Industrial vehicle stable driving method

Abstract

The invention discloses an industrial vehicle stable driving method, and relates to the technical field of industrial vehicle safety. The problem that an existing method does not analyze the road condition and limit the speed, so that accidental faults or accidents are increased due to overspeed of the industrial vehicle is solved. The stable driving method comprises the steps that the distance measuring module detects a plurality of detection heights within the time period when the industrial vehicle is static, and the processing operation module calculates the calibration standard deviation with the actual height; in the running process of the industrial vehicle, the distance measuring module obtains the detected actual height in a time period, and the processing operation module calculates the test standard deviation with the actual height and judges the road surface flatness; the processing operation module determines a speed limit grade table for calibrating the standard deviation according to the wheel diameter of the industrial vehicle; the processing operation module calculates an absolute difference value between the test standard deviation and the calibration standard deviation, and selects a corresponding pedal voltage speed limit value; the voltage measuring and calculating module obtains a pedal real-time voltage value, the pedal real-time voltage value and a pedal voltage speed limit value are judged, and then the industrial vehicle adjusts the state of a speed limit mode; and when the absolute difference values are all the calibration standard deviation values, the current road surface is judged to be a stable road surface, the speed limiting mode is relieved, and the accelerator pedal is released.

Description

Technical Field

[0001] The invention relates to the technical field of industrial vehicle safety, and in particular to a stable driving method for an industrial vehicle. Background Art

[0002] In industrial vehicles, speed limit regulations are to ensure that the vehicle travels within a safe speed range to prevent unexpected failures or accidents caused by speeding.

[0003] At present, there are two main types of speed limits for electric industrial forklifts: turning speed limit and lifting speed limit. Turning speed limit is generally limited linearly according to the steering angle or a fixed speed limit of 5km / h; lifting speed limit is generally limited when the fork is lifted above a certain height. The purpose is to reduce safety accidents by reducing speed.

[0004] Patent No. CN202110210514X discloses a method for evaluating driver driving stability based on information entropy, including: real-time collection of the driver's driving speed data and the corresponding original position data, obtaining the driving behavior sequence and the original road type sequence; smoothing each original road type sequence, removing the non-smooth data, and obtaining the smoothed road type sequence; obtaining the driving behavior sequence of the driver in the normal driving mode under each road type; calculating the information entropy of all driving behavior sequences of the driver under each road type, thereby obtaining the driving stability of the driver under each road type. The above invention can evaluate the driving stability of the driver under different road conditions according to different driving behaviors, providing an important basis for improving traffic safety and reducing the incidence of traffic accidents.

[0005] Patent No. CN202410958959X discloses a stability status scoring system for unmanned vehicles, including: a data acquisition module, a feature extraction module, a feature analysis module and a status scoring module; the data acquisition module collects vehicle operation status data; the feature extraction module extracts features from the vehicle operation status data to obtain operation status feature data; the feature analysis module performs feature analysis on the operation status feature data to obtain feature change trend data; the status scoring module scores the vehicle stability status according to the feature change trend data to obtain a stability status scoring result. The above application collects and analyzes vehicle operation status data and scores the vehicle stability status, which can identify potential vehicle equipment aging or loss problems, provide reference information for equipment maintenance, and thus improve the operation safety and reliability of unmanned vehicles.

[0006] Although the above patents only limit the speed of existing industrial vehicles for turning and fork lifting height, they do not analyze and limit the speed of road conditions beyond these two conditions, resulting in an increase in unexpected failures or accidents caused by speeding of industrial vehicles. Summary of the invention

[0007] The purpose of the present invention is to provide a stable driving method for industrial vehicles, which can scan the fluctuation of the vertical distance between the chassis of the industrial vehicle and the ground in real time, and infer the bumpy situation of the industrial vehicle during driving according to the test standard deviation, and match the pedal voltage speed limit value according to the wheel diameter of the industrial vehicle, and control the maximum driving speed of the industrial vehicle by controlling the accelerator pedal voltage; so as to reduce the unexpected failure of the industrial vehicle caused by speeding and reduce the sudden rate of accident events.

