A method and device for controlling a plate extraction system of a simulated ice surface system

Abstract

The present invention provides a control method and device for a draw plate system of a simulated ice surface system, which determines a first real-time vehicle speed of a target vehicle based on an inductive speed measuring unit, determines a wheelbase between a front wheel center point and a rear wheel center point of the target vehicle based on a pressure sensor, and determines a time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the front wheel center point and the rear wheel center point of the target vehicle and the length of a draw plate in a draw plate system in a driving direction of the target vehicle, as a draw plate start time point, so that when the first real-time vehicle speed of the target vehicle is within a preset range, a draw plate movement instruction is sent at the draw plate start time point, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction, can accurately apply lateral traction to the rear wheels of the target vehicle, and more realistically reproduce the dynamic performance of the vehicle under slippery road conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of simulated ice surface, and in particular to a control method and device for a plate drawing system of a simulated ice surface system. Background Art

[0002] Rainy and snowy weather often makes the road surface slippery, which significantly increases the difficulty of driving. Under such conditions, vehicles are prone to losing control due to tire slippage or insufficient grip, which increases the possibility of traffic accidents. Especially when making sharp turns, braking or accelerating, the stability of the vehicle will be greatly reduced, which may cause serious accidents. To solve this problem, we have developed a system that can simulate slippery roads. The system can accurately reproduce the dynamic behavior of the vehicle under different degrees of slipperiness for evaluating its driving performance.

[0003] With the help of this system, engineers and researchers can analyze the performance of vehicles under complex climatic conditions in detail, providing important data support for improving the design of vehicle safety performance. At the same time, the simulation system can also be used for driver safety training. By practicing in a controlled environment, drivers can learn how to keep the vehicle stable on slippery roads and improve their ability to respond to emergencies, thereby significantly reducing the accident rate.

[0004] In this simulation system, the plate extraction system is one of the core components, which is used to simulate the scene of vehicle slipping in rainy and snowy weather. In order to improve the realism of the simulation environment and the accuracy of the experimental data, it is necessary to develop a safe and efficient plate extraction control method and device to more realistically reproduce the dynamic performance of the vehicle under slippery road conditions. Summary of the invention

[0005] The present invention provides a control method and device for a plate pumping system of a simulated ice surface system, which are used to more realistically reproduce the dynamic performance of a vehicle under slippery road conditions.

[0006] The present invention provides a control method for a plate pumping system of a simulated ice surface system, comprising:

[0007] Determine a first real-time vehicle speed of the target vehicle based on the inductive speed measuring unit;

[0008] Determine the wheelbase between the center point of the front wheels and the center point of the rear wheels of the target vehicle based on the pressure sensor;

[0009] Based on the wheelbase between the center points of the front wheels and the rear wheels of the target vehicle and the length of the drawer in the drawer system in the driving direction of the target vehicle, determine the time point when the front wheels of the target vehicle are not on the drawer and the rear wheels of the target vehicle are on the drawer as the drawer start time point;

[0010] If the first real-time vehicle speed of the target vehicle is within a preset range, a drawer plate movement instruction is sent at the drawer plate start time point, so that the drawer plate system controls the lateral movement of the drawer plate based on the drawer plate movement instruction.

[0011] According to a method for controlling a pumping system of a simulated ice surface system provided by the present invention, the method for determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on a pressure sensor comprises:

[0012] Determine, based on the pressure sensor, the first time and the second time when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor; wherein the target vehicle will successively pass through the pressure sensor and the pumping plate; and the distance between the pressure sensor and the pumping plate is greater than a preset distance;

[0013] Based on the time difference between the first time and the second time when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor, and the first real-time vehicle speed of the target vehicle, the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle is determined.

[0014] According to a method for controlling a draw plate system of a simulated ice surface system provided by the present invention, based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, a time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate is determined as the draw plate start time point, including:

[0015] Determine the time point when the front wheel of the target vehicle leaves the pumping plate based on the sum of the distance between the pressure sensor and the pumping plate and the length of the pumping plate in the driving direction of the target vehicle, the first real-time speed of the target vehicle, the first time, and the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle;

[0016] Determine the time point when the rear wheel of the target vehicle enters the pumping plate based on the distance between the pressure sensor and the pumping plate, the second time, and the first real-time speed of the target vehicle;

[0017] The draw plate start time point is determined based on the time point when the front wheels of the target vehicle leave the draw plate and the time point when the rear wheels of the target vehicle enter the draw plate.

