Methods, devices, and electronic equipment for determining and controlling the direction of travel of tracked vehicles.

Abstract

This application provides a method, apparatus, electronic device, and storage medium for determining and controlling the travel direction of a tracked vehicle. The method for determining the travel direction of a tracked vehicle includes: obtaining the wheel rotation speed at the current moment based on the vehicle speed and dimensions of the tracked vehicle at the current moment; and determining the travel direction of the tracked vehicle at the current moment based on the wheel rotation speed and dimensions of the tracked vehicle at the current moment. Therefore, this application can accurately determine the travel direction of a tracked vehicle and improve the control effect of the travel direction of the tracked vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, electronic device and storage medium for determining and controlling the driving direction of a tracked vehicle. Background Technology

[0002] Tracked tractors are an important part of agricultural machinery applications, used for deep tillage in paddy fields, dry fields, and wetlands. Compared with wheeled tractors, they have advantages such as higher traction and better resistance to bumps.

[0003] Tracked tractors use differential steering, which involves rotating the steering wheel to generate different rotational speeds on the tracks on either side, thus changing the vehicle's direction of travel. Compared to wheeled tractors, tracked vehicles lack a measurable front wheel angle; therefore, current control methods for wheeled vehicles cannot be directly applied to tracked vehicles.

[0004] In current literature, the control of tracked robots is mostly achieved by controlling their linear and angular velocities. Motors are installed on the left and right track wheels to control their rotational speed, thereby controlling the robot's direction of travel. However, since tracked tractors in agricultural machinery control their direction of travel through differential steering, and tractors do not have motors installed on their left and right wheels, the control methods for tracked robots described in the literature cannot be directly applied to the control of tracked vehicles (such as tracked tractors).

[0005] Therefore, a control scheme for the travel direction of tracked vehicles is needed. Summary of the Invention

[0006] In view of the above problems, this application provides a method, device, and electronic device for determining and controlling the driving direction of a tracked vehicle, which can at least partially solve the problems existing in the prior art.

[0007] According to a first aspect of the embodiments of this application, a method for determining the travel direction of a tracked vehicle is provided, wherein the wheel rotation speed of the tracked vehicle at the current moment is obtained based on the travel speed and angular velocity of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle; and the travel direction of the tracked vehicle at the current moment is determined based on the wheel rotation speed of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle.

[0008] According to a second aspect of the embodiments of this application, a method for adjusting the driving direction of a tracked vehicle is provided, comprising: using the method for determining the driving direction of a tracked vehicle as described in the first aspect, determining a calculated driving direction of the tracked vehicle corresponding to the current moment based on the vehicle speed of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle; obtaining an adjustment speed of the motor of the steering wheel of the tracked vehicle based on the target driving direction of the tracked vehicle corresponding to the current moment and the calculated driving direction; and adjusting the driving direction of the tracked vehicle based on the adjustment speed of the motor of the steering wheel of the tracked vehicle.

[0009] According to a third aspect of the embodiments of this application, a device for determining the driving direction of a tracked vehicle is provided, comprising: a wheel speed calculation module, configured to obtain the wheel speed of the tracked vehicle at the current moment based on the driving speed and angular velocity of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle; and a driving direction determination module, configured to determine the driving direction of the tracked vehicle at the current moment based on the wheel speed of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle.

[0010] According to a fourth aspect of the embodiments of this application, a travel direction adjustment device for a tracked vehicle is provided, comprising: a travel direction determination module, configured to determine, using the travel direction determination device for a tracked vehicle as described in the third aspect, a calculated travel direction of the tracked vehicle corresponding to the current moment based on the vehicle speed of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle; an adjustment speed determination module, configured to obtain an adjustment speed of the motor of the steering wheel of the tracked vehicle based on the target travel direction of the tracked vehicle corresponding to the current moment and the calculated travel direction; and a travel direction adjustment module, configured to adjust the travel direction of the tracked vehicle based on the adjustment speed of the motor of the steering wheel of the tracked vehicle.

[0011] According to a fifth aspect of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform an operation corresponding to the method for determining the driving direction of a tracked vehicle as described in the first aspect, or to perform an operation corresponding to the method for adjusting the driving direction of a tracked vehicle as described in the second aspect.

[0012] According to a sixth aspect of the embodiments of this application, a computer storage medium is provided, characterized in that a computer program is stored thereon, which, when executed by a processor, can implement the method for determining the driving direction of a tracked vehicle as described in the first aspect, or the method for adjusting the driving direction of a tracked vehicle as described in the second aspect.