[0008] The present invention utilizes the following technical solutions:

[0009] A stable driving method for an industrial vehicle comprises the following steps;

[0010] S1: Keep the industrial vehicle stationary, and detect the vertical distance between the industrial vehicle chassis and the ground several times within the calibration time period T through the distance measurement module set on the industrial vehicle chassis, and obtain several detection heights. The vertical distance between the industrial vehicle chassis and the ground measured by ordinary measuring tools is used as the actual height, and then the calibration standard deviation S between each detection height and the actual height is calculated by the processing and calculation module to form a calibration standard deviation set {S};

[0011] S2: During the driving process of the industrial vehicle, the vertical distance between the chassis of the industrial vehicle and the ground is continuously detected by the distance measurement module within the time period T and several actual heights h are obtained. Then, the test standard deviation S′ between each actual height h and the actual height is calculated by the processing and calculation module to form a test standard deviation set {S′}. Subsequently, the test standard deviation set {S′} is used to judge the road surface flatness;

[0012] S3: The processing and calculation module sets a speed limit level table of absolute difference ΔS according to the wheel diameter d of the industrial vehicle; the speed limit level table includes the correspondence between wheel diameter level, speed limit level, absolute difference set {ΔS} and pedal voltage speed limit value;

[0013] S4: the processing module calculates the absolute difference ΔS between the test standard deviation S′ and the calibration standard deviation S, and selects the corresponding pedal voltage speed limit value in the speed limit level table according to the absolute difference ΔS;

[0014] S5: The voltage measurement module measures the voltage of the accelerator pedal, obtains the real-time voltage value of the pedal, and compares it with the pedal voltage speed limit value, and then uses the speed limiter through the control module of the industrial vehicle to adjust the opening and closing of the speed limit mode;

[0015] S6: When the absolute difference values ​​ΔS calculated in several consecutive time periods T are all in the absolute difference set {ΔS}, it is predicted that the current road surface is a smooth road surface, and the sound and light alarm lights are turned off, reminding the driver that the industrial vehicle is on a smooth road surface, the speed limit mode is released, and the accelerator pedal is released.

[0016] Preferably, step S1 includes the following steps:

[0017] S11: Park the industrial vehicle in a flat and interference-free test site, calibrate the distance measurement module, and set a calibration time period T;

[0018] The ranging module uses ultrasonic radar, millimeter wave radar or laser radar;

[0019] S12: Use common measuring tools to measure the vertical distance between the industrial vehicle chassis and the road surface several times, and take the average value as the actual height;

[0020] Common measuring tools can be measuring tapes or tape measures;

[0021] S13: within the calibration time period T, start the distance measurement module to detect the vertical distance between the industrial vehicle chassis and the road surface several times, and record all the detected heights;

[0022] S14: The processing operation module calculates the deviation value and square deviation of each detected height and the actual height;

[0023] S15: The processing operation module calculates the variance and the calibration standard deviation S according to the square deviation to form a calibration standard deviation set {S}.

[0024] Preferably, step S2 includes the following steps:

[0025] S21: The industrial vehicle starts to move, and the distance measurement module continuously detects the vertical distance between the chassis of the industrial vehicle and the road surface within a time period T, and obtains all the actual heights h detected;

[0026] S22: The processing and calculation module performs standard deviation calculation on each live height h and the actual height to obtain a test standard deviation S′, forming a test standard deviation set {S′};

[0027] S23: The processing module determines the road surface flatness according to the test standard deviation S′ and generates a flatness determination result:

[0028] If the test standard deviation S ′∈[0,2], the road surface is of level one flatness, which is the smoothest; if the test standard deviation S′∈(2,3], the road surface is of level two flatness, which is relatively smooth; if the test standard deviation S′∈(3,4], the road surface is of level three flatness, which is relatively bumpy; if the test standard deviation S′∈(4,5], the road surface is of level four flatness, which is the bumpiest.

[0029] Preferably, step S3 includes the following steps:

[0030] S31: The processing and calculation module divides the wheel diameter of the industrial vehicle into four wheel diameter levels, including small wheel diameter d≤500mm, medium wheel diameter d∈(500,700]mm, large wheel diameter d∈(700,900]mm and extra large wheel diameter d>900mm; and calculates the absolute difference set {ΔS} between the calibration standard deviation set {S} and the test standard deviation set {S′} in sequence;

[0031] S32: The processing and operation module uses a clustering algorithm to classify all calibration standard deviations S according to the wheel diameter of the industrial vehicle, and then determines the calibration standard deviation S corresponding to each wheel diameter grade;

[0032] S33: According to the safety operation regulations of industrial vehicles, different speed limit levels are set for industrial vehicles of different wheel diameter levels, including low speed v≤5km / h, medium speed v∈(5,10]km / h and high speed v∈(10,15]km / h;

[0033] S34: using a data association algorithm to associate wheel diameter grades, speed limit grades, and absolute difference value sets {ΔS} according to industrial vehicle safety standards, thereby constructing a safety speed limit table;

[0034] S35: According to the voltage-speed comparison table in the industrial vehicle safety technical document, the corresponding pedal voltage speed limit value is matched for each speed limit level in the safety speed limit table, and then the speed limit level table is constructed.