[0018] According to a method for controlling a draw plate system of a simulated ice surface system provided by the present invention, the draw plate start time point is determined based on the time point when the front wheels of the target vehicle leave the draw plate and the time point when the rear wheels of the target vehicle enter the draw plate, including:

[0019] The larger value of the time point when the front wheel of the target vehicle leaves the draw plate and the time point when the rear wheel of the target vehicle enters the draw plate is determined as the draw plate start time point.

[0020] According to a method for controlling a pumping system of a simulated ice surface system provided by the present invention, the method for determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on a pressure sensor comprises:

[0021] Based on the first pressure sensor and the second pressure sensor, determine the front wheel first time and the front wheel second time when the front wheel of the target vehicle passes the first pressure sensor and the second pressure sensor successively, and the rear wheel first time when the rear wheel of the target vehicle passes the first pressure sensor; wherein the first pressure sensor and the second pressure sensor are respectively disposed on the front and rear sides of the pumping plate;

[0022] Determine a second real-time vehicle speed of the target vehicle based on the distance between the first pressure sensor and the second pressure sensor, the first front wheel time, and the second front wheel time;

[0023] Based on the second real-time vehicle speed of the target vehicle, the first front wheel time and the first rear wheel time, a wheelbase between a front wheel center point and a rear wheel center point of the target vehicle is determined.

[0024] According to a method for controlling a draw plate system of a simulated ice surface system provided by the present invention, based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, a time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate is determined as the draw plate start time point, including:

[0025] determining a distance between the second pressure sensor and the pumping plate;

[0026] If the difference between the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the spacing between the second pressure sensor and the pumping plate is less than the length of the pumping plate in the driving direction of the target vehicle, the pumping plate start time point is determined based on the second time of the front wheel.

[0027] According to a control method for a pumping plate system of a simulated ice surface system provided by the present invention, the step of determining the distance between the second pressure sensor and the pumping plate further includes:

[0028] If the difference between the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the distance between the second pressure sensor and the pumping plate is greater than the length of the pumping plate in the driving direction of the target vehicle, then based on the distance between the first pressure sensor and the pumping plate and the second real-time speed of the target vehicle, determine the time point when the rear wheel of the target vehicle enters the pumping plate;

[0029] The pumping plate start time point is determined based on the time point when the rear wheel of the target vehicle enters the pumping plate.

[0030] The present invention also provides a control device for a plate pumping system of a simulated ice surface system, comprising:

[0031] A vehicle speed determination module, used to determine a first real-time vehicle speed of the target vehicle based on an inductive speed measurement unit;

[0032] A wheelbase determination module, used to determine the wheelbase between the center point of the front wheels and the center point of the rear wheels of the target vehicle based on a pressure sensor;

[0033] A start timing judgment module is used to determine the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, as the draw plate start time point;

[0034] The draw plate start module is used to send a draw plate movement instruction at the draw plate start time point when the first real-time vehicle speed of the target vehicle is within a preset range, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction.

[0035] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for controlling a plate extraction system of a simulated ice surface system as described above is implemented.

[0036] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the board-pulling system control method of the simulated ice surface system as described in any one of the above is implemented.

[0037] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the control method of the plate extraction system of the simulated ice surface system as described in any one of the above is implemented.

[0038] The present invention provides a control method and device for a draw plate system of a simulated ice surface system, which determines a first real-time vehicle speed of a target vehicle based on an inductive speed measuring unit, determines a wheelbase between a front wheel center point and a rear wheel center point of the target vehicle based on a pressure sensor, and determines a time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the front wheel center point and the rear wheel center point of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, as a draw plate start time point, so that when the first real-time vehicle speed of the target vehicle is within a preset range, a draw plate movement instruction is sent at the draw plate start time point, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction, can accurately apply lateral traction to the rear wheels of the target vehicle, and more realistically reproduce the dynamic performance of the vehicle under slippery road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a flow chart of a method for controlling a plate extraction system of a simulated ice surface system provided by the present invention;

[0041] Figure 2 It is one of the top views of the installation position of the sensor provided by the present invention;

