Engineering vehicle four-wheel steering control method and tracking method, device, equipment, and medium

Abstract

The present application discloses a four-wheel steering control method and tracking method, device, equipment and medium for an engineering vehicle. The designated wheel and the following adjustment wheel are determined by using the required execution mode and the specified steering angle, and the following adjustment angle of each following adjustment wheel is determined based on the required execution mode and the steering angle. Thus, the designated wheel and the following adjustment wheel can be adjusted by using the specified steering angle and the following adjustment angle respectively, so that each wheel involved in the steering can better adapt to the rotation requirements, reduce the wear on the wheel far away from the steering geometric center, and extend the service life of the wheel.

Description

Technical Field

[0001] The present application relates to the field of engineering vehicles, and in particular to a four-wheel steering control method and tracking method, device, equipment, and medium for an engineering vehicle. Background Art

[0002] When traditional engineering vehicles are steering controlled, the controller controls each wheel to adjust the angle uniformly according to the same set rotation angle. This adjustment method will cause greater friction on the wheel away from the steering center of the engineering vehicle, causing wear on the wheel, which will affect the service life of the wheel. Summary of the invention

[0003] The present application aims to propose a four-wheel steering control method and tracking method, device, equipment, and medium for an engineering vehicle, which can reduce the wear of the wheels of the engineering vehicle during the steering process.

[0004] According to the four-wheel steering control method of an engineering vehicle in accordance with the first aspect of the present application, the four-wheel steering control method of the engineering vehicle includes:

[0005] Obtaining steering instruction information, wherein the steering instruction information includes a required execution mode and a specified steering angle, wherein the required execution mode is one of a front-wheel steering mode, a rear-wheel steering mode, a diagonal driving mode, and a four-wheel steering mode;

[0006] Determine the designated wheel according to the required execution mode and the designated steering angle, wherein, when the required execution mode is the front-wheel steering mode, the oblique driving mode and the four-wheel steering mode, the designated wheel is one of the two front wheels, and when the required execution mode is the rear-wheel steering mode, the designated wheel is one of the two rear wheels;

[0007] Determine a follow-up adjustment wheel according to the required execution mode and the designated wheel;

[0008] In the case where the required execution mode is the front-wheel steering mode, the rear-wheel steering mode and the four-wheel steering mode, the steering geometric center of the engineering vehicle is determined according to the required execution mode and the specified steering angle, and the following adjustment angle of each following adjustment wheel is determined according to the steering geometric center;

[0009] In the case where the required execution mode is the oblique travel mode, the following adjustment angle of each following adjustment wheel is determined as the specified steering angle;

[0010] adjusting the rotation angle of the designated wheel according to the designated steering angle;

[0011] Adjusting the rotation angle of the corresponding following adjustment wheel according to each following adjustment angle;

[0012] Wherein, in the front-wheel steering mode, the rear-wheel steering mode and the four-wheel steering mode, after the following adjustment wheel is adjusted according to the following adjustment angle, the line connecting the rotation center of each following adjustment wheel and the steering geometric center is perpendicular to the wheel side of the following adjustment wheel.

[0013] According to a tracking method of an embodiment of a second aspect of the present application, the tracking method includes:

[0014] Obtain the travel deviation angle of the tracking target in the current travel direction of the engineering vehicle;

[0015] Obtaining the current traveling speed of the engineering vehicle;

[0016] Obtaining a current tracking distance between the engineering vehicle and the tracking target;

[0017] generating steering instruction information and tracking speed instruction information according to the traveling deviation angle, the current traveling speed and the current tracking distance;

[0018] Utilizing the steering command information to execute the four-wheel steering control method for an engineering vehicle as described in the first aspect of the embodiment;

[0019] The traveling speed of the engineering vehicle is controlled according to the tracking speed instruction information.

[0020] A tracking device according to a third aspect of the present application includes:

[0021] An angle deviation acquisition module is used to obtain the travel deviation angle of the tracking target in the current travel direction of the engineering vehicle;

[0022] A travel speed acquisition module, used to acquire the current travel speed of the engineering vehicle;

[0023] A tracking distance acquisition module, used to acquire the current tracking distance between the engineering vehicle and the tracking target;

[0024] An instruction generation module, used for generating steering instruction information and tracking speed instruction information according to the travel deviation angle, the current travel speed and the current tracking distance;

[0025] A steering control module, used to use the steering instruction information to execute the four-wheel steering control method for the engineering vehicle as described in the embodiment of the first aspect;

[0026] The speed control module is used to control the traveling speed of the engineering vehicle according to the tracking speed instruction information.

[0027] According to an electronic device of a fourth aspect of the present application, the device includes: a processor and a memory storing computer program instructions;

[0028] When the processor executes the computer program instructions, the tracking method as described in the second aspect above is implemented.

[0029] According to the computer-readable storage medium of the fifth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the tracking method as described in the second aspect above.

[0030] The four-wheel steering control method and tracking method, device, equipment, and medium of the engineering vehicle in the embodiments of the present application use the required execution mode and the specified steering angle to determine the designated wheel and the following adjustment wheel, and determine the following adjustment angle of each following adjustment wheel based on the required execution mode and the steering angle, so that the designated wheel and the following adjustment wheel can be adjusted using the specified steering angle and the following adjustment angle respectively, so that each wheel involved in the steering can better adapt to the rotation requirements, reduce the wear on the wheels far away from the steering geometric center, and extend the service life of the wheels.