[0035] Preferably, step S4 includes the following steps:

[0036] S41: The processing module calculates the absolute difference between the test standard deviation S′ and the calibration standard deviation S ΔS=|S ′ -S|;

[0037] S42: Searching the speed limit level corresponding to the absolute difference ΔS in the speed limit level table;

[0038] S43: If the speed limit level table lacks the corresponding speed limit level, determine the corresponding speed limit level by using an interpolation algorithm; if the speed limit level table has the corresponding speed limit level, extract the entire row of data corresponding to the speed limit level;

[0039] S44: Determine the corresponding pedal voltage speed limit value according to the speed limit level in the speed limit level table using a data query algorithm.

[0040] Preferably, step S5 includes the following steps:

[0041] S51: The voltage measurement module uses the voltage sensor to measure the current voltage of the accelerator pedal, obtains the real-time voltage value of the pedal, and transmits it to the processing and calculation module;

[0042] S52: The processing module compares the pedal voltage speed limit value with the pedal real-time voltage value to generate a voltage judgment result;

[0043] S53: If the real-time pedal voltage value is less than or equal to the pedal voltage speed limit value, the real-time pedal voltage value is output to the control module, and the driver is reminded through the sound and light alarm lights that the industrial vehicle starts the speed limit mode, and the industrial vehicle is automatically taken over and the speed limit is automatically implemented after the real-time pedal voltage value is greater than the pedal voltage speed limit value;

[0044] S54: If the real-time pedal voltage value is greater than the pedal voltage speed limit value, the control module automatically corrects the real-time pedal voltage value according to the pedal voltage speed limit value in the speed limiter, and reminds the driver through the sound and light alarm lights that the industrial vehicle has automatically taken over and automatically implemented the speed limit.

[0045] The present invention scans the fluctuation of the vertical distance between the chassis of an industrial vehicle and the ground in real time, infers the bumpiness of the industrial vehicle during driving according to the test standard deviation, matches the pedal voltage speed limit value according to the wheel diameter of the industrial vehicle, and controls the maximum driving speed of the industrial vehicle by controlling the accelerator pedal voltage; thereby reducing unexpected failures of industrial vehicles caused by speeding and reducing the sudden rate of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0047] Figure 1 The principle block diagram of the stable driving method for industrial vehicles;

[0048] Figure 2 Workflow diagram for industrial vehicles;

[0049] Figure 3 It is the flow chart of speed limit level table;

[0050] Figure 4 This is a flow chart for calibrating standard deviation;

[0051] Figure 5 This is the flow chart of the speed limit mode. DETAILED DESCRIPTION

[0052] The present invention is described in detail below with reference to the accompanying drawings and embodiments:

[0053] like Figure 1-Figure 5 As shown, the stable driving method of an industrial vehicle according to the present invention comprises the following steps:

[0054] S1: Keep the industrial vehicle stationary, and detect the vertical distance between the industrial vehicle chassis and the ground several times within the calibration time period T through the distance measurement module set on the industrial vehicle chassis, and obtain several detection heights. The vertical distance between the industrial vehicle chassis and the ground measured by ordinary measuring tools is used as the actual height, and then the calibration standard deviation S between each detection height and the actual height is calculated by the processing and calculation module to form a calibration standard deviation set {S};

[0055] S2: During the driving process of the industrial vehicle, the vertical distance between the chassis of the industrial vehicle and the ground is continuously detected by the distance measurement module within the time period T and several actual heights h are obtained. Then, the test standard deviation S′ between each actual height h and the actual height is calculated by the processing and calculation module to form a test standard deviation set {S′}. Subsequently, the test standard deviation set {S′} is used to judge the road surface flatness;

[0056] S3: The processing and calculation module sets a speed limit level table of absolute difference ΔS according to the wheel diameter d of the industrial vehicle; the speed limit level table includes the correspondence between wheel diameter level, speed limit level, absolute difference set {ΔS} and pedal voltage speed limit value;

[0057] S4: the processing module calculates the absolute difference ΔS between the test standard deviation S′ and the calibration standard deviation S, and selects the corresponding pedal voltage speed limit value in the speed limit level table according to the absolute difference ΔS;

[0058] S5: The voltage measurement module measures the voltage of the accelerator pedal, obtains the real-time voltage value of the pedal, and compares it with the pedal voltage speed limit value, and then uses the speed limiter through the control module of the industrial vehicle to adjust the opening and closing of the speed limit mode;

[0059] S6: When the absolute difference values ​​ΔS calculated in several consecutive time periods T are all in the absolute difference set {ΔS}, it is predicted that the current road surface is a smooth road surface, and the sound and light alarm lights are turned off, reminding the driver that the industrial vehicle is on a smooth road surface, the speed limit mode is released, and the accelerator pedal is released.