[0042] Figure 3 is a schematic diagram of a wheelbase determination method provided by the present invention;

[0043] Figure 4 This is the second top view of the sensor installation position provided by the present invention;

[0044] Figure 5 It is a structural schematic diagram of a control device for a plate extraction system of a simulated ice surface system provided by the present invention;

[0045] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Figure 1 FIG. 1 is a flow chart of a control method for a plate extraction system of a simulated ice surface system provided by the present invention. Figure 1 As shown, the method includes:

[0048] Step 110, determining a first real-time speed of the target vehicle based on an inductive speed measuring unit;

[0049] Step 120, determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor;

[0050] Step 130, based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, determine the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate as the draw plate start time point;

[0051] Step 140: If the first real-time speed of the target vehicle is within a preset range, a drawer plate movement instruction is sent at the drawer plate start time point, so that the drawer plate system controls the lateral movement of the drawer plate based on the drawer plate movement instruction.

[0052] Here, if Figure 2 As shown, a pressure sensor and an induction coil of an induction speed measuring unit can be installed in sequence behind the draw plate. Among them, the induction speed measuring unit can use the front and rear two induction coils to measure the real-time speed of the vehicle. Specifically, when the vehicle passes through the induction coil, the induction coil will produce an inductance change, thereby detecting the presence of the vehicle and giving a switch signal. After the induction speed measuring unit detects the switch signal, it records the system time at the moment. After receiving the switch signal of the vehicle arriving at the front and rear two induction coils, the real-time speed of the vehicle can be calculated based on the time difference between the vehicle arriving at the front and rear two induction coils and the distance between the front and rear two induction coils. Therefore, when the target vehicle passes through the two induction coils of the induction speed measuring unit, the first real-time speed of the target vehicle calculated by the induction speed measuring unit can be obtained.

[0053] As the target vehicle continues to move forward, the target vehicle will pass the pressure sensor. Based on the pressure sensor, the wheelbase (denoted as L) between the center point of the front wheel and the center point of the rear wheel of the target vehicle can be determined. Among them, the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle will affect the timing of the front wheel lowering the pumping plate and the rear wheel raising the pumping plate, so the wheelbase is a key factor in determining the timing of starting the pumping plate. Specifically, based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the pumping plate in the pumping plate system in the driving direction of the target vehicle (denoted as D), the time point when the front wheel of the target vehicle is not on the pumping plate and the rear wheel of the target vehicle is on the pumping plate can be determined as the pumping plate start time point.

[0054] In some embodiments, Figure 3 As shown, in order to determine the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle, the first time t1 and the second time t2 when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor can be determined based on the pressure sensor. Among them, the target vehicle will first pass through the pressure sensor and then pass through the draw plate, and the distance between the pressure sensor and the draw plate is greater than the preset distance. Here, the preset distance is the difference between the maximum wheelbase of existing vehicles (the maximum wheelbase of all training vehicles including the target vehicle) and the length D of the draw plate in the driving direction of the target vehicle. Considering that the target vehicle usually travels at a constant speed, the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle (recorded as L) can be determined based on the time difference (t2-t1) between the first time and the second time when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor, and the first real-time vehicle speed (recorded as V1) of the target vehicle, that is, L=(t2-t1)×V1.

[0055] After obtaining the wheelbase L between the center points of the front wheels and the rear wheels of the target vehicle in this way, the time point t3 when the front wheels of the target vehicle just leave the draw plate can be determined based on the sum of the distance between the pressure sensor and the draw plate (denoted as L1) and the length D of the draw plate in the driving direction of the target vehicle (that is, L1+D), the first real-time speed V1 of the target vehicle, the first time t1, and the wheelbase L between the center points of the front wheels and the rear wheels of the target vehicle, that is, t3=((L1+D)-L) / V1+t1.

[0056] In addition, based on the distance L1 between the pressure sensor and the pumping plate, the second time t2 and the first real-time speed V1 of the target vehicle, the time point t4 when the rear wheel of the target vehicle just enters the pumping plate can be determined, that is, t4=L1 / V1+t2.

[0057] Based on the time point t3 when the front wheel of the target vehicle leaves the draw plate and the time point t4 when the rear wheel of the target vehicle enters the draw plate, the draw plate start time point can be determined. In certain embodiments, the larger value in the time point t3 when the front wheel of the target vehicle leaves the draw plate and the time point t4 when the rear wheel of the target vehicle enters the draw plate can be determined as the draw plate start time point. In other embodiments, the larger value and the summation of the preset error value in the time point t3 when the front wheel of the target vehicle leaves the draw plate and the time point t4 when the rear wheel of the target vehicle enters the draw plate can also be used as the draw plate start time point.

[0058] However, the target vehicle may still be traveling at an uneven speed, which may result in a certain error in the wheelbase between the front wheel center point and the rear wheel center point and the time point of starting the draw plate calculated in the above manner. In order to improve the calculation accuracy of the wheelbase between the front wheel center point and the rear wheel center point and the time point of starting the draw plate, thereby improving the control accuracy of the draw plate system, in some embodiments, such as Figure 4 As shown, a pressure sensor can also be installed on the other side of the draw plate. For the convenience of description, based on the driving direction of the target vehicle, the pressure sensor on the rear side of the draw plate is recorded as the first pressure sensor, and the pressure sensor in front of the draw plate is recorded as the second pressure sensor. Therefore, the target vehicle will pass through the first pressure sensor, the draw plate, and the second pressure sensor in sequence. When arranging the second pressure sensor, the second pressure sensor will be arranged at a position closer to the draw plate. In addition, Figure 4 As shown, when the first pressure sensor and the second pressure sensor are arranged, the two pressure sensors are located on the left and right sides of the road surface. By arranging the first pressure sensor and the second pressure sensor in this way, when only one pressure sensor senses the passing of a vehicle, it indicates that the position of the vehicle is greatly deviated from the central axis of the draw plate. Once the draw plate is moved, the vehicle may be directed to the sides of the road surface, posing a safety hazard. Therefore, when only one pressure sensor senses the passing of a vehicle, the draw plate movement instruction will not be sent.

[0059] Based on the first pressure sensor and the second pressure sensor, it is possible to determine the first time T1 and the second time T2 of the front wheel of the target vehicle passing the first pressure sensor and the second pressure sensor, and the first time T3 of the rear wheel of the target vehicle passing the first pressure sensor. Based on the distance L2 between the first pressure sensor and the second pressure sensor, the first time T1 of the front wheel and the second time T2 of the front wheel, it is possible to determine the second real-time speed V2 of the target vehicle passing the draw plate, that is, V2=L2 / (T2-T1). Based on the second real-time speed V2 of the target vehicle, the first time T1 of the front wheel and the first time T3 of the rear wheel, it is possible to determine the wheelbase L between the center point of the front wheel and the center point of the rear wheel of the target vehicle, that is, L=(T3-T1)×V2.

[0060] After obtaining the wheelbase L between the center point of the front wheel and the center point of the rear wheel of the target vehicle in this way, the spacing L3 between the second pressure sensor and the pumping plate can be determined. If the difference between the wheelbase L between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the spacing L3 between the second pressure sensor and the pumping plate (i.e., L3-L) is less than the length D of the pumping plate in the driving direction of the target vehicle, it indicates that when the front wheel of the target vehicle leaves the pumping plate and passes the second pressure sensor, the rear wheel of the target vehicle is located above the pumping plate. Therefore, the pumping plate start time point can be determined based on the front wheel second time T2. In some embodiments, the front wheel second time T2 can be used as the pumping plate start time point, and in other embodiments, the sum of the front wheel second time T2 and the preset error value can be used as the pumping plate start time point. If the difference (L3-L) between the wheelbase L between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the spacing L3 between the second pressure sensor and the draw plate is greater than the length D of the draw plate in the driving direction of the target vehicle, then based on the spacing between the first pressure sensor and the draw plate (recorded as L4) and the second real-time vehicle speed V2 of the target vehicle, the time point T4 when the rear wheel of the target vehicle enters the draw plate is determined, that is, T4=L4 / V2+T3. The draw plate start time point is determined based on the time point T4 when the rear wheel of the target vehicle enters the draw plate. In some embodiments, the time point T4 can be used as the draw plate start time point, and in other embodiments, the sum of the time point T4 and the preset error value can be used as the draw plate start time point.

[0061] After determining the start time of the draw plate, if the first real-time vehicle speed of the target vehicle is within a preset range (for example, 30km / h-60km / h), a draw plate movement instruction is sent at the start time of the draw plate, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction, thereby accurately applying lateral traction to the rear wheels of the target vehicle.

[0062] In summary, the method provided by the embodiment of the present invention determines the first real-time vehicle speed of the target vehicle based on the inductive speed measuring unit, determines the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor, and determines the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, as the draw plate start time point, so that when the first real-time vehicle speed of the target vehicle is within a preset range, a draw plate movement instruction is sent at the draw plate start time point, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction, and can accurately apply lateral traction to the rear wheels of the target vehicle, so as to more realistically reproduce the dynamic performance of the vehicle under slippery road conditions.

[0063] The following is a description of a board pulling system control device for a simulated ice surface system provided by the present invention. The board pulling system control device for a simulated ice surface system described below and the board pulling system control method for a simulated ice surface system described above can be referenced to each other.

[0064] Based on any of the above embodiments, Figure 5 Schematic diagram of the structure of a control device for a plate pumping system of a simulated ice surface system provided by the present invention. Figure 5 As shown, the device comprises:

[0065] A vehicle speed determination module 510, configured to determine a first real-time vehicle speed of a target vehicle based on an inductive speed measurement unit;

[0066] A wheelbase determination module 520, configured to determine the wheelbase between the center point of the front wheels and the center point of the rear wheels of the target vehicle based on a pressure sensor;

[0067] The start timing judgment module 530 is used to determine the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, as the draw plate start time point;

[0068] The draw plate start module 540 is used to send a draw plate movement instruction at the draw plate start time point when the first real-time vehicle speed of the target vehicle is within a preset range, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction.

[0069] The device provided by the embodiment of the present invention determines the first real-time vehicle speed of the target vehicle based on the inductive speed measuring unit, determines the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor, and determines the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, as the draw plate start time point, so that when the first real-time vehicle speed of the target vehicle is within a preset range, a draw plate movement instruction is sent at the draw plate start time point, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction, and can accurately apply lateral traction to the rear wheels of the target vehicle, so as to more realistically reproduce the dynamic performance of the vehicle under slippery road conditions.

[0070] Based on any of the above embodiments, the step of determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor includes:

[0071] Determine, based on the pressure sensor, the first time and the second time when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor; wherein the target vehicle will successively pass through the pressure sensor and the pumping plate; and the distance between the pressure sensor and the pumping plate is greater than a preset distance;

[0072] Based on the time difference between the first time and the second time when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor, and the first real-time vehicle speed of the target vehicle, the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle is determined.

[0073] Based on any of the above embodiments, the method of determining the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle as the draw plate start time point includes:

[0074] Determine the time point when the front wheel of the target vehicle leaves the pumping plate based on the sum of the distance between the pressure sensor and the pumping plate and the length of the pumping plate in the driving direction of the target vehicle, the first real-time speed of the target vehicle, the first time, and the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle;

[0075] Determine the time point when the rear wheel of the target vehicle enters the pumping plate based on the distance between the pressure sensor and the pumping plate, the second time, and the first real-time speed of the target vehicle;

[0076] The draw plate start time point is determined based on the time point when the front wheels of the target vehicle leave the draw plate and the time point when the rear wheels of the target vehicle enter the draw plate.

[0077] Based on any of the above embodiments, the step of determining the start time of the draw plate based on the time point when the front wheels of the target vehicle leave the draw plate and the time point when the rear wheels of the target vehicle enter the draw plate includes:

[0078] The larger value of the time point when the front wheel of the target vehicle leaves the draw plate and the time point when the rear wheel of the target vehicle enters the draw plate is determined as the draw plate start time point.

[0079] Based on any of the above embodiments, the step of determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor includes:

[0080] Based on the first pressure sensor and the second pressure sensor, determine the front wheel first time and the front wheel second time when the front wheel of the target vehicle passes the first pressure sensor and the second pressure sensor successively, and the rear wheel first time when the rear wheel of the target vehicle passes the first pressure sensor; wherein the first pressure sensor and the second pressure sensor are respectively disposed on the front and rear sides of the pumping plate;

[0081] Determine a second real-time vehicle speed of the target vehicle based on the distance between the first pressure sensor and the second pressure sensor, the first front wheel time, and the second front wheel time;

[0082] Based on the second real-time vehicle speed of the target vehicle, the first front wheel time and the first rear wheel time, a wheelbase between a front wheel center point and a rear wheel center point of the target vehicle is determined.