[0013] In summary, the tracked vehicle direction determination schemes provided in the embodiments of this application can determine the tracked vehicle's direction of travel based on its travel speed, angular velocity, and vehicle size. Therefore, this application can accurately determine the vehicle's direction of travel without the need to measure the front wheel angle, making it particularly suitable for tracked vehicle applications.

[0014] Furthermore, this application also proposes a technical solution for adjusting the driving direction of a tracked vehicle based on the above-mentioned scheme for determining the driving direction of a tracked vehicle. This solution can precisely control the driving direction of a tracked vehicle even when no motor is installed on the left or right wheels. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1 This is a flowchart illustrating the process of determining the travel direction of a tracked vehicle, which is an exemplary embodiment of this application.

[0017] Figure 2 This is a flowchart illustrating a method for determining the driving direction of a tracked vehicle, which is another exemplary embodiment of this application.

[0018] Figure 3 This is a flowchart illustrating a method for adjusting the driving direction of a tracked vehicle, which is an exemplary embodiment of this application.

[0019] Figure 4 This is a structural block diagram of a tracked vehicle direction determination device, which is an exemplary embodiment of this application.

[0020] Figure 5 This is a structural block diagram of a tracked vehicle's driving direction adjustment device, which is an exemplary embodiment of this application.

[0021] Figure 6 This is a structural block diagram of an electronic device that is an exemplary embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0023] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0024] Figure 1 A flowchart illustrating a method for determining the travel direction of a tracked vehicle according to an exemplary embodiment of this application is shown, which includes the following steps:

[0025] Step S102: Based on the tracked vehicle's travel speed and angular velocity at the current moment and the vehicle size, obtain the wheel rotation speed of the tracked vehicle at the current moment.

[0026] Alternatively, tracked vehicles may include, but are not limited to, tracked tractors.

[0027] Optionally, the vehicle dimensions of a tracked vehicle include the track wheel spacing.

[0028] In this embodiment, the track wheel spacing is used to characterize the distance between two track wheels located on opposite sides of a tracked vehicle.

[0029] In this embodiment, the wheel speed of the tracked vehicle at the current moment includes the speed of the left wheel and the speed of the right wheel of the tracked vehicle.

[0030] In this embodiment, angular velocity is used to characterize the angular velocity of the tracked vehicle along the Z-axis. Optionally, the angular velocity of the tracked vehicle at the current moment can be obtained by an inertial measurement unit installed on the tracked vehicle.

[0031] Specifically, the following formula 1 can be used to obtain the left wheel speed of the tracked vehicle at the current moment based on the vehicle's speed and angular velocity at the current moment and the track wheel spacing of the tracked vehicle. The following formula 2 can be used to obtain the right wheel speed of the tracked vehicle at the current moment based on the vehicle's speed and angular velocity at the current moment and the track wheel spacing of the tracked vehicle.

[0032] Formula 1 and Formula 2 are respectively expressed as:

[0033] vl k =v k -d / 2×w k (Formula 1)

[0034] VR k =v k +d / 2×w k (Formula 2)

[0035] In Formulas 1 and 2 above, vl k This represents the left wheel rotation speed of a tracked vehicle at time k (the current time), vr k This represents the rotational speed of the right wheel of a tracked vehicle at time k, v. k Let d represent the speed of the tracked vehicle at time k, and let w represent the track wheel spacing of the tracked vehicle. k This represents the angular velocity of the tracked vehicle at time k (i.e., the angular velocity of the tracked vehicle's body along the Z-axis).

[0036] Step S104: Determine the travel direction of the tracked vehicle at the current moment based on the wheel speed of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle.

[0037] Optionally, the Kalman filter algorithm can be used to determine the direction of travel of the tracked vehicle at the current moment based on the wheel speed and vehicle size of the tracked vehicle at the current moment.

[0038] Optionally, the vehicle dimensions of a tracked vehicle may include track ground contact length, which characterizes the contact length between any track of the tracked vehicle and the ground.

[0039] Optionally, based on the left and right wheel speeds of the tracked vehicle at the current moment, the track wheel spacing, and the track ground contact length, the observed virtual front wheel angle of the tracked vehicle at the current moment is obtained. Based on the observed virtual front wheel angle of the tracked vehicle at the current moment and the estimated virtual front wheel angle of the tracked vehicle at the previous moment, the estimated virtual front wheel angle of the tracked vehicle at the current moment is obtained. Based on the estimated virtual front wheel angle of the tracked vehicle at the current moment, the driving direction of the tracked vehicle at the current moment is determined.

[0040] Among them, the preceding time and the current time are any two consecutive detection times in the detection times of the tracked vehicle, and the preceding time is the detection time before the current time.

[0041] Optionally, each detection time of the tracked vehicle can be determined according to the preset sampling time interval of the tracked vehicle, and the preceding time of the current time can be determined according to the current time determined in each detection time. For example, if the current time is represented as the kth time, the preceding time of the current time can be represented as the (k-1)th time.

[0042] In summary, the solution provided in this application embodiment can accurately determine the direction of travel of a tracked vehicle without requiring measurement of the front wheel angle.

[0043] Figure 2 This is a flowchart illustrating a method for determining the travel direction of a tracked vehicle according to another exemplary embodiment of this application. This embodiment is a specific implementation of step S104 described above. As shown in the figure, this embodiment mainly includes the following steps:

[0044] Step S202: Based on the wheel speed, track wheel spacing, and track ground contact length of the tracked vehicle at the current moment, obtain the virtual front wheel rotation angle observation value of the tracked vehicle at the current moment, and continue to step S210.

[0045] In an optional embodiment, the virtual front wheel angle observation value of the tracked vehicle at the current moment can be obtained using the following formula 3, based on the left and right wheel speeds of the tracked vehicle at the current moment, the track wheel spacing of the tracked vehicle, the track ground contact length, the lateral offset of the left track of the tracked vehicle at the steering pole, and the lateral offset of the right track of the tracked vehicle at the steering pole.

[0046] Formula 3 is expressed as:

[0047]

[0048] In formula 3 above, σ k This represents the virtual front wheel steering angle observation of the tracked vehicle at time k (the current time), vl k vr represents the left wheel rotation speed of a tracked vehicle at time k. k Let represent the right wheel rotation speed of the tracked vehicle at time k, d represent the track wheel spacing of the tracked vehicle, L represent the track contact length of the tracked vehicle, and a represent the track contact length of the tracked vehicle. l a represents the lateral offset of the left track at the steering pole of a tracked vehicle. r This indicates the lateral offset of the right track of a tracked vehicle at the steering pole.

[0049] In this embodiment, the lateral offset of the left track and the lateral offset of the right track of the tracked vehicle can be set according to the ground material on which the tracked vehicle travels. The ground material may include, but is not limited to, gravel ground, cement ground, mud ground, etc.

[0050] For example, in the case of the ground material on which the tracked vehicle travels, the lateral offset of the left track of the tracked vehicle can be set to 0.2 (i.e., a). l =0.2), the lateral offset of the right track of a tracked vehicle can be set to 0.4 (i.e., a). r=0.4).

[0051] Step S204: Based on the estimated virtual front wheel angle of the tracked vehicle at the previous moment, the time interval between the current moment and the previous moment, and the steering wheel rotation angular velocity of the tracked vehicle at the current moment, obtain the predicted virtual front wheel angle of the tracked vehicle at the current moment, and continue to step S210.

[0052] In this embodiment, the following formula 4 can be used to obtain the predicted value of the virtual front wheel angle of the tracked vehicle at the current moment, based on the estimated value of the virtual front wheel angle of the tracked vehicle at the previous moment, the time interval between the current moment and the previous moment, the steering wheel rotation angular velocity of the tracked vehicle at the current moment, and the preset unit state matrix.

[0053] Formula 4 is expressed as follows:

[0054]

[0055] In formula 4 above, F represents the predicted virtual front wheel steering angle of the tracked vehicle at time k (the current time). k Represents the preset unit state matrix, x k-1 B represents the estimated virtual front wheel steering angle of the tracked vehicle at time k-1 (the preceding time step). k u represents the time interval between the current moment and the previous moment. k This represents the steering wheel rotation angular velocity of the tracked vehicle at time k.

[0056] In this embodiment, B k The value can be a constant value (i.e., the time interval between any two adjacent detection times can be equal), or, B k The value can also be a variable value (i.e., the time interval between any two adjacent detection times is different), and those skilled in the art can set it arbitrarily according to actual needs. This application does not impose any restrictions on this.

[0057] In this embodiment, F k Given a unit state matrix (which can be viewed as an operator), where F k For example, it can be a two-dimensional matrix, a three-dimensional matrix, etc. Those skilled in the art can adjust the dimensions of the matrix according to actual needs, and this application does not limit this.

[0058] In this embodiment, an encoder installed on the tracked vehicle can be used to calculate the steering wheel rotation angular velocity of the tracked vehicle at the current moment.

