechanically connected carriages, and the first and last carriages can be used as the head vehicle according to actual driving requirements. At the beginning of each driving, the control system can determine the head vehicle in the current driving process according to the selection of the staff, and the remaining carriages are configured as the trailer.

[0049] In a feasible implementation, the control system can determine the configuration of the head vehicle and the trailer of the electronic guided rubber-tyred vehicle when the driving mode of the electronic guided rubber-tyred vehicle is selected. For example, the driving mode of the electronic guided rubber-tyred vehicle includes a manual driving mode and a tracking driving mode. In response to the selection operation of the buttons on the first and last carriages, the control mode of the electronic guided rubber-tyred vehicle in the current driving process can be determined, and the head vehicle in the current driving process of the electronic guided rubber-tyred vehicle can also be determined, and the remaining carriages are configured as the trailer.

[0050] Specifically, a steering knob can be arranged on the first and last carriages. When the steering knob arranged on a certain carriage is selected and dialled to the manual driving mode, the electronic guided rubber-tyred vehicle enters the manual driving mode in the current driving, and the current carriage is configured as the head vehicle, and the remaining carriages are configured as the trailer. In the manual driving mode, the first shaft of the head vehicle is the main control steering shaft controlled by the driver mechanically. When the driver selects and dials the steering knob arranged on a certain carriage to the tracking driving mode, the current carriage is configured as the head vehicle, and the first shaft of the head vehicle is controlled by the tracking system, and at this time, the first shaft is the main control steering shaft responding to the steering instruction sent by the tracking system. The control system can determine the active steering shaft and the passive steering shaft of the head vehicle and the trailer according to the pre-defined configuration strategy of the active steering shaft, wherein the active steering shaft is the object of the steering control of the method.

[0051] Referring to Figure 2 The figure shows a structural schematic diagram of the rubber-tyred vehicle provided in the embodiment, Figure 2The rubber-tired vehicle in the embodiment has three carriages, including a head carriage and two trailer carriages. The first axle of the head carriage is a master steering axle controlled by a driver or a steering instruction sent by a tracking system. The second axle of the head carriage is mechanically connected to the first axle, and can be configured as a passive steering axle, that is, the steering of the second axle only needs to follow the first axle.

[0052] The remaining steering axles of the head carriage and the steering axles of the trailer carriages can be determined as active steering axles according to a predefined configuration strategy of the active steering axles. For example, the third axle of the head carriage is an active steering axle, and the fourth axle of the first trailer carriage can be a passive steering axle. Since the third axle and the fourth axle are connected at the hinge between the head carriage and the first trailer carriage, the steering angle of the fourth axle can be determined by controlling the steering angle of the third axle, and thus the fourth axle of the first trailer carriage does not need to be controlled additionally, which can save calculation cost. Similarly, the fifth axle of the first trailer carriage is an active steering axle, and the sixth axle of the second trailer carriage is a passive steering axle. For the seventh axle and the eighth axle of the second trailer carriage, the eighth axle can be configured as an active steering axle, because the seventh axle and the eighth axle are mechanically connected, and thus the seventh axle can follow the eighth axle to steer.

[0053] In addition, in a feasible implementation, in addition to the manual driving mode and the tracking driving mode, the method can also be applied to a full-automatic driving mode of the electronically guided rubber-tired vehicle. According to the configuration of the head carriage and the trailer carriages in the full-automatic driving mode, the active steering axles of the head carriage and the trailer carriages are determined respectively, and the steering control is performed on the active steering axles, so as to realize the steering control of the rubber-tired vehicle.

[0054] S102: Real-time acquisition of a plurality of driving information and attitude information of the head carriage and the trailer carriage at present, and recording of the orientation information and the driving trajectory of the master steering axle of the head carriage.

[0055] For example, the control system can acquire the current position information, the wheel steering angle information, the attitude information, the carriage heading angle, the inter-car angle and the speed information of the head carriage and the trailer carriage in real time through a plurality of types of sensors installed on the head carriage and the trailer carriage, or through a vehicle CAN bus.

[0056] The orientation information and the driving trajectory history information of the master steering axle of the head carriage are queried through the current position information and the wheel steering angle information of the trailer carriage, and the steering angle of each steering axle is calculated according to a vehicle kinematics model, so that the driving trajectory of the trailer carriage coincides with the driving trajectory of the head carriage.

[0057] The control system acquires the driving data of the master steering axle of the head carriage, and records the orientation information and the driving trajectory of the master steering axle of the head carriage in real time in a global electronic map arranged on the rubber-tired vehicle.

[0058] S103: According to the orientation information and the driving trajectory of the master steering axle of the head vehicle, and according to the current various driving information and attitude information of the head vehicle and the trailer, a steering angle calculation strategy is executed to calculate the steering instructions corresponding to the active steering axles of the head vehicle and the trailer.

[0059] Specifically, the control system reads the orientation information and the driving trajectory of the master steering axle of the head vehicle in the global electronic map; according to the current position information, wheel steering angle information, attitude information, vehicle cabin heading angle, inter-vehicle included angle and vehicle speed information of the head vehicle, a steering angle calculation strategy is executed to calculate the steering instructions corresponding to the active steering axles of the head vehicle to make the active steering axles of the head vehicle drive along the orientation information and the driving trajectory of the master steering axle of the head vehicle, and according to the current position information, wheel steering angle information, attitude information, vehicle cabin heading angle, inter-vehicle included angle and vehicle speed information of any of the trailers, a steering angle calculation strategy is executed to calculate the steering instructions corresponding to any of the active steering axles of the trailer to make each of the active steering axles of the trailer drive along the orientation information and the driving trajectory of the master steering axle of the head vehicle.

[0060] The steering angle calculation strategy mainly determines the target steering angle according to the attitude information, vehicle cabin heading angle, inter-vehicle included angle and vehicle speed information through a vehicle kinematics model, and compares the target steering angle with the wheel steering angle information to control the wheel steering angle to converge to the target steering angle.

[0061] S104: The active steering axles of the head vehicle and the trailer are controlled to steer according to the corresponding steering instructions to make the steering axles of the head vehicle and the trailer drive along the same road trajectory.

[0062] In actual implementation, the control system can send the corresponding steering instructions of each active steering axle of the head vehicle and the trailer to the corresponding servo motor of each active steering axle through the CAN bus, so as to realize the steering control of each active steering axle, so that each active steering axle drives the same trajectory as the master steering axle of the head vehicle, and thus the remaining passive steering axles of the head vehicle and the trailer can also drive the same trajectory as the master steering axle of the head vehicle.

[0063] The basic feature of the steering control of the electronic guided rubber-tyred vehicle is that the number of controllable objects is greater than the lateral degree of freedom of the vehicle. Through the steering control of the rubber-tyred vehicle by the method, the electronic guided rubber-tyred vehicle can make the steering axles coordinate and follow the steering control, so that each steering axle drives the same road trajectory, and the running ability, turning ability and reliable dynamic limit of the vehicle are guaranteed, so that the rubber-tyred vehicle can stably run on various straight and curved roads, all wheels can roll without side slip, the turning radius can be minimized or the turning footprint can be saved, the turning radius is small, and the rubber-tyred vehicle can stably and safely drive on the virtual track.

[0064] Referring to Figure 3 , a functional module diagram of a steering control device of an electronic guided rubber-tyred vehicle is shown, the device comprising:

[0065] a main steering shaft determination module 101, configured to determine a main control steering shaft and a main steering shaft of a head vehicle and determine main steering shafts of each of trailers when determining a configuration of the head vehicle and the trailers in a current driving process of the electronic guided rubber-tyred vehicle;

[0066] a data acquisition and recording module 102, configured to acquire current various driving information and attitude information of each of the head vehicle and the trailers in real time and record orientation information and a driving track of the main control steering shaft of the head vehicle;

[0067] a steering angle calculation module 103, configured to perform a steering angle calculation strategy according to the orientation information and the driving track of the main control steering shaft of the head vehicle and according to the current various driving information and attitude information of each of the head vehicle and the trailers, and calculate steering instructions corresponding to each of the main steering shafts of the head vehicle and the trailers;

[0068] a steering execution module 104, configured to control each of the main steering shafts of the head vehicle and the trailers to steer according to the corresponding steering instructions, so that each of the steering shafts of the head vehicle and the trailers drives over the same road track.