[0083] Based on any of the above embodiments, the method of determining the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle as the draw plate start time point includes:

[0084] determining a distance between the second pressure sensor and the pumping plate;

[0085] If the difference between the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the spacing between the second pressure sensor and the pumping plate is less than the length of the pumping plate in the driving direction of the target vehicle, the pumping plate start time point is determined based on the second time of the front wheel.

[0086] Based on any of the above embodiments, the step of determining the distance between the second pressure sensor and the pumping plate further includes:

[0087] If the difference between the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the distance between the second pressure sensor and the pumping plate is greater than the length of the pumping plate in the driving direction of the target vehicle, then based on the distance between the first pressure sensor and the pumping plate and the second real-time speed of the target vehicle, determine the time point when the rear wheel of the target vehicle enters the pumping plate;

[0088] The pumping plate start time point is determined based on the time point when the rear wheel of the target vehicle enters the pumping plate.

[0089] Figure 6 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 6As shown, the electronic device may include: a processor 610, a memory 620, a communication interface 630 and a communication bus 640, wherein the processor 610, the memory 620 and the communication interface 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 620 to execute the control method of the draw plate system of the simulated ice surface system, the method comprising: determining the first real-time vehicle speed of the target vehicle based on the inductive speed measuring unit; determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor; determining the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle as the draw plate start time point; if the first real-time vehicle speed of the target vehicle is within the preset range, sending a draw plate movement instruction at the draw plate start time point, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction.

[0090] In addition, the logic instructions in the above-mentioned memory 620 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0091] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the pumping plate system control method of the simulated ice surface system provided by the above-mentioned methods, the method including: determining a first real-time vehicle speed of the target vehicle based on an inductive speed measuring unit; determining a wheelbase between a front wheel center point and a rear wheel center point of the target vehicle based on a pressure sensor; based on the wheelbase between a front wheel center point and a rear wheel center point of the target vehicle and a length of a pumping plate in a pumping plate system in the driving direction of the target vehicle, determining a time point when the front wheel of the target vehicle is not on the pumping plate and the rear wheel of the target vehicle is on the pumping plate as a pumping plate start time point; if the first real-time vehicle speed of the target vehicle is within a preset range, sending a pumping plate movement instruction at the pumping plate start time point, so that the pumping plate system controls the lateral movement of the pumping plate based on the pumping plate movement instruction.

[0092] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned methods for controlling a draw plate system of a simulated ice surface system, the methods comprising: determining a first real-time vehicle speed of a target vehicle based on an inductive speed measuring unit; determining a wheelbase between a front wheel center point and a rear wheel center point of the target vehicle based on a pressure sensor; determining a time point when the front wheels of the target vehicle are not on the draw plate and the rear wheels of the draw plate are located on the draw plate based on the wheelbase between the front wheel center point and the rear wheel center point of the target vehicle and the length of the draw plate in a draw plate system in the driving direction of the target vehicle, as a draw plate start time point; if the first real-time vehicle speed of the target vehicle is within a preset range, sending a draw plate movement instruction at the draw plate start time point, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction.

[0093] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a plate pumping system of a simulated ice surface system, characterized in that: include: Determine a first real-time vehicle speed of the target vehicle based on the inductive speed measuring unit; Determine the wheelbase between the center point of the front wheels and the center point of the rear wheels of the target vehicle based on the pressure sensor; Based on the wheelbase between the center points of the front wheels and the rear wheels of the target vehicle and the length of the drawer in the drawer system in the driving direction of the target vehicle, determine the time point when the front wheels of the target vehicle are not on the drawer and the rear wheels of the target vehicle are on the drawer as the drawer start time point; If the first real-time vehicle speed of the target vehicle is within a preset range, a drawer plate movement instruction is sent at the drawer plate start time point, so that the drawer plate system controls the lateral movement of the drawer plate based on the drawer plate movement instruction.

2. The method for controlling a plate pumping system of a simulated ice surface system according to claim 1, characterized in that: The method of determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor includes: Determine, based on the pressure sensor, the first time and the second time when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor; wherein the target vehicle will successively pass through the pressure sensor and the pumping plate; and the distance between the pressure sensor and the pumping plate is greater than a preset distance; Based on the time difference between the first time and the second time when the front wheel and the rear wheel of the target vehicle successively pass through the pressure sensor, and the first real-time vehicle speed of the target vehicle, the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle is determined.