[0031] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 A flowchart of an embodiment of a four-wheel steering control method for an engineering vehicle provided in this application;

[0034] Figure 2 A schematic diagram of an engineering vehicle provided for this application in front wheel steering mode;

[0035] Figure 3 A schematic diagram of an engineering vehicle provided for this application in rear-wheel steering mode;

[0036] Figure 4 A schematic diagram of an engineering vehicle in four-wheel steering mode provided for this application;

[0037] Figure 5 A schematic diagram of an engineering vehicle provided for this application in an oblique steering mode;

[0038] Figure 6 A flowchart of an embodiment of the tracking method provided by the present application;

[0039] Figure 7 A schematic diagram of the force analysis of the engineering vehicle on a slope provided for this application;

[0040] Figure 8A schematic diagram of the relationship between the speed and time of the engineering vehicle during segmented acceleration provided in this application;

[0041] Fig. 9 A schematic diagram of the structure of an embodiment of a tracking device provided by the present application;

[0042] Fig.10 A schematic diagram of the structure of an embodiment of the electronic device provided in this application.

[0043] Reference numerals:

[0044] Tracking device 100; angle deviation acquisition module 110; travel speed acquisition module 120; tracking distance acquisition module 130; instruction generation module 140; steering control module 150; speed control module 160;

[0045] Processor 201; memory 202; communication interface 203; bus 210. DETAILED DESCRIPTION

[0046] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0047] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0048] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0049] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0050] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0051] See also Figure 1 As shown, Figure 1 1 is a flow chart of a four-wheel steering control method for an engineering vehicle provided by an embodiment of the present application, and the four-wheel steering control method for an engineering vehicle comprises steps S110 to S170:

[0052] Step S110, obtaining steering instruction information, the steering instruction information including a required execution mode and a specified steering angle, the required execution mode being one of a front-wheel steering mode, a rear-wheel steering mode, a diagonal driving mode, and a four-wheel steering mode;

[0053] Step S120, determining a designated wheel according to the required mode and the designated steering angle, wherein when the required mode is the front-wheel steering mode, the oblique driving mode, and the four-wheel steering mode, the designated wheel is one of the two front wheels, and when the required mode is the rear-wheel steering mode, the designated wheel is one of the two rear wheels;

[0054] Step S130, determining the follow-up adjustment wheel according to the required execution mode and the designated wheel;

[0055] Step S140, when the required execution mode is the front-wheel steering mode, the rear-wheel steering mode, and the four-wheel steering mode, the steering geometric center of the engineering vehicle is determined according to the required execution mode and the specified steering angle, and the following adjustment angle of each following adjustment wheel is determined according to the steering geometric center;

[0056] Step S150, when the required execution mode is the oblique travel mode, the following adjustment angle of each following adjustment wheel is determined as the specified steering angle;

[0057] Step S160, adjusting the rotation angle of the designated wheel according to the designated steering angle;

[0058] Step S170, adjusting the rotation angle of the corresponding following adjustment wheel according to each following adjustment angle;

[0059] Among them, in the front-wheel steering mode, rear-wheel steering mode and four-wheel steering mode, after the following adjustment wheel is adjusted according to the following adjustment angle, the line connecting the rotation center and the steering geometric center of each following adjustment wheel is perpendicular to the wheel side of the following adjustment wheel.

[0060] In an embodiment of the present application, the designated wheel and the following adjustment wheel are determined using the required execution mode and the specified steering angle, and the following adjustment angle of each following adjustment wheel is determined based on the required execution mode and the steering angle, so that the designated wheel and the following adjustment wheel can be adjusted using the specified steering angle and the following adjustment angle respectively, so that each wheel involved in the steering can better adapt to the rotation requirements, reduce the wear on the wheels far away from the steering geometric center, and extend the service life of the wheels.

[0061] The four wheels of the above-mentioned engineering vehicle are all provided with a rotation angle detection unit for detecting the rotation angle of the corresponding wheel so as to achieve precise control of the rotation angle of the wheel.

[0062] The above-mentioned engineering vehicle is in front-wheel steering mode and uses the two front wheels for steering.

[0063] The above-mentioned engineering vehicle is in rear-wheel steering mode and uses the two rear wheels for steering.

[0064] The above-mentioned engineering vehicle is in a four-wheel steering mode and uses four wheels to steer simultaneously.

[0065] The above-mentioned engineering vehicle is in the oblique driving mode and uses four wheels to drive obliquely and straight.

[0066] The designated wheel is determined according to the required execution mode and the designated steering angle. The required execution mode can be used to determine whether the designated wheel is at the front or rear end. For example, when the required execution mode is the front wheel steering mode, the oblique driving mode and the four-wheel steering mode, the designated wheel is one of the two front wheels. When the required execution mode is the rear wheel steering mode, the designated wheel is one of the two rear wheels. The designated steering angle can then be used to determine whether the designated wheel is on the left or right side. Usually, the wheel on the same side as the steering requirement can be selected as the designated wheel. It can also be adaptively changed according to actual needs. For example, if the designated steering angle indicates a right turn, the right wheel can be selected as the designated wheel. The designated wheel can be quickly determined through two constraints.

[0067] The designated wheel can adjust the rotation angle by using the designated steering angle.

[0068] The above-mentioned following adjustment wheel is determined according to the required execution mode and the designated wheel adjustment. The required execution mode can be used to determine the wheels participating in steering, and then the wheels participating in steering other than the designated wheels can be determined as following adjustment wheels. For example, in the front-wheel steering mode, the two front wheels participate in steering, so that the non-designated wheel among the two front wheels can be determined as the following adjustment wheel.

[0069] When turning, the above-mentioned engineering vehicle will rotate around the steering geometric center to achieve turning.