[0060] In the present invention, step S1 includes the following steps:

[0061] S11: Park the industrial vehicle in a flat and interference-free test site, calibrate the distance measurement module, and set a calibration time period T;

[0062] The ranging module uses ultrasonic radar, millimeter wave radar or laser radar;

[0063] S12: Use common measuring tools to measure the vertical distance between the industrial vehicle chassis and the road surface several times, and take the average value as the actual height;

[0064] Common measuring tools can be measuring tapes or tape measures;

[0065] S13: within the calibration time period T, start the distance measurement module to detect the vertical distance between the industrial vehicle chassis and the road surface several times, and record all the detected heights;

[0066] In this embodiment, multiple measurements can eliminate most of the measurement errors;

[0067] S14: The processing operation module calculates the deviation value and square deviation of each detected height and the actual height;

[0068] S15: The processing module calculates the variance and the calibration standard deviation S according to the square deviation to form a calibration standard deviation set {S};

[0069] In the present invention, step S2 includes the following steps:

[0070] S21: The industrial vehicle starts to move, and the distance measurement module continuously detects the vertical distance between the chassis of the industrial vehicle and the road surface within a time period T, and obtains all the actual heights h detected;

[0071] S22: The processing and calculation module performs standard deviation calculation on each live height h and the actual height to obtain a test standard deviation S′, forming a test standard deviation set {S′};

[0072] S23: The processing module determines the road surface flatness according to the test standard deviation S′ and generates a flatness determination result:

[0073] If the test standard deviation S ′ ∈[0,2], the road surface is of first-level flatness and is the smoothest; if the test standard deviation S′∈(2,3], the road surface is of second-level flatness and is relatively smooth;

[0074] If the test standard deviation S′∈(3,4], the road surface is level 3 smoothness and is relatively bumpy; if the test standard deviation S′∈(4,5], the road surface is level 4 smoothness and is the most bumpy.

[0075] In the present invention, step S3 includes the following steps:

[0076] S31: The processing and calculation module divides the wheel diameter of the industrial vehicle into four wheel diameter levels, including small wheel diameter d≤500mm, medium wheel diameter d∈(500,700]mm, large wheel diameter d∈(700,900]mm and extra large wheel diameter d>900mm; and calculates the absolute difference set {ΔS} between the calibration standard deviation set {S} and the test standard deviation set {S′} in sequence;

[0077] S32: The processing and calculation module uses a clustering algorithm to classify all absolute difference values ​​ΔS according to the wheel diameter of the industrial vehicle, and then determines the absolute difference value ΔS corresponding to each wheel diameter grade;

[0078] S33: According to the safety operation regulations of industrial vehicles, different speed limit levels are set for industrial vehicles of different wheel diameter levels, including low speed v≤5km / h, medium speed v∈(5,10]km / h and high speed v∈(10,15]km / h;

[0079] S34: using a data association algorithm to associate wheel diameter grades, speed limit grades, and absolute difference value sets {ΔS} according to industrial vehicle safety standards, thereby constructing a safety speed limit table;

[0080] S35: According to the voltage-speed comparison table in the industrial vehicle safety technical document, the corresponding pedal voltage speed limit value is matched for each speed limit level in the safety speed limit table, thereby constructing a speed limit level table;

[0081] In this embodiment, the larger the wheel diameter of the industrial vehicle, the more road bumps it can adapt to, that is, the ability to adapt to different potholes is stronger, and the corresponding vehicle speed can be faster; otherwise, the speed should be slower; for example, if the wheel diameter of the industrial vehicle is large, some small potholes will not be bumpy, if the wheel diameter of the industrial vehicle is small, the bumps will be more obvious, and the corresponding body will fluctuate more. Therefore, the speed can be controlled based on this to allow the vehicle to pass slowly without causing excessive fluctuations in the body;

[0082] In the present invention, step S4 includes the following steps:

[0083] S41: The processing module calculates the absolute difference between the test standard deviation S′ and the calibration standard deviation S ΔS=|S ′ -S|;

[0084] S42: Searching the speed limit level corresponