Unmanned special vehicle traction system and signal control method

Abstract

This invention relates to the field of drive-by-wire chassis technology for unmanned special vehicles, specifically disclosing a traction system and signal control method for unmanned special vehicles. The system includes a vehicle control unit (VCU), a right-side drive motor, a left-side drive motor, an electronic parking brake (EPB), an angular displacement sensor, and a drive motor controller. The right-side drive motor is electrically connected to the drive motor controller, the left-side drive motor is electrically connected to the drive motor controller, the VCU is electrically connected to the drive motor controller, the EPB is electrically connected to the VCU, and the angular displacement sensor is electrically connected to the VCU. This enables a cable-stayed traction control system for unmanned special vehicles. Even when the special vehicle itself is not seriously malfunctioning, the driver or operator is unavailable, and the remote control and unmanned driving functions are interfered with and cannot function, ordinary personnel can still operate the vehicle, increasing the applicability of special vehicles.

Description

Technical Field

[0001] This invention relates to the field of unmanned special vehicle drive-by-wire chassis technology, and in particular to an unmanned special vehicle traction system and signal control method. Background Technology

[0002] Currently, with the continuous development of science and technology and the continuous improvement of living standards, autonomous driving technology is gradually entering people's lives, which includes multi-sensor fusion technology, signal processing technology, communication technology, artificial intelligence technology and computer technology.

[0003] However, in the existing technology, due to the immaturity of unmanned technology, frequent accidents, and the huge amount of data collection work, there are still certain bottlenecks in the perception, recognition, and decision-making systems of unmanned driving systems. The use of radio communication makes them susceptible to various types of electromagnetic interference. Summary of the Invention

[0004] The purpose of this invention is to provide an unmanned special vehicle traction system and signal control method, aiming to solve the technical problems in the prior art where the perception, recognition and decision-making systems of unmanned driving systems still have certain bottlenecks due to the immaturity of unmanned technology, frequent accidents and huge data collection work, and the susceptibility to various electromagnetic interferences caused by the use of radio communication.

[0005] To achieve the above objectives, the present invention employs an unmanned special vehicle traction system, comprising a vehicle control unit (VCU), a right-side drive motor, a left-side drive motor, an electronic parking brake system (EPB), an angular displacement sensor, and a drive motor controller. The right-side drive motor is electrically connected to the drive motor controller, the left-side drive motor is electrically connected to the drive motor controller, the vehicle control unit (VCU) is electrically connected to the drive motor controller, the electronic parking brake system (EPB) is electrically connected to the vehicle control unit (VCU), and the angular displacement sensor is electrically connected to the vehicle control unit (VCU).

[0006] The present invention also provides a signal control method for an unmanned special vehicle traction system, applied to the aforementioned unmanned special vehicle traction system, comprising the following steps:

[0007] use Calculate the target curvature of the vehicle;

[0008] When the vehicle is in drive, then... Calculate the target speed of the vehicle.

[0009] When the vehicle is in reverse gear, then through Calculate the target speed of the vehicle.

[0010] Among them, In the formula, C ref Let v be the target curvature of the vehicle, and v be the voltage value of the steering angle sensor. l The voltage of the angle sensor is v when the cable in the angle displacement sensor is at its maximum position on the left. r C is the angle sensor voltage when the angle displacement sensor cable is at its maximum position on the right. max The maximum curvature is set during vehicle movement, and k1 is a constant.

[0011] Among them, In the formula, u d u represents the target forward speed of the vehicle. dmax and u dmin x represents the maximum and minimum forward speed, respectively. dmax and x dmin These represent the maximum and minimum displacements of the cable when it is in forward gear, x d This represents the current cable displacement, and k2 is a constant.

[0012] Among them, In the formula, u r u is the target reversing speed of the vehicle. rmax and u rmin These represent the maximum and minimum speeds of the vehicle reversing, respectively. rmax and x rmin These represent the maximum and minimum displacements of the cable when it is in reverse gear, respectively. d This represents the current cable displacement, and k3 is a constant.

[0013] The beneficial effects of the unmanned special vehicle traction system and signal control method of the present invention are as follows: the left drive motor controls the three wheels on the left side, and the right drive motor controls the three wheels on the right side. The drive motor controller controls the left drive motor and the right drive motor respectively. The vehicle controller (VCU) interprets these signals into corresponding vehicle speed, gear, curvature, and stationary steering angular velocity signals. The VCU calculates the wheel speed and wheel differential value at this time and sends this value to the left drive motor and the right drive motor, thereby realizing the cable traction control system for the unmanned special vehicle. Even when the special vehicle itself has not experienced a serious malfunction, and the driver or operator is not present, and the remote control function and unmanned driving function are interfered with and cannot work, ordinary personnel can still operate the vehicle, increasing the applicability of the special vehicle. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a structural schematic diagram of an unmanned special vehicle traction system according to the present invention.

[0016] Figure 2 This is an interpolation curve of the cable displacement sensor characteristics of an unmanned special vehicle traction system according to the present invention.

[0017] Figure 3 This is a shifting logic diagram of an unmanned special vehicle traction system according to the present invention.

[0018] 1-Vehicle Control Unit (VCU), 2-Right-side drive motor, 3-Left-side drive motor, 4-Electronic Parking Brake (EPB), 5-Angle displacement sensor, 6-Drive motor controller. Detailed Implementation

[0019] Please see Figures 1 to 3 This invention provides an unmanned special vehicle traction system, including a vehicle controller (VCU1), a right-side drive motor 2, a left-side drive motor 3, an electronic parking brake system (EPB4), an angular displacement sensor 5, and a drive motor controller 6. The right-side drive motor 2 is electrically connected to the drive motor controller 6, the left-side drive motor 3 is electrically connected to the drive motor controller 6, the vehicle controller (VCU1) is electrically connected to the drive motor controller 6, the electronic parking brake system (EPB4) is electrically connected to the vehicle controller (VCU1), and the angular displacement sensor 5 is electrically connected to the vehicle controller (VCU1).

[0020] The present invention also provides a signal control method for an unmanned special vehicle traction system, applied to the unmanned special vehicle traction system as described above, comprising the following steps:

[0021] use Calculate the target curvature of the vehicle;

[0022] When the vehicle is in drive, then... Calculate the target speed of the vehicle.

[0023] When the vehicle is in reverse gear, then through Calculate the target speed of the vehicle.

[0024] Furthermore, in In the formula, C ref Let v be the target curvature of the vehicle, and v be the voltage value of the steering angle sensor. l The voltage of the angle sensor in angle displacement sensor 5 is v when the cable is at its maximum position on the left. r C is the angle sensor voltage when the cable of angle displacement sensor 5 is at its maximum position on the right. max The maximum curvature is set during vehicle movement, and k1 is a constant.

[0025] Furthermore, in In the formula, u d u represents the target forward speed of the vehicle. dmax and u dmin x represents the maximum and minimum forward speed, respectively. dmax and x dmin These represent the maximum and minimum displacements of the cable when it is in forward gear, x d This represents the current cable displacement, and k2 is a constant.

[0026] Furthermore, in In the formula, u r u is the target reversing speed of the vehicle. rmax and u rmin These represent the maximum and minimum speeds of the vehicle reversing, respectively. rmax and x rmin These represent the maximum and minimum displacements of the cable when it is in reverse gear, respectively. d This represents the current cable displacement, and k3 is a constant.

[0027] In this embodiment, the traction device is installed at the front left of the vehicle. Signal acquisition consists of a cable-stayed linear displacement sensor and a hollow shaft angular displacement sensor. The hollow shaft angular displacement sensor and the cable-stayed linear displacement sensor are connected by a mechanical structure containing a solid shaft connecting to the hollow shaft angular displacement sensor. A small hole is provided at the bottom of this structure for locking when the device is not in use. A traction mode switch is located at the rear of the unmanned vehicle. When this switch signal is activated, the unmanned vehicle's drive-by-wire chassis enters cable-stayed traction mode, disabling autonomous driving and remote control commands. The angular displacement sensor 5 controls the vehicle's gear, curvature, and speed. In traction mode, the cable displacement sensor signal and the hollow shaft angular displacement sensor signal are transmitted to the vehicle controller VCU1 via signal lines. The vehicle controller VCU1 interprets them into corresponding vehicle speed, gear, curvature, and stationary steering angular velocity signals. It calculates the wheel speed and wheel differential value at this time, and calculates the speed values ​​of the left drive motor 3 and the right drive motor 2. Finally, it sends the value to the left drive motor 3 and the right drive motor 2, which realize the forward, reverse, and steering of the vehicle, thereby realizing the cable traction control function of the unmanned special vehicle.

[0028] The total cable length is 4000mm. When the cable displacement is less than 400mm, it is defined as P gear, the vehicle is parked, and no speed or curvature commands are sent. When the cable length is between 400mm and 1400mm, it is defined as R gear, the parking brake is released, and the vehicle speed and curvature signals for reversing are sent according to different displacements within the displacement range. When the cable displacement is between 1400mm and 2400mm, it is defined as C gear, the vehicle is released, and the angular velocity signal for in-situ steering is sent through the angular displacement signal to control the left drive motor 3 and the right drive motor 2 to reverse at a given speed to achieve the in-situ steering function. When the cable displacement is above 2400mm, the vehicle is in D gear, the parking brake is released, and the forward speed and curvature signals at this time are analyzed according to the displacement within the displacement range.

[0029] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A signal control method for an unmanned special vehicle traction system, characterized in that, Includes the following steps: use The target curvature of the vehicle is calculated, whereby... The target curvature of the vehicle. This is the voltage value of the angle sensor. The angle sensor voltage is the value when the cable in the angle displacement sensor is at its maximum position on the left. This represents the angle sensor voltage when the angular displacement sensor cable is at its maximum position on the right. The maximum curvature set during vehicle movement. It is a constant; When the vehicle is in drive, then... The target speed of the vehicle is calculated, among which... The target forward speed of the vehicle, and These represent the maximum and minimum forward speeds, respectively. and These represent the maximum and minimum displacements of the cable when it is in forward gear, respectively. Represents the current cable displacement. It is a constant; When the vehicle is in reverse gear, then through The target speed of the vehicle is calculated, among which... For the target reversing speed of the vehicle, and These represent the maximum and minimum speeds of the vehicle reversing. and These represent the maximum and minimum displacements of the cable when it is in reverse gear, respectively. Represents the current cable displacement. It is a constant; It also includes an unmanned special vehicle towing system, which includes a vehicle controller (VCU), a right-side drive motor, a left-side drive motor, an electronic parking brake (EPB), an angular displacement sensor, and a drive motor controller. The right-side drive motor is electrically connected to the drive motor controller, the left-side drive motor is electrically connected to the drive motor controller, the vehicle controller (VCU) is electrically connected to the drive motor controller, the electronic parking brake (EPB) is electrically connected to the vehicle controller (VCU), and the angular displacement sensor is electrically connected to the vehicle controller (VCU).

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