[0070] The above-mentioned steering geometric center is determined according to the required execution mode and the specified steering angle. The required execution mode and the specified steering angle can be used to first determine the specified wheel, and then the first base line is determined based on the specified wheel using the specified steering angle, and the second base line is determined according to the required execution mode. Finally, the intersection of the first base line and the second base line is determined to quickly determine the steering geometric center.

[0071] The following adjustment angle of each following adjustment wheel is determined according to the steering geometric center. In the non-oblique driving mode, after each following adjustment wheel is adjusted according to the following adjustment angle, the line connecting the rotation center of the following adjustment wheel and the steering geometric center will be perpendicular to the wheel side of the following adjustment wheel. In the oblique driving mode, because it is a straight line driving, it is not necessary to determine the steering geometric center, and the following adjustment angle of each following adjustment wheel can be kept consistent with the specified steering angle of the specified wheel.

[0072] The following adjustment wheel can be used to adjust the angle using the following adjustment angle.

[0073] In some implementations, determining the following adjustment wheel according to the required execution mode and the designated wheel includes:

[0074] When the mode to be executed is the front wheel steering mode, determining the front wheels other than the designated wheels as the following adjustment wheels;

[0075] When the mode to be executed is the rear wheel steering mode, determining the rear wheels other than the designated wheels as the following adjustment wheels;

[0076] When the required execution mode is the four-wheel steering mode and the oblique driving mode, three wheels other than the designated wheel are determined as the following adjustment wheels.

[0077] The above-mentioned following adjustment wheel can be understood as a non-designated wheel among the wheels participating in steering.

[0078] In this implementation manner, on the basis of determining the designated wheel, the following adjustment wheel can be quickly determined from the wheels participating in steering in different modes.

[0079] In some implementations, determining the designated wheel according to the required execution mode and the designated steering angle includes:

[0080] Determine the direction to be turned according to the specified steering angle;

[0081] Determine the candidate side wheel according to the required turning direction, wherein, when the required turning direction indicates a left turn, the candidate side wheel is the left wheel, and when the required turning direction indicates a right turn, the candidate side wheel is the right wheel;

[0082] The designated wheel is determined according to the mode to be executed and the alternative side wheels. When the mode to be executed is the front-wheel steering mode, the diagonal driving mode and the four-wheel steering mode, the wheel at the front end of the alternative side wheels is determined as the designated wheel. When the mode to be executed is the rear-wheel steering mode, the wheel at the rear end of the alternative side wheels is determined as the designated wheel.

[0083] In this embodiment, the required turning direction can be quickly determined using the specified steering angle, thereby determining that the specified wheel is located on a specific side of the engineering vehicle, and then determining the alternative side wheel. The alternative side wheels are then constrained using the wheels participating in the steering determined by the required execution mode, so that the specified wheel can be quickly determined from the alternative side wheels.

[0084] In some implementations, determining the steering geometric center of the engineering vehicle according to the required execution mode and the specified steering angle includes:

[0085] In the case where the mode to be executed is the front wheel steering mode, the side of the designated wheel after the designated wheel is rotated according to the designated steering angle is used as the basic end surface, and a first basic line perpendicular to the basic end surface is determined based on the rotation center of the designated wheel, and a second basic line is determined based on the steering centers of the two rear wheels;

[0086] In the case where the mode to be executed is the rear-wheel steering mode, the side of the designated wheel after the designated wheel is rotated according to the designated steering angle is used as the basic end surface, and a first basic line perpendicular to the basic end surface is determined based on the rotation center of the designated wheel, and a second basic line is determined based on the steering centers of the two front wheels;

[0087] In the case where the required execution mode is the four-wheel steering mode, the side of the designated wheel after the designated wheel is rotated according to the designated steering angle is used as the basic end surface, and a first basic line perpendicular to the basic end surface is determined based on the rotation center of the designated wheel, and a second basic line is constructed with the geometric center of the plane formed by the steering centers of the four wheels, and the constructed second basic line is parallel to the connecting line of the steering centers of the two front wheels;

[0088] The intersection point of the first base line and the second base line is determined as the steering geometric center.

[0089] When the required execution mode is the front wheel steering mode, the left front wheel is the designated wheel, and the rotation center of the designated wheel (such as Figure 2 A) determines the first baseline (such as Figure 2 PA, P is the steering geometric center), using the steering centers of the two rear wheels (such as Figure 2 C and D) are connected and extended to obtain the second basic line. In addition, it should be noted that Figure 2 Point B shown in FIG. 1 can be understood as the rotation center of the follower adjustment wheel.

[0090] When the required execution mode is the rear wheel steering mode, the right rear wheel is the designated wheel, and the rotation center of the designated wheel (such as Figure 3 D) determines the first baseline (as shown in Figure 3 PD, P is the steering geometric center), using the steering centers of the two front wheels (such as Figure 3Based on A and B shown in the figure, the second basic line is obtained by connecting and extending the line. In addition, it should be noted that Figure 3 Point C shown in FIG. 1 can be understood as the rotation center of the follower adjustment wheel.

[0091] When the required execution mode is the four-wheel steering mode, the left front wheel is the designated wheel, and the rotation center of the designated wheel (such as Figure 4 A) determines the first baseline (such as Figure 4 PA is shown, P is the steering geometric center), and the four wheel rotation centers form a plane (such as Figure 4 The geometric center of ABCD shown in Figure 4 As shown in O), draw a line connecting the steering center of the two front wheels (as shown in Figure 4 A second base line (shown as AB) parallel to Figure 4 EF), it should be noted that Figure 4 Point B shown in the figure can be understood as the rotation center of the front follower adjustment wheel. Figure 4 Points C and D shown in the figure can be understood as the rotation center of the rear end follower adjustment wheel.