[0069] Referring to Figure 4 , a structural diagram of a steering control system of an electronic guided rubber-tyred vehicle is shown, applied to the electronic guided rubber-tyred vehicle, the system comprising:

[0070] a coordination control subsystem 201, configured to acquire various driving information and attitude information of each of a head vehicle and trailers of the electronic guided rubber-tyred vehicle through various types of sensors arranged on the electronic guided rubber-tyred vehicle, and determine steering instructions corresponding to each of main steering shafts of the head vehicle and the trailers through calculation;

[0071] a steering execution subsystem 202, configured to send the steering instructions corresponding to each of the main steering shafts of the head vehicle and the trailers to corresponding servo motors, so that each of the steering shafts of the head vehicle and the trailers drives over the same track;

[0072] a driving assistance subsystem 203, configured to communicate with other systems on the electronic guided rubber-tyred vehicle and provide an obstacle avoidance function.

[0073] In an available embodiment, the hardware configuration of the control system can include a master central controller (MCU), a slave central controller (SCU), a vehicle-mounted multi-frequency antenna (GPS), a network switch (NETSWT), a CAN gateway (CANHUB), an angle and attitude sensor (IMU), a visual sensor (VIS), a laser radar (LIDAR), an angle sensor (AS), etc.

[0074] The master central controller MCU is mainly used for vehicle control model calculation, data transceiving and storage control, dispatch center communication control, etc. The slave central controller SCU is mainly used for data recording and backup of the MCU, MCU double-redundancy logic judgment, and dispatch communication and wifi signal transmission. The vehicle-mounted multi-frequency antenna is a GPS / wifi / 4G three-in-one antenna. The GPS antenna is used to realize high-precision positioning. The wifi antenna is mainly used to send wireless signals for facilitating vehicle debugging by the debugging personnel near the vehicle. The 4G antenna enables remote debugging personnel to use the 4G network for debugging. The network switch NETSWT is mainly used for debugging interfaces and data communication, and can connect the MCU, SCU and NCU, etc. key equipment through Ethernet. The CAN gateway is mainly used for vehicle filtering, routing and CAN network transportation. The angle and attitude sensor is used to measure the acceleration, angle and angular velocity of the rubber-tyred vehicle.

[0075] The multiple carriages of the rubber-tyred vehicle are connected through the CAN bus in the vehicle and realize communication of the whole vehicle. Each carriage has multiple hardware interfaces. The hardware devices are connected to the vehicle through the hardware interfaces and transmit information in the form of CAN messages between the whole vehicle.

[0076] The head and tail carriages of the electronic-guided rubber-tyred vehicle are both motor cars. In the head and tail carriages, one is provided with a master central controller and the other is provided with a slave central controller. Both controllers receive CAN messages from the sensors on each carriage. In addition, the slave central controller also performs MCU double-redundancy logic judgment, i.e. the slave central controller monitors the working state of the master central controller. When the master central controller is in a normal working state, the master central controller executes the turning angle calculation strategy and controls each active steering shaft to steer. When the master central controller is in an abnormal working state, the slave central controller executes the turning angle calculation strategy and controls each active steering shaft to steer.

[0077] For the master central controller, multiple processes can be included according to different processing tasks, such as a shared memory process, a system master control process, a sensor data processing process, a steering execution device driving process, a system external controller communication process, an important data recording process, and an upper computer and slave controller network communication process.

[0078] The system not only includes steering control of each active steering axle, so that each steering axle of the electronic guided rubber-tyred vehicle travels the same track, but also has many other functions, for example, the system also includes driving mode selection function, tracking control relay function, driving data storage function, zero adjustment host function, angle sensor switching function, system clock function, and frequency adaptive function of the frequency converter, etc.