3. The method for controlling a plate pumping system of a simulated ice surface system according to claim 2, characterized in that: The method of determining the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle as the draw plate start time point includes: Determine the time point when the front wheel of the target vehicle leaves the pumping plate based on the sum of the distance between the pressure sensor and the pumping plate and the length of the pumping plate in the driving direction of the target vehicle, the first real-time speed of the target vehicle, the first time, and the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle; Determine the time point when the rear wheel of the target vehicle enters the pumping plate based on the distance between the pressure sensor and the pumping plate, the second time, and the first real-time speed of the target vehicle; The draw plate start time point is determined based on the time point when the front wheels of the target vehicle leave the draw plate and the time point when the rear wheels of the target vehicle enter the draw plate.

4. The method for controlling a plate pumping system of a simulated ice surface system according to claim 3, characterized in that: The step of determining the start time of the draw plate based on the time point when the front wheels of the target vehicle leave the draw plate and the time point when the rear wheels of the target vehicle enter the draw plate comprises: The larger value of the time point when the front wheel of the target vehicle leaves the draw plate and the time point when the rear wheel of the target vehicle enters the draw plate is determined as the draw plate start time point.

5. The method for controlling a plate pumping system of a simulated ice surface system according to claim 1, characterized in that: The method of determining the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle based on the pressure sensor includes: Based on the first pressure sensor and the second pressure sensor, determine the front wheel first time and the front wheel second time when the front wheel of the target vehicle passes the first pressure sensor and the second pressure sensor successively, and the rear wheel first time when the rear wheel of the target vehicle passes the first pressure sensor; wherein the first pressure sensor and the second pressure sensor are respectively disposed on the front and rear sides of the pumping plate; Determine a second real-time vehicle speed of the target vehicle based on the distance between the first pressure sensor and the second pressure sensor, the first front wheel time, and the second front wheel time; Based on the second real-time vehicle speed of the target vehicle, the first front wheel time and the first rear wheel time, a wheelbase between a front wheel center point and a rear wheel center point of the target vehicle is determined.

6. A method for controlling a plate pumping system of a simulated ice surface system according to claim 5, characterized in that: The method of determining the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle as the draw plate start time point includes: determining a distance between the second pressure sensor and the pumping plate; If the difference between the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the spacing between the second pressure sensor and the pumping plate is less than the length of the pumping plate in the driving direction of the target vehicle, the pumping plate start time point is determined based on the second time of the front wheel.

7. A method for controlling a draw plate system of a simulated ice surface system according to claim 6, characterized in that: The step of determining the distance between the second pressure sensor and the pumping plate further comprises: If the difference between the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the distance between the second pressure sensor and the pumping plate is greater than the length of the pumping plate in the driving direction of the target vehicle, then based on the distance between the first pressure sensor and the pumping plate and the second real-time speed of the target vehicle, determine the time point when the rear wheel of the target vehicle enters the pumping plate; The pumping plate start time point is determined based on the time point when the rear wheel of the target vehicle enters the pumping plate.

8. A control device for a plate extraction system of a simulated ice surface system, characterized in that: include: A vehicle speed determination module, used to determine a first real-time vehicle speed of the target vehicle based on an inductive speed measurement unit; A wheelbase determination module, used to determine the wheelbase between the center point of the front wheels and the center point of the rear wheels of the target vehicle based on a pressure sensor; A start timing judgment module is used to determine the time point when the front wheel of the target vehicle is not on the draw plate and the rear wheel of the target vehicle is on the draw plate based on the wheelbase between the center point of the front wheel and the center point of the rear wheel of the target vehicle and the length of the draw plate in the draw plate system in the driving direction of the target vehicle, as the draw plate start time point; The draw plate start module is used to send a draw plate movement instruction at the draw plate start time point when the first real-time vehicle speed of the target vehicle is within a preset range, so that the draw plate system controls the lateral movement of the draw plate based on the draw plate movement instruction.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, a method for controlling a draw plate system of a simulated ice surface system as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a method for controlling a draw plate system of a simulated ice surface system according to any one of claims 1 to 7 is implemented.

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