[0059] Step S206: Based on the estimation result of the state covariance matrix of the tracked vehicle and the noise state matrix of the tracked vehicle corresponding to the current moment, obtain the prediction result of the state covariance matrix of the tracked vehicle, and continue with steps S208 and S212.

[0060] In this embodiment, the following formula 5 can be used to obtain the predicted result of the state covariance matrix of the tracked vehicle based on the estimation result of the state covariance matrix of the tracked vehicle, the preset unit state matrix, and the noise state matrix of the tracked vehicle corresponding to the current moment.

[0061] Formula 5 is expressed as:

[0062]

[0063] In formula 5 above, F represents the prediction result of the state covariance matrix of a tracked vehicle. k Let P represent the preset unit state matrix, and let P represent the estimated state covariance matrix of the tracked vehicle. Q represents the transpose of the preset unit state matrix. k This represents the noise state matrix of the tracked vehicle at time k, and the prediction result of the state covariance matrix of the tracked vehicle is obtained.

[0064] In this embodiment, Q k The variance matrix represents the noise of the discrete-time process (usually assumed to be Gaussian white noise).

[0065] Step S208: Based on the state covariance matrix estimation result and state covariance matrix prediction result of the tracked vehicle, and the noise measurement matrix of the tracked vehicle corresponding to the current time, obtain the gain value of the tracked vehicle corresponding to the current time, and continue to step S210.

[0066] In this embodiment, the gain value of the tracked vehicle at the current moment can be obtained by using the following formula 6, based on the estimation result and prediction result of the state covariance matrix of the tracked vehicle, the preset unit measurement matrix, and the noise measurement matrix of the tracked vehicle at the current moment.

[0067] Formula 6 is expressed as follows:

[0068]

[0069] In Formula 6 above, K k Let H represent the gain value of the tracked vehicle at time k (the current time), P represent the estimated state covariance matrix of the tracked vehicle, and H represent the gain value of the tracked vehicle at time k (the current time). k This represents the preset unit measurement matrix. This represents the transpose of the predefined unit measurement matrix. R represents the prediction result of the state covariance matrix of a tracked vehicle. k This represents the noise measurement matrix for the tracked vehicle at time k (the current time).

[0070] In this embodiment, H k For a given unit measurement matrix (which can be considered as an operator), where H k For example, it can be a two-dimensional matrix, a three-dimensional matrix, etc. Those skilled in the art can adjust the dimensions of the matrix according to actual needs, and this application does not limit this.

[0071] In this embodiment, the preset unit measurement matrix H k and the preset unit state matrix F k They can be the same matrix.

[0072] Step S210: Based on the predicted virtual front wheel angle of the tracked vehicle at the current moment, the gain value of the tracked vehicle at the current moment, and the observed virtual front wheel angle of the tracked vehicle at the current moment, obtain the estimated value of the virtual front wheel angle of the tracked vehicle at the current moment, and continue to step S214.

[0073] In this embodiment, Formula 7 can be used to obtain the estimated value of the virtual front wheel angle of the tracked vehicle at the current moment, based on the predicted value of the virtual front wheel angle of the tracked vehicle at the current moment, the gain value of the tracked vehicle at the current moment, the observed value of the virtual front wheel angle of the tracked vehicle at the current moment, and the preset unit calculation matrix.

[0074] Formula 7 is expressed as:

[0075]

[0076] In Formula 7 above, x k This represents the estimated virtual front wheel steering angle of the tracked vehicle at time k (the current time). This represents the predicted virtual front wheel steering angle for the tracked vehicle at time k, where K is the predicted value. k This represents the gain value of the tracked vehicle at time k, z. k This represents the virtual front wheel steering angle observation of the tracked vehicle at time k (i.e., σ in Formula 3). k ), H k This represents the preset unit measurement matrix.

[0077] Step S212: Based on the identity matrix, the gain value of the tracked vehicle at the current time, the preset unit measurement matrix, and the prediction result of the state covariance matrix of the tracked vehicle, update the estimation result of the state covariance matrix of the tracked vehicle, and continue to step S214.

[0078] In this embodiment, Formula 8 can be used to update the state covariance matrix estimation result of the tracked vehicle based on the preset unit matrix, the gain value of the tracked vehicle at the current time, the preset unit measurement matrix, and the prediction result of the state covariance matrix of the tracked vehicle.

[0079] Formula 8 is expressed as follows:

[0080]

[0081] In Formula 8 above, P represents the updated state covariance matrix estimation result of the tracked vehicle, I represents the preset identity matrix, and K... k H represents the gain value of the tracked vehicle corresponding to time k (the current time). k This represents the preset unit measurement matrix. This represents the prediction result of the state covariance matrix of a tracked vehicle.

[0082] In this embodiment, the preset identity matrix, the preset identity calculation matrix, and the preset identity state matrix are the same matrix, i.e., I = H. k = k .

[0083] Step S214: Based on the detection times of the tracked vehicle and the detection time corresponding to the current time, update the current time and previous time of the tracked vehicle, and continue to execute steps S202, S204 and S206.

[0084] For example, based on the detection times of the tracked vehicle (time k-2, time k-1, time k, time k+1, time k+2, etc.) and the detection time corresponding to the current time (e.g., time k), the current time can be updated to time k+1, the previous time of the current time can be updated to time k, and so on.

[0085] In summary, this embodiment only requires installing an inertial measurement unit and an encoder on the tracked vehicle. By calculating the observed virtual front wheel angle of the tracked vehicle at the current moment, and combining the observed virtual front wheel angle of the tracked vehicle at the current moment with the estimated virtual front wheel angle of the tracked vehicle at the previous moment, the estimated virtual front wheel angle of the tracked vehicle at the current moment can be obtained. This can improve the accuracy of the virtual front wheel angle estimation result and accurately determine the direction of travel of the tracked vehicle without the need for measuring the front wheel angle of the vehicle. It is especially suitable for applications of tracked vehicles.

[0086] Figure 3A flowchart illustrating a method for adjusting the travel direction of a tracked vehicle according to an exemplary embodiment of this application is shown, which mainly includes the following steps:

[0087] Step S302: Determine the calculated travel direction of the tracked vehicle at the current moment based on the vehicle speed and dimensions of the tracked vehicle at the current moment.

[0088] In this embodiment, the following can be utilized: Figure 1 or Figure 2 The method for determining the travel direction of a tracked vehicle described in the embodiment determines the calculated travel direction of the tracked vehicle at the current moment based on the vehicle speed and vehicle size of the tracked vehicle at the current moment.

[0089] Step S304: Based on the target driving direction of the tracked vehicle at the current moment and the calculated driving direction, obtain the adjustment speed of the motor of the steering wheel of the tracked vehicle.

[0090] Optionally, the target travel direction of the tracked vehicle at the current moment can be obtained based on the path parameters of the target path to be tracked, the position information and attitude angle information of the tracked vehicle at the current moment, and the vehicle size information of the tracked vehicle.

[0091] Optionally, the target path may include a straight line or a curve. When the target path is a straight line, the path parameters of the target path may include the starting coordinates and ending coordinates of the straight path. When the target path is a curve, the curved path may be divided into multiple continuous straight line segments, and the path parameters of the target path may include the starting coordinates and ending coordinates of each straight line segment.

[0092] Optionally, the positioning device (e.g., a BeiDou GNSS antenna) on the tracked vehicle can be used to obtain the tracked vehicle's position coordinates, vehicle speed, and attitude angle information corresponding to the current moment.

[0093] Optionally, the attitude angle information of the tracked vehicle at the current moment includes pitch angle information, roll angle information, and yaw angle information.

[0094] Optionally, the vehicle size information for tracked vehicles includes the track wheel spacing and track ground contact length.

[0095] Optionally, the target travel direction includes the target value of the virtual front wheel angle of the tracked vehicle, and the calculated travel direction includes the calculated value of the virtual front wheel angle of the tracked vehicle (i.e., Figure 1 and Figure 2The virtual front wheel angle estimation value described in the embodiment can determine the adjustment speed of the motor of the steering wheel of the tracked vehicle based on the difference between the target value of the virtual front wheel angle of the tracked vehicle at the current moment and the calculated value of the virtual front wheel angle.

[0096] Step S306: Adjust the driving direction of the tracked vehicle according to the adjustment speed of the motor of the steering wheel of the tracked vehicle.

[0097] Specifically, the actual speed of the motor of the steering wheel of the tracked vehicle can be adjusted according to the adjustment speed of the motor of the steering wheel, so that the tracked vehicle can travel along the target path.

[0098] In summary, this embodiment utilizes the above-described methods for determining the travel direction of tracked vehicles to accurately determine the calculated travel direction of the tracked vehicle at the current moment, and precisely adjusts the travel direction of the tracked vehicle according to the target travel direction of the tracked vehicle at the current moment, so that the tracked vehicle can travel along the expected target path.

[0099] Figure 4 The figure shows a structural block diagram of a tracked vehicle driving direction determination device according to an exemplary embodiment of this application. The tracked vehicle driving direction determination device 400 of this embodiment includes: a wheel speed calculation module 402 and a driving direction determination module 404.