[0092] After obtaining the first base line and the second base line, the steering geometric center can be quickly determined by determining the intersection of the two.

[0093] It should be noted that the reference Figures 2 to 4 Because the lengths of the sides of rectangle ABCD are known and the rotation angle of the designated wheel is known, the following adjustment angle of each following adjustment wheel can be quickly calculated.

[0094] In addition, it should be noted that when the required execution mode is the oblique mode, refer to Figure 5 , taking the left front wheel as the designated wheel, there is no need to determine the steering geometric center, just make sure that the rotation angle of each wheel is consistent with the rotation angle of the designated wheel.

[0095] refer to Figure 6 , Figure 6 : is a flowchart of a tracking method provided by an embodiment of the present application, the tracking method comprises steps S210 to S260:

[0096] Step S210, obtaining a travel deviation angle of the tracking target in the current travel direction of the engineering vehicle;

[0097] Step S220, obtaining the current traveling speed of the engineering vehicle;

[0098] Step S230, obtaining the current tracking distance between the engineering vehicle and the tracking target;

[0099] Step S240, generating steering instruction information and tracking speed instruction information according to the traveling deviation angle, the current traveling speed and the current tracking distance;

[0100] Step S250, using the steering command information to execute the above-mentioned four-wheel steering control method for the engineering vehicle;

[0101] Step S260, controlling the traveling speed of the engineering vehicle according to the tracking speed instruction information.

[0102] In an embodiment of the present application, the travel deviation angle, the current travel speed and the current tracking distance can be used to quickly determine the required execution mode and the specified steering angle, as well as the tracking speed instruction information. Then, the required execution mode and the specified steering angle can be used to obtain the steering instruction information, and the steering control can be completed using the steering instruction information. At the same time, the tracking speed instruction information can also be used to adjust the travel speed of the engineering vehicle, thereby enabling the engineering vehicle to track the tracking target.

[0103] It should be noted that the tracking method in the present application can greatly reduce the control difficulty during the on-site engineering vehicle transfer process, and can achieve the sequential following movement of multiple engineering vehicles, greatly improving the transfer efficiency.

[0104] The front end of the above-mentioned engineering vehicle is provided with a target capture device for determining the travel deviation angle, the current travel speed of the engineering vehicle, the current tracking distance between the engineering vehicle and the tracking target, the target walking speed of the tracking target, etc.

[0105] The above-mentioned target capture device can be a binocular vision system, a laser radar, or other sensors with target resolution capabilities. The specific type is not specifically limited in this application.

[0106] In some implementations, generating steering instruction information and tracking speed instruction information according to the traveling deviation angle, the current traveling speed, and the current tracking distance includes:

[0107] When the current tracking distance is greater than the first preset tracking distance, executing the mode and speed adjustment strategy;

[0108] When the current tracking distance is less than the first preset tracking distance, the last steering instruction information is maintained, and tracking speed instruction information is generated according to the second preset tracking distance, wherein when the current tracking distance is less than the second preset tracking distance, the tracking speed instruction information indicates that the adjusted target speed of the engineering vehicle is zero, and when the current tracking distance is greater than the second preset tracking distance, the tracking speed instruction information indicates that the adjusted target speed of the engineering vehicle is the preset safety tracking speed, and the second preset tracking distance is less than the first preset tracking distance;

[0109] Among them, the mode and speed adjustment strategies include:

[0110] According to the traveling deviation angle and the current traveling speed, the mode to be executed, the designated steering angle and the tracking speed instruction information are determined; wherein, when the mode to be executed is the front-wheel steering mode, the tracking speed instruction information is generated according to the target walking speed of the tracking target, and when the mode to be executed is not the front-wheel steering mode, the tracking speed instruction information is generated according to the current traveling speed; when the mode to be executed is the front-wheel steering mode, the designated steering angle is determined to be zero, and when the mode to be executed is not the front-wheel steering mode, the traveling deviation angle is determined to be the designated steering angle;

[0111] According to the required execution mode and the specified steering angle, the steering command information is obtained.

[0112] The first preset tracking distance is a relatively safe tracking distance. Therefore, when the first preset tracking distance is exceeded, the mode and speed adjustment strategy can be executed to adjust the steering of the engineering vehicle and follow the speed of the tracking target. When it is less than or equal to the first preset tracking distance, it means that the engineering vehicle is close to the tracking target. At this time, the tracking distance problem needs to be dealt with first to avoid the engineering vehicle causing damage to the tracking target. At this time, the engineering vehicle needs to be slowed down first.

[0113] When the above-mentioned first preset tracking distance is less than or equal to the first preset tracking distance, the engineering vehicle needs to be decelerated, and it is necessary to further determine whether it is less than the second preset tracking distance. When it is less than the second preset tracking distance, the distance between the engineering vehicle and the tracking target is extremely close, and it is necessary to decelerate quickly. At this time, the tracking speed instruction information can indicate that the adjusted target speed of the engineering vehicle is zero. When it is greater than the second preset tracking distance, the distance between the engineering vehicle and the tracking target is already close but not extremely close. The tracking speed instruction information can indicate that the adjusted target speed of the engineering vehicle is the preset safe tracking speed.

[0114] The above-mentioned preset safety tracking speed is greater than zero, and the specific size can be set according to the mechanical structure characteristics of the engineering vehicle, the control capability of the travel control system, etc. For example, it can be set to 0.5m / s.