[0079] Specifically, the driving mode selection function refers to allowing the staff to select the driving mode of the electronic guided rubber-tyred vehicle during this driving, and the driving mode can be: manual driving, magnetic nail tracking driving, and full-automatic driving.

[0080] The tracking control relay function refers to that the system acts as an intermediate system of the whole vehicle system and the tracking system, and plays a role of data relay; the system determines the vehicle driving mode selection button state through the message sent by the whole vehicle, and judges whether to enter the automatic driving state in combination with the magnetic nail detection state of the tracking system, and the logic thereof includes: when the whole vehicle guiding knob is located at normal, the tracking system is located at magnetic nail navigable, and the MCU and the tracking system are in normal communication, the electronic guided rubber-tyred vehicle can enter the automatic driving model, and execute the steering instruction input by the tracking system, if any of the above three conditions for entering the automatic driving state cannot be met, the vehicle enters the manual driving state.

[0081] The driving data storage function refers to that the system also includes an automatic storage subsystem, which can store the driving data of the rubber-tyred vehicle every specified time, including vehicle driving mileage, vehicle motor speed, vehicle speed transmission speed, steering system turning angle instruction, actual vehicle wheel turning angle, vehicle dynamics model calculated attitude angle, inertial navigation 3-axis angle, inertial navigation 3-axis angular velocity, inertial navigation 3-axis acceleration, magnetic sensor deviation, vehicle cabin heading angle, vehicle inter-vehicle angle, state of each sensor, driver fault message, frequency converter fault message, vehicle activation end, vehicle special scene mode serial number, tracking system state, and vehicle driving state, etc. The data recording and updating period can be 20ms.

[0082] The zero adjustment host function refers to that the zero can be adjusted through the host software. The zero is adjusted through the preset adjustment button or adjustment control, and the zero is read and written through clicking the read zero and change zero buttons.

[0083] The angle sensor switching function refers to that the angle sensor realizes manual switching function, when the vehicle triggers forced braking due to excessive angle change rate or angle message loss, etc., after the vehicle stops driving, the configuration parameter file can be manually changed to realize the angle sensor switching function.

[0084] System clock function refers to that when the VCU returns the vehicle clock, the MCU system clock adopts the VCU clock, and the clock data is synchronized with the time in the data record.

[0085] Frequency converter frequency adaptive function refers to that when the forward command of the vehicle is received, the output frequency of the frequency converter is adjusted, so as to reduce the noise.

[0086] The application further provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the electronic guided rubber-tyred vehicle steering control method according to the embodiments.

[0087] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0088] Those skilled in the art should understand that the embodiments of the application can be provided as a method, an apparatus, or a computer program product. Therefore, the embodiments of the application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the application can adopt a computer program product in the form of being implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0089] The embodiments of the application are described with reference to flowcharts and / or block diagrams according to the method, terminal device (system), and computer program product of the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the computer or other programmable data processing terminal device produce a device for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The apparatus for implementing the functions specified in one or more flows and / or blocks.

[0090] These computer program instructions can also be stored in a computer readable storage medium, which can guide the computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The apparatus for implementing the functions specified in one or more flows and / or blocks.

[0091] These computer program instructions can also be loaded into a computer or other programmable data processing terminal device, causing a series of operational steps to be performed on the computer or other programmable terminal device to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal device provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0092] Although the preferred embodiments of the application have been described, those skilled in the art will be able to make additional changes and modifications thereto without departing from the scope of the application. Accordingly, the appended claims are intended to cover all such changes and modifications that fall within the scope of the application.

[0093] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to distinguish one element from another, and do not imply singular or plural. Moreover, the term "include", "have", or any other variant thereof, are intended to encompass non-exclusive inclusions, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0094] The principles and implementations of the present application have been described in specific examples, the above descriptions of the embodiments are only for the purpose of understanding the method of the present application and its core idea; at the same time, for the general technical personnel in the art, according to the idea of the present application, the specific implementation and application range will have changes, and the above description of the specification should not be understood as the limitation of the present application.