[0100] The wheel speed calculation module 402 is used to obtain the wheel speed of the tracked vehicle at the current moment based on the driving speed and angular velocity of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle.

[0101] The driving direction determination module 404 is used to determine the driving direction of the tracked vehicle at the current moment based on the wheel speed of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle.

[0102] Optionally, the vehicle dimensions of the tracked vehicle include the track wheel spacing, which represents the distance between two track wheels located on opposite sides of the tracked vehicle; the wheel rotation speed of the tracked vehicle at the current moment includes the left wheel rotation speed and the right wheel rotation speed; the angular velocity of the tracked vehicle at the current moment is obtained using an inertial measurement unit on the tracked vehicle.

[0103] Optionally, the vehicle dimensions of the tracked vehicle include track wheel spacing and track contact length, wherein the track wheel spacing represents the distance between the two track wheels of the tracked vehicle; the vehicle speed includes travel speed and angular velocity; and the track contact length represents the contact length between the track of the tracked vehicle and the ground.

[0104] Optionally, the driving direction determination module 404 is further configured to: obtain an observed virtual front wheel angle of the tracked vehicle at the current moment based on the wheel rotation speed of the tracked vehicle at the current moment, the track wheel spacing, and the track ground contact length; obtain an estimated virtual front wheel angle of the tracked vehicle at the current moment based on the observed virtual front wheel angle of the tracked vehicle at the current moment and the estimated virtual front wheel angle of the tracked vehicle at the previous moment; and determine the driving direction of the tracked vehicle at the current moment based on the estimated virtual front wheel angle of the tracked vehicle at the current moment; wherein the previous moment and the current moment are any two consecutive detection moments among the detection moments of the tracked vehicle, and the previous moment is the detection moment preceding the current moment.

[0105] Optionally, the driving direction determination module 404 is further configured to: obtain a predicted value of the virtual front wheel angle of the tracked vehicle corresponding to the current moment based on the estimated value of the virtual front wheel angle of the tracked vehicle corresponding to the previous moment, the time interval between the current moment and the previous moment, the steering wheel rotation angular velocity of the tracked vehicle corresponding to the current moment, and a preset unit state matrix; obtain a gain value of the tracked vehicle corresponding to the current moment based on the estimation result of the state covariance matrix of the tracked vehicle, the preset unit state matrix, the preset unit measurement matrix, the noise state matrix and noise measurement matrix of the tracked vehicle corresponding to the current moment; and obtain an estimated value of the virtual front wheel angle of the tracked vehicle corresponding to the current moment based on the predicted value of the virtual front wheel angle of the tracked vehicle corresponding to the current moment, the gain value of the tracked vehicle corresponding to the current moment, the observed value of the virtual front wheel angle of the tracked vehicle corresponding to the current moment, and the preset unit measurement matrix.

[0106] Optionally, the driving direction determination module 404 is further configured to: obtain a state covariance matrix prediction result for the tracked vehicle based on the state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix, and the noise state matrix of the tracked vehicle corresponding to the current moment; and obtain a gain value of the tracked vehicle corresponding to the current moment based on the state covariance matrix estimation result and the state covariance matrix prediction result of the tracked vehicle, the preset unit measurement matrix, and the noise measurement matrix of the tracked vehicle corresponding to the current moment.

[0107] Optionally, the driving direction determination module 404 is further configured to: update the state covariance matrix estimation result of the tracked vehicle based on the preset unit matrix, the gain value of the tracked vehicle corresponding to the current time, the preset unit calculation matrix, and the state covariance matrix prediction result of the tracked vehicle.

[0108] Figure 5 This is a structural block diagram of a tracked vehicle driving direction adjustment device according to an exemplary embodiment of this application. As shown in the figure, the tracked vehicle driving direction adjustment device 500 of this embodiment includes: a driving direction calculation and determination module 502, an adjustment speed determination module 504, and a driving direction adjustment module 506.

[0109] The driving direction determination module 502 is used to determine the calculated driving direction of the tracked vehicle at the current moment based on the vehicle speed of the tracked vehicle at the current moment and the vehicle size of the tracked vehicle, using the driving direction determination device of the tracked vehicle as described in claim 10.

[0110] The speed adjustment determination module 504 is used to obtain the adjustment speed of the motor of the steering wheel of the tracked vehicle based on the target driving direction of the tracked vehicle at the current moment and the calculated driving direction.

[0111] The driving direction adjustment module 506 is used to adjust the driving direction of the tracked vehicle according to the adjustment speed of the motor of the steering wheel of the tracked vehicle.