[0115] During the execution of the above-mentioned modes and speed adjustment strategies, the travel deviation angle and the current travel speed can be used to determine the mode to be executed. During this determination process, the following efficiency and safety brought by different modes are focused on. For example, when the current travel speed is slow and the travel deviation angle is small, the oblique travel mode can be used directly for following. When the current travel speed is fast and the travel deviation angle is large, the rear-wheel steering mode can be used directly for following. The specific determination methods are quite diverse and will not be elaborated here.

[0116] During the execution of the above-mentioned modes and speed adjustment strategies, after determining the mode to be executed, the travel deviation angle can be used to quickly determine the specified steering angle, thereby quickly completing the reduction control of the travel deviation angle between the travel direction of the engineering vehicle and the tracking target.

[0117] During the execution of the above-mentioned modes and speed adjustment strategies, after determining the mode to be executed, the tracking speed instruction information can be determined using the current travel speed. The determination of the tracking speed instruction information needs to consider safety. Therefore, it is possible to choose to update the speed according to the target walking speed of the tracking target in the front-wheel steering mode, thereby improving the safety during the tracking process.

[0118] In some implementations, determining the required execution mode, specifying the steering angle, and tracking speed instruction information based on the travel deviation angle and the current travel speed includes:

[0119] When the traveling deviation angle is less than the first preset deviation angle and the current traveling speed is less than the first preset speed, determining that the mode to be executed is the oblique traveling mode, determining that the traveling deviation angle is determined to be the specified steering angle, and generating tracking speed instruction information according to the current traveling speed;

[0120] When the traveling deviation angle is less than the first preset deviation angle and the current traveling speed is greater than or equal to the first preset speed, determining that the mode to be executed is the front-wheel steering mode, determining the designated steering angle to be zero, and generating tracking speed instruction information according to the target walking speed of the tracking target;

[0121] When the travel deviation angle is greater than or equal to the first preset deviation angle and less than the second preset deviation angle, and the current travel speed is greater than or equal to the second preset speed, it is determined that the mode to be executed is the oblique travel mode, the travel deviation angle is determined to be the specified steering angle, and the tracking speed instruction information is generated according to the current travel speed; the second preset deviation angle is greater than the first preset deviation angle; and the second preset speed is greater than the first preset speed;

[0122] When the traveling deviation angle is greater than or equal to the first preset deviation angle and less than the second preset deviation angle, and the current traveling speed is less than the second preset speed, determining that the mode to be executed is the rear-wheel steering mode, determining that the traveling deviation angle is determined to be the specified steering angle, and generating tracking speed instruction information according to the current traveling speed;

[0123] When the traveling deviation angle is greater than or equal to the second preset deviation angle and the current traveling speed is greater than or equal to the third preset speed, determining that the mode to be executed is the rear-wheel steering mode, determining that the traveling deviation angle is determined to be the specified steering angle, and generating tracking speed instruction information according to the current traveling speed; the third preset speed is greater than the second preset speed;

[0124] When the traveling deviation angle is greater than or equal to the second preset deviation angle and the current traveling speed is less than the third preset speed, the mode to be executed is determined to be the four-wheel steering mode, the traveling deviation angle is determined to be the specified steering angle, and the tracking speed instruction information is generated according to the current traveling speed.

[0125] In this embodiment, a specific logic for determining the tracking speed instruction information, the required execution mode, and the specified steering angle is provided, and the preset speed, preset deviation angle and other parameters are flexibly adjusted to adapt to different types of vehicle models. The preset speed, preset deviation angle and other parameters can be empirical values ​​obtained from field tests, or can be calculated and determined based on the vehicle structure characteristics and the walking capacity of the walking system.

[0126] In some implementations, generating tracking speed instruction information according to a target walking speed of a tracking target includes:

[0127] Get the current posture information of the engineering vehicle;

[0128] According to the target walking speed of the tracked target, the target adjustment speed is determined;

[0129] The difference between the target walking speed and the current traveling speed is input into a first PID controller to obtain a first adjustment speed;

[0130] Acquire a second adjustment speed according to the current posture information;

[0131] The first adjustment speed and the second adjustment speed are summed to obtain tracking speed instruction information.

[0132] The above current posture information can be detected by a posture sensor installed in the project.

[0133] The target walking speed of the above-mentioned tracking target is the real-time speed of the tracking target.

[0134] When the above-mentioned target adjustment speed is determined, it needs to be slightly greater than the target walking speed of the tracking target, so that the engineering vehicle can closely follow the engineering vehicle during the PID speed adjustment process. For example, the target adjustment speed can be 1m / s to 2m / s greater than the target walking speed.

[0135] The second adjustment speed can be obtained according to the current posture information by inputting the inclination data of the X direction (the direction parallel to the downward direction of the slope) and the inclination data of the Y direction (the direction parallel to the slope and perpendicular to the X direction) in the current posture information into the second PID controller.

[0136] It should be noted that the proportional coefficient and the integral coefficient in the first PID controller are positive numbers, for example, the proportional coefficient is 1.5 and the integral coefficient is 2.0, and the proportional coefficient and the integral coefficient in the first PID controller are negative numbers, for example, the proportional coefficient is -0.5 and the integral coefficient is -0.2.

[0137] In this embodiment, the first adjustment speed is obtained by using the difference between the target walking speed and the current walking speed, and the first adjustment speed is corrected by using the second adjustment speed obtained by using the current posture information, so as to obtain tracking speed instruction information that better meets the actual control needs and avoids the impact of slope on driving safety.