Claims

1. A method of steering control for an electrically guided rubber-tyred vehicle, characterized in that, The method is applied to an electronic guided rubber-tyred vehicle, and a plurality of carriages of the electronic guided rubber-tyred vehicle are connected through a CAN bus in the vehicle and communication of the whole vehicle is realized, and the method comprises the following steps: When a driver selects a guiding knob arranged on a current carriage to be set to a tracking driving mode, the current carriage is configured as a head carriage, the remaining carriages are configured as trailers, and a master control steering shaft of the head carriage is controlled by a steering instruction sent by a tracking system; In a case where the head carriage and the trailer configurations in a current driving process of the electronic guided rubber-tyred vehicle are determined, a master control steering shaft of the head carriage and a driving steering shaft are determined, and driving steering shafts in the respective steering shafts of the trailers are determined; When the whole vehicle guiding knob is in a normal position, the tracking system is in a magnetic nail navigable position, and a master central controller MCU and the tracking system are in normal communication, the electronic guided rubber-tyred vehicle executes a steering instruction input by the tracking system; Real-time acquisition of a plurality of current respective driving information and attitude information of the head carriage and the trailer, and recording of orientation information and a driving track of the master control steering shaft of the head carriage are performed; According to the orientation information and the driving track of the master control steering shaft of the head carriage, and according to the plurality of current respective driving information and attitude information of the head carriage and the trailer, a steering angle calculation strategy is executed, and a corresponding steering instruction of the driving steering shaft of the head carriage is calculated, so that the driving steering shaft of the head carriage and the master control steering shaft of the head carriage drive the same road track; The corresponding steering instruction of each driving steering shaft of the head carriage and the trailer is sent to a corresponding servo motor of each driving steering shaft through a CAN bus, so that each driving steering shaft of the head carriage and the trailer is controlled to steer according to the corresponding steering instruction, so that each steering shaft of the head carriage and the trailer drives the same road track.

2. The method of claim 1, wherein, Real-time acquisition of a plurality of current respective driving information and attitude information of the head carriage and the trailer, and recording of orientation information and a driving track of the master control steering shaft of the head carriage are performed, comprising: Real-time acquisition of current position information, wheel steering angle information, attitude information, carriage heading angle, inter-car angle and speed information of the head carriage and the trailer through a plurality of types of sensors installed on the head carriage and the trailer, or through a vehicle CAN bus; Real-time recording of orientation information and a driving track of the master control steering shaft of the head carriage in a global electronic map arranged on the rubber-tyred vehicle.

3. The method of claim 2, wherein, According to the orientation information and the driving track of the master control steering shaft of the head carriage, and according to the plurality of current respective driving information and attitude information of the head carriage and the trailer, a steering angle calculation strategy is executed, and a corresponding steering instruction of the driving steering shaft of the head carriage is calculated, comprising: Reading the orientation information and the driving track of the master control steering shaft of the head carriage in the global electronic map; According to the current position information, the wheel steering angle information, the attitude information, the carriage heading angle, the inter-car angle and the speed information of the head carriage, a steering angle calculation strategy is executed, and a corresponding steering instruction of the driving steering shaft of the head carriage is calculated, so that the driving steering shaft of the head carriage and the master control steering shaft of the head carriage drive the same road track; According to the current position information, wheel rotation angle information, attitude information, vehicle cabin heading angle, vehicle angle and vehicle speed information of any trailer, a rotation angle calculation strategy is executed to calculate the corresponding steering instruction of any active steering shaft of the trailer, so that each active steering shaft of the trailer travels the same road trajectory as the master steering shaft of the lead vehicle.

4. The method of claim 1, wherein, The method further comprises: In response to a driving mode selection operation on the driving buttons of the head and tail vehicles, it is determined that the lead vehicle and the remaining vehicles are configured as trailers during the current driving process of the electronic guide rubber-tyred vehicle; wherein the driving mode includes a manual driving mode and a tracking driving mode.