[0112] Optionally, the speed adjustment determination module 504 is further configured to: obtain the target driving direction of the tracked vehicle at the current moment based on the path parameters of the target path, the position information of the tracked vehicle at the current moment, the attitude angle information, and the vehicle size information of the tracked vehicle.

[0113] Another embodiment of this application provides a computer storage medium storing a computer program thereon, which, when executed by a processor, can implement the method for determining the driving direction of a tracked vehicle as described in any one of claims 1 to 7, or the method for adjusting the driving direction of a tracked vehicle as described in any one of claims 8 to 9.

[0114] Another embodiment of the present invention provides an electronic device, including: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus.

[0115] Figure 6 A structural block diagram of an electronic device according to an exemplary embodiment of the present invention, such as... Figure 6As shown, the electronic device 600 of this embodiment may include a processor 602, a communication interface 604, and a memory 606.

[0116] The processor 602, communication interface 604, and memory 606 can communicate with each other via communication bus 608.

[0117] Communication interface 604 is used to communicate with other electronic devices such as terminal devices or servers.

[0118] The processor 602 is used to execute the computer program 610, specifically to execute the relevant steps in the above-described method embodiments, that is, to execute the steps in the methods described in the above-described embodiments.

[0119] Specifically, computer program 610 may include program code that includes computer operation instructions.

[0120] Processor 602 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The electronic device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0121] Memory 606 is used to store computer program 610. Memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0122] Another embodiment of the present invention provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, can implement the methods described in the above embodiments.

[0123] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of the present invention can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present invention.

[0124] The methods described above according to embodiments of the present invention can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and subsequently stored in a local recording medium, downloaded via a network. Thus, the methods described herein can be stored as software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the method for determining and controlling the direction of travel of the tracked vehicle described herein is implemented. Furthermore, when a general-purpose computer accesses code for implementing the method for determining and controlling the direction of travel of the tracked vehicle shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the semantic segmentation method shown herein.

[0125] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the embodiments of the present invention.

[0126] It should be noted that although specific embodiments of this application have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this application. Various modifications and variations that can be made by those skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this application.

[0127] The examples of the embodiments in this application are intended to concisely illustrate the technical features of the embodiments in this application, so that those skilled in the art can intuitively understand the technical features of the embodiments in this application, and are not intended to be improper limitations on the embodiments in this application.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for determining a driving direction of a tracked vehicle, comprising: obtaining wheel rotation speed of the tracked vehicle corresponding to a current time according to vehicle size of the tracked vehicle and angular speed and driving speed of the tracked vehicle corresponding to the current time, wherein the vehicle size of the tracked vehicle comprises track wheel spacing and track ground length, the track wheel spacing represents a distance between two track wheels of the tracked vehicle, and the track ground length represents a length of contact between a track of the tracked vehicle and the ground; determining the driving direction of the tracked vehicle corresponding to the current time according to the wheel rotation speed of the tracked vehicle corresponding to the current time and the vehicle size of the tracked vehicle; the determining the driving direction of the tracked vehicle corresponding to the current time according to the wheel rotation speed of the tracked vehicle corresponding to the current time and the vehicle size of the tracked vehicle comprises: obtaining a virtual front wheel rotation angle observation value of the tracked vehicle corresponding to the current time according to the wheel rotation speed of the tracked vehicle corresponding to the current time, the track wheel spacing and the track ground length; obtaining a virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the current time according to the virtual front wheel rotation angle observation value of the tracked vehicle corresponding to the current time and a virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to a previous time; determining the driving direction of the tracked vehicle corresponding to the current time according to the virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the current time; wherein the previous time and the current time are any two continuous detection times in each detection time of the tracked vehicle, and the previous time is a detection time before the current time; the obtaining the virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the current time according to the virtual front wheel rotation angle observation value of the tracked vehicle corresponding to the current time and the virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the previous time comprises: obtaining a virtual front wheel rotation angle prediction value of the tracked vehicle corresponding to the current time according to the virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the previous time, a time interval between the current time and the previous time, a steering wheel rotation angular velocity of the tracked vehicle corresponding to the current time, a preset unit state matrix; obtaining a gain value of the tracked vehicle corresponding to the current time according to a state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix, a preset unit measurement matrix, a noise state matrix and a noise measurement matrix of the tracked vehicle corresponding to the current time; obtaining the virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the current time according to the virtual front wheel rotation angle prediction value of the tracked vehicle corresponding to the current time, the gain value of the tracked vehicle corresponding to the current time, the virtual front wheel rotation angle observation value of the tracked vehicle corresponding to the current time and the preset unit measurement matrix.