[0138] In some embodiments, the tracking method further includes:

[0139] Get the current posture information of the engineering vehicle;

[0140] The current posture information and the specified steering angle are input into a pre-built mechanical analysis model to obtain a speed limit value. When the engineering vehicle is controlled to move, the walking speed of the engineering vehicle is not greater than the speed limit value.

[0141] Among them, the mechanical analysis model of the engineering vehicle is obtained by analyzing the gravity, friction and centrifugal force of the engineering vehicle.

[0142] The above current posture information can be detected by a posture sensor installed in the project.

[0143] The above-mentioned engineering vehicle mechanical analysis model is obtained by analyzing the gravity of the engineering vehicle, the friction of the engineering vehicle, and the centrifugal force of the engineering vehicle.

[0144] Specifically, refer to Figure 7 , in the figure F 1 is the gravity of the engineering vehicle, F 1 x , F 1 y are the components of gravity in the directions parallel to and perpendicular to the road surface, , , angy is the slope angle, which can be obtained by detecting the tilt angle of the engineering vehicle. Figure 7 middle F 2 is the friction force of the engineering vehicle. Figure 7 middle F 3 is the centrifugal force of the engineering vehicle, F 3 =mv^2 / r ,in, r is the turning radius, which can be understood as the line between the aforementioned steering geometric center and the designated wheel rotation center. F 3 x , F 3y are the components parallel to the slope and perpendicular to the slope, respectively. , .

[0145] It can be understood that when the centrifugal force is distributed along the road surface F 3 x Component of force along the road surface with gravity F 1 x The sum is less than or equal to the friction F 2, the engineering vehicle will not overturn safely. The specific derivation formula is:

[0146] ;

[0147] ;

[0148] ;

[0149] And because the centrifugal force is along the road surface F 3 x Component of force along the road surface with gravity F 1 x The sum is less than or equal to the friction F 2, we can get:

[0150] ;

[0151] By taking the limit state of the above formula, that is, making the left and right sides of the inequality equal, the extreme speed is obtained, and the speed limit value is obtained. It should be noted that in actual situations, in order to ensure safety to the greatest extent, the speed limit value may not directly take the above extreme speed, but a speed slightly smaller than the extreme speed may be selected as the speed limit value.

[0152] In some embodiments, controlling the traveling speed of the engineering vehicle according to the tracking speed instruction information includes:

[0153] According to the tracking speed instruction information and the current travel speed, a first acceleration section, a second acceleration section, and a third acceleration section are determined, wherein the acceleration corresponding to the first acceleration section is greater than the acceleration corresponding to the second acceleration section, which is greater than the acceleration corresponding to the third acceleration section;

[0154] The traveling speed of the engineering vehicle is controlled according to the first acceleration section, the second acceleration section and the third acceleration section.

[0155] In this embodiment, a segmented control strategy is adopted, thereby ensuring the efficiency and balance of speed adjustment to the greatest extent, avoiding sudden acceleration and deceleration, and avoiding unstable speed adjustment.

[0156] refer to Figure 8 When the target speed indicated by the speed instruction information at time t0 is updated from V0 to V3, the actual speed of the vehicle will go through an S-shaped acceleration process and reach V1 at time t3. The entire acceleration process is divided into three stages: from t0 to t1, the acceleration is increasing; from t1 to t2, the acceleration is uniform; from t2 to t3, the acceleration is increasing.

[0157] In actual use, the time of the entire acceleration process and the time from t0 to t1 can be directly given. The time from t2 to t3 is taken to be consistent with the time from t0 to t1, and the remaining time of the entire acceleration process corresponds to the time from t1 to t2.

[0158] In some implementations, generating steering instruction information and tracking speed instruction information according to the traveling deviation angle, the current traveling speed, and the current tracking distance further includes:

[0159] When the current tracking distance is less than the third preset tracking distance, the engineering vehicle is controlled to stop moving, and the third preset tracking distance is less than the second preset tracking distance.

[0160] In this implementation, the third preset tracking distance is used as the final protection distance, and when the current tracking distance is less than the third preset tracking distance, the engineering vehicle is directly controlled to stop moving, so as to achieve the final software protection and avoid dangerous situations.

[0161] The tracking method provided in the embodiment of the present application can be executed by a tracking device. In the embodiment of the present application, the tracking device provided in the embodiment of the present application is described by taking the tracking method executed by the tracking device as an example.

[0162] refer to Fig. 9 The embodiment of the present application further provides a tracking device 100, the tracking device 100 comprising:

[0163] Angle deviation acquisition module 110, used to acquire the travel deviation angle of the tracking target in the current travel direction of the engineering vehicle;

[0164] A traveling speed acquisition module 120 is used to acquire the current traveling speed of the engineering vehicle;

[0165] A tracking distance acquisition module 130 is used to acquire a current tracking distance between the engineering vehicle and the tracking target;

[0166] An instruction generation module 140, configured to generate steering instruction information and tracking speed instruction information according to the traveling deviation angle, the current traveling speed and the current tracking distance;

[0167] A steering control module 150, used to use the steering command information to execute the above-mentioned four-wheel steering control method for an engineering vehicle;

[0168] The speed control module 160 is used to control the traveling speed of the engineering vehicle according to the tracking speed instruction information.

[0169] The tracking device 100 in the embodiment of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (Ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network AttaChed Storage, NAS), a personal computer (personal computer, PC), a television (teleViSion, tV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0170] Fig.10 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0171] The electronic device may include a processor 201 and a memory 202 storing computer program instructions.

[0172] Specifically, the processor 201 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0173] The memory 202 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 202 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 202 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 202 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 202 is a non-volatile solid-state memory.

[0174] In some embodiments, the memory 202 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0175] The processor 201 implements any one of the tracking methods in the above embodiments by reading and executing computer program instructions stored in the memory 202 .

[0176] In one example, the electronic device may further include a communication interface 203 and a bus 210. Fig.10 As shown, the processor 201, the memory 202, and the communication interface 203 are connected via a bus 210 and communicate with each other.

[0177] The communication interface 203 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0178] The bus 210 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infinite bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, the bus 210 may include one or more buses. Although the present application embodiment describes and illustrates a specific bus, the present application considers any suitable bus or interconnect.

[0179] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by a processor or a control module, so that the above-mentioned processor can execute the tracking method in the above-mentioned embodiment, for example, execute the method described above.

[0180] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0181] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0182] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0183] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0184] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A tracking method, characterized in that: The tracking method includes: Obtain the travel deviation angle of the tracking target in the current travel direction of the engineering vehicle; Obtaining the current traveling speed of the engineering vehicle; Obtaining a current tracking distance between the engineering vehicle and the tracking target; generating steering instruction information and tracking speed instruction information according to the traveling deviation angle, the current traveling speed and the current tracking distance; Utilizing the steering command information to execute a four-wheel steering control method for an engineering vehicle; Controlling the traveling speed of the engineering vehicle according to the tracking speed instruction information; The generating of the steering instruction information and the tracking speed instruction information according to the traveling deviation angle, the current traveling speed and the current tracking distance comprises: When the current tracking distance is greater than the first preset tracking distance, executing a mode and speed adjustment strategy; In the case where the current tracking distance is less than the first preset tracking distance, the last steering instruction information is maintained, and the tracking speed instruction information is generated according to the second preset tracking distance, wherein, in the case where the current tracking distance is less than the second preset tracking distance, the tracking speed instruction information indicates that the adjusted target speed of the engineering vehicle is zero, and in the case where the current tracking distance is greater than the second preset tracking distance, the tracking speed instruction information indicates that the adjusted target speed of the engineering vehicle is a preset safety tracking speed, and the second preset tracking distance is less than the first preset tracking distance; The mode and speed adjustment strategies include: According to the travel deviation angle and the current travel speed, determine the mode to be executed, the designated steering angle and the tracking speed instruction information; wherein, when the mode to be executed is the front-wheel steering mode, the tracking speed instruction information is generated according to the target walking speed of the tracking target, and when the mode to be executed is not the front-wheel steering mode, the tracking speed instruction information is generated according to the current travel speed; when the mode to be executed is the front-wheel steering mode, the designated steering angle is determined to be zero, and when the mode to be executed is not the front-wheel steering mode, the travel deviation angle is determined to be the designated steering angle; Obtaining the steering instruction information according to the required execution mode and the specified steering angle; The four-wheel steering control method for an engineering vehicle comprises: Obtaining steering instruction information, wherein the steering instruction information includes a required execution mode and a specified steering angle, wherein the required execution mode is one of a front-wheel steering mode, a rear-wheel steering mode, a diagonal driving mode, and a four-wheel steering mode; Determine the designated wheel according to the required execution mode and the designated steering angle, wherein, when the required execution mode is the front-wheel steering mode, the oblique driving mode and the four-wheel steering mode, the designated wheel is one of the two front wheels, and when the required execution mode is the rear-wheel steering mode, the designated wheel is one of the two rear wheels; Determine a follow-up adjustment wheel according to the required execution mode and the designated wheel; In the case where the required execution mode is the front-wheel steering mode, the rear-wheel steering mode and the four-wheel steering mode, the steering geometric center of the engineering vehicle is determined according to the required execution mode and the specified steering angle, and the following adjustment angle of each following adjustment wheel is determined according to the steering geometric center; In the case where the required execution mode is the oblique travel mode, the following adjustment angle of each following adjustment wheel is determined as the designated steering angle; adjusting the rotation angle of the designated wheel according to the designated steering angle; Adjusting the rotation angle of the corresponding following adjustment wheel according to each following adjustment angle; Wherein, in the front-wheel steering mode, the rear-wheel steering mode and the four-wheel steering mode, after the following adjustment wheel is adjusted according to the following adjustment angle, the line connecting the rotation center of each following adjustment wheel and the steering geometric center is perpendicular to the wheel side of the following adjustment wheel.

2. The tracking method according to claim 1, characterized in that: The step of determining the follow-up adjustment wheel according to the required execution mode and the designated wheel comprises: In a case where the mode to be executed is the front wheel steering mode, determining the front wheels other than the designated wheels as the following adjustment wheels; In a case where the mode to be executed is the rear wheel steering mode, determining the rear end wheel other than the designated wheel as the following adjustment wheel; When the required execution mode is the four-wheel steering mode and the oblique driving mode, three wheels other than the designated wheels are determined as the following adjustment wheels.

3. The tracking method according to claim 1, characterized in that: The determining the designated wheel according to the required execution mode and the designated steering angle comprises: Determining the required turning direction according to the specified turning angle; Determine the alternative side wheel according to the required rotation direction, wherein, when the required rotation direction indicates a left turn, the alternative side wheel is the left wheel, and when the required rotation direction indicates a right turn, the alternative side wheel is the right wheel; The designated wheel is determined based on the mode to be executed and the alternative side wheels, wherein when the mode to be executed is the front-wheel steering mode, the diagonal driving mode and the four-wheel steering mode, the wheel at the front end of the alternative side wheels is determined as the designated wheel, and when the mode to be executed is the rear-wheel steering mode, the wheel at the rear end of the alternative side wheels is determined as the designated wheel.

4. The tracking method according to claim 1, characterized in that: The step of determining the steering geometric center of the engineering vehicle according to the required execution mode and the specified steering angle includes: In the case where the mode to be executed is the front wheel steering mode, a side face of the designated wheel after rotation according to the designated steering angle is used as a base end face, a first base line perpendicular to the base end face is determined based on a rotation center of the designated wheel, and a second base line is determined based on the steering centers of the two rear wheels; In the case where the mode to be executed is the rear-wheel steering mode, a side surface of the designated wheel after rotation according to the designated steering angle is used as a base end surface, a first base line perpendicular to the base end surface is determined based on the rotation center of the designated wheel, and a second base line is determined based on the steering centers of the two front wheels; In the case where the mode to be executed is the four-wheel steering mode, the side of the designated wheel after being rotated according to the designated steering angle is used as the basic end surface, and a first basic line perpendicular to the basic end surface is determined based on the rotation center of the designated wheel, and a second basic line is constructed with the geometric center of the plane formed by the steering centers of the four wheels, and the constructed second basic line is parallel to the connecting line of the steering centers of the two front wheels; An intersection point of the first base line and the second base line is determined as the steering geometric center.

5. The tracking method according to claim 1, characterized in that: The step of generating the tracking speed instruction information according to the target walking speed of the tracking target includes: Obtaining current posture information of the engineering vehicle; Determining a target adjustment speed according to a target walking speed of the tracked target; Inputting the difference between the target walking speed and the current traveling speed into a first PID controller to obtain a first adjustment speed; Acquire a second adjustment speed according to the current posture information; The first adjustment speed and the second adjustment speed are summed to obtain the tracking speed instruction information.

6. A tracking device, characterized in that: include: An angle deviation acquisition module is used to obtain the travel deviation angle of the tracking target in the current travel direction of the engineering vehicle; A travel speed acquisition module, used to acquire the current travel speed of the engineering vehicle; A tracking distance acquisition module, used to acquire the current tracking distance between the engineering vehicle and the tracking target; An instruction generation module, used for generating steering instruction information and tracking speed instruction information according to the travel deviation angle, the current travel speed and the current tracking distance; A steering control module, used to execute a four-wheel steering control method for an engineering vehicle using the steering instruction information; A speed control module, used for controlling the traveling speed of the engineering vehicle according to the tracking speed instruction information; The generating of the steering instruction information and the tracking speed instruction information according to the traveling deviation angle, the current traveling speed and the current tracking distance comprises: When the current tracking distance is greater than the first preset tracking distance, executing a mode and speed adjustment strategy; In the case where the current tracking distance is less than the first preset tracking distance, the last steering instruction information is maintained, and the tracking speed instruction information is generated according to the second preset tracking distance, wherein, in the case where the current tracking distance is less than the second preset tracking distance, the tracking speed instruction information indicates that the adjusted target speed of the engineering vehicle is zero, and in the case where the current tracking distance is greater than the second preset tracking distance, the tracking speed instruction information indicates that the adjusted target speed of the engineering vehicle is a preset safety tracking speed, and the second preset tracking distance is less than the first preset tracking distance; The mode and speed adjustment strategies include: According to the travel deviation angle and the current travel speed, determine the mode to be executed, the designated steering angle and the tracking speed instruction information; wherein, when the mode to be executed is the front-wheel steering mode, the tracking speed instruction information is generated according to the target walking speed of the tracking target, and when the mode to be executed is not the front-wheel steering mode, the tracking speed instruction information is generated according to the current travel speed; when the mode to be executed is the front-wheel steering mode, the designated steering angle is determined to be zero, and when the mode to be executed is not the front-wheel steering mode, the travel deviation angle is determined to be the designated steering angle; Obtaining the steering instruction information according to the required execution mode and the specified steering angle; The four-wheel steering control method for an engineering vehicle comprises: Obtaining steering instruction information, wherein the steering instruction information includes a required execution mode and a specified steering angle, wherein the required execution mode is one of a front-wheel steering mode, a rear-wheel steering mode, a diagonal driving mode, and a four-wheel steering mode; Determine the designated wheel according to the required execution mode and the designated steering angle, wherein, when the required execution mode is the front-wheel steering mode, the oblique driving mode and the four-wheel steering mode, the designated wheel is one of the two front wheels, and when the required execution mode is the rear-wheel steering mode, the designated wheel is one of the two rear wheels; Determine a follow-up adjustment wheel according to the required execution mode and the designated wheel; In the case where the required execution mode is the front-wheel steering mode, the rear-wheel steering mode and the four-wheel steering mode, the steering geometric center of the engineering vehicle is determined according to the required execution mode and the specified steering angle, and the following adjustment angle of each following adjustment wheel is determined according to the steering geometric center; In the case where the required execution mode is the oblique travel mode, the following adjustment angle of each following adjustment wheel is determined as the designated steering angle; adjusting the rotation angle of the designated wheel according to the designated steering angle; Adjusting the rotation angle of the corresponding following adjustment wheel according to each following adjustment angle; Wherein, in the front-wheel steering mode, the rear-wheel steering mode and the four-wheel steering mode, after the following adjustment wheel is adjusted according to the following adjustment angle, the line connecting the rotation center of each following adjustment wheel and the steering geometric center is perpendicular to the wheel side of the following adjustment wheel.

7. An electronic device, characterized in that: The electronic device comprises a processor and a memory storing computer program instructions; When the processor executes the computer program, the tracking method according to claim 1 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the tracking method according to claim 1.

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