5. An electronic guided rubber tired vehicle steering control apparatus characterized by, The device comprises: A configuration module configured to, when the driver selects to dial the guide knob arranged on the current vehicle cabin to the tracking driving mode, configure the current vehicle cabin as the lead vehicle and the remaining vehicle cabins as trailers, and control the master steering shaft of the lead vehicle by the steering instruction sent by the tracking system; An active steering shaft determination module configured to, when it is determined that the lead vehicle and the trailer are configured during the current driving process of the electronic guide rubber-tyred vehicle, determine the master steering shaft and the active steering shaft of the lead vehicle, and determine the active steering shaft in each steering shaft of the trailer; A judgment module configured to, when the whole vehicle guide knob is in the normal position, the tracking system is navigable by the magnetic nails, and the master central controller MCU and the tracking system are in normal communication, execute the steering instruction input by the tracking system by the electronic guide rubber-tyred vehicle; A data acquisition and recording module configured to acquire the current respective multiple driving information and attitude information of the lead vehicle and the trailer in real time, and record the orientation information and driving trajectory of the master steering shaft of the lead vehicle; A steering angle calculation module configured to, according to the orientation information and driving trajectory of the master steering shaft of the lead vehicle, and according to the current respective multiple driving information and attitude information of the lead vehicle and the trailer, execute a rotation angle calculation strategy to calculate the corresponding steering instruction of each active steering shaft of the lead vehicle and the trailer; A steering execution module configured to send the respective corresponding steering instructions of each active steering shaft of the lead vehicle and the trailer to the corresponding servo motor of each active steering shaft through the CAN bus, so as to control each active steering shaft of the lead vehicle and the trailer to steer according to the respective corresponding steering instructions, so that each steering shaft of the lead vehicle and the trailer travels the same road trajectory.

6. An electrically steered rubber wheeled vehicle steering control system, characterized by, The system is applied to an electronic guide rubber-tyred vehicle, the multiple vehicle cabins of the electronic guide rubber-tyred vehicle are connected and the communication of the whole vehicle is realized through the CAN bus in the vehicle, and the system comprises: A coordination control subsystem is configured to control the electronic guided rubber-tyred vehicle to execute the steering instructions inputted by the tracking system when the driver selects the guide knob on the current vehicle cabin to the tracking driving mode, the current vehicle cabin is configured as the leading vehicle, the rest of the vehicle cabins are configured as the trailers, and the main control steering shaft of the leading vehicle is controlled by the steering instructions inputted by the tracking system; the electronic guided rubber-tyred vehicle executes the steering instructions inputted by the tracking system when the whole vehicle guide knob is in the normal position, the tracking system is in the magnetic pin navigable position, and the main central controller MCU is in normal communication with the tracking system; various types of sensors arranged on the electronic guided rubber-tyred vehicle are configured to acquire various driving information and attitude information of the leading vehicle and the trailers, and the steering instructions corresponding to each active steering shaft of the leading vehicle and the trailers are determined through calculation; A steering execution subsystem is configured to send the steering instructions corresponding to each active steering shaft of the leading vehicle and the trailers to the corresponding servo motor through the CAN bus, so that each steering shaft of the leading vehicle and the trailers travels the same track; A driving assistance subsystem is configured to communicate with other systems on the electronic guided rubber-tyred vehicle and provide an obstacle avoidance function.

7. The system of claim 6, wherein, The hardware configuration of the system includes a main central controller, which includes a plurality of processes according to different processing tasks, including a shared memory process, a system main control process, a sensor data processing process, a steering execution device driving process, a system external controller communication process, an important data recording process, and a host computer and slave controller network communication process.

8. The system of claim 7, wherein, The hardware configuration of the system includes a slave central controller, which is configured to record and backup data for the main central controller, and perform double-redundancy logical judgment with the main central controller.

9. The system of claim 6, wherein, The system further includes: An automatic storage subsystem is configured to record the driving data of the rubber-tyred vehicle at every calibration time, wherein the driving data includes driving mileage, vehicle speed, steering system steering angle instruction, vehicle cabin heading angle, vehicle cabin included angle, state of each sensor, driver fault message, frequency converter fault message, vehicle active end, vehicle special scene mode serial number, tracking system state, and vehicle driving state.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium, and the computer program is executed by the processor to implement the electronic guided rubber-tyred vehicle steering control method according to any one of claims 1 to 4.

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