2. The method of claim 1, wherein, the wheel rotation speed of the tracked vehicle corresponding to the current time comprises a left wheel rotation speed and a right wheel rotation speed; the angular velocity of the tracked vehicle corresponding to the current time is obtained by using an inertial measurement unit on the tracked vehicle.

3. The method of claim 1, wherein, the gain value of the tracked vehicle corresponding to the current time is obtained according to the state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix, the preset unit measurement matrix, the noise state matrix of the tracked vehicle corresponding to the current time, and the noise measurement matrix of the tracked vehicle corresponding to the current time, comprising: the state covariance matrix prediction result of the tracked vehicle is obtained according to the state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix, and the noise state matrix of the tracked vehicle corresponding to the current time; the gain value of the tracked vehicle corresponding to the current time is obtained according to the state covariance matrix estimation result and the state covariance matrix prediction result of the tracked vehicle, the preset unit measurement matrix, and the noise measurement matrix of the tracked vehicle corresponding to the current time.

4. The method of claim 2, wherein, The method further comprises: the state covariance matrix estimation result of the tracked vehicle is updated according to the preset unit matrix, the gain value of the tracked vehicle corresponding to the current time, the preset unit measurement matrix, and the state covariance matrix prediction result of the tracked vehicle.

5. The method of claim 1, wherein, the steering wheel rotation angular velocity of the tracked vehicle corresponding to the current time is calculated by using an encoder installed on the tracked vehicle.

6. A driving direction adjustment method of a tracked vehicle, comprising: determining a measurement driving direction of the tracked vehicle corresponding to the current time by using the driving direction determination method of the tracked vehicle according to any one of claims 1 to 5, according to the driving speed of the tracked vehicle corresponding to the current time and the vehicle size of the tracked vehicle; obtaining an adjustment rotation speed of a motor of a steering wheel of the tracked vehicle according to the target driving direction of the tracked vehicle corresponding to the current time and the measurement driving direction; adjusting the driving direction of the tracked vehicle according to the adjustment rotation speed of the motor of the steering wheel of the tracked vehicle.

7. The method of claim 6, wherein, the target driving direction of the tracked vehicle corresponding to the current time is determined by: obtaining the target driving direction of the tracked vehicle corresponding to the current time according to the path parameters of a target path, the position information, the attitude angle information of the tracked vehicle corresponding to the current time, and the vehicle size information of the tracked vehicle.

8. A driving direction determination device of a tracked vehicle for executing the method according to any one of claims 1 to 5, comprising: The wheel rotation speed calculation module is configured to obtain wheel rotation speed of the tracked vehicle corresponding to the current moment according to the traveling speed and the angular speed of the tracked vehicle corresponding to the current moment and vehicle dimensions of the tracked vehicle, wherein the vehicle dimensions of the tracked vehicle include track wheel spacing and track ground length, the track wheel spacing represents a spacing distance between two track wheels of the tracked vehicle, and the track ground length represents a contact length of a track of the tracked vehicle with the ground. The traveling direction determination module is configured to determine the traveling direction of the tracked vehicle corresponding to the current moment according to the wheel rotation speed of the tracked vehicle corresponding to the current moment and the vehicle dimensions of the tracked vehicle.

9. A traveling direction adjustment device of a tracked vehicle, comprising: The estimated traveling direction determination module is configured to determine an estimated traveling direction of the tracked vehicle corresponding to the current moment according to the traveling speed of the tracked vehicle corresponding to the current moment and the vehicle dimensions of the tracked vehicle by using the traveling direction determination device of the tracked vehicle according to claim 8. The adjustment rotation speed determination module is configured to obtain adjustment rotation speed of a motor of a steering wheel of the tracked vehicle according to the target traveling direction of the tracked vehicle corresponding to the current moment and the estimated traveling direction. The traveling direction adjustment module is configured to adjust the traveling direction of the tracked vehicle according to the adjustment rotation speed of the motor of the steering wheel of the tracked vehicle.

10. An electronic device, comprising: Comprise: A processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute operations corresponding to the traveling direction determination method of the tracked vehicle according to any one of claims 1 to 5 or operations corresponding to the traveling direction adjustment method of the tracked vehicle according to claim 6 or 7.

11. A computer storage medium, characterized in that A computer program is stored thereon, and the program is executed by the processor to realize the traveling direction determination method of the tracked vehicle according to any one of claims 1 to 5 or realize the traveling direction adjustment method of the tracked vehicle according to claim 6 or 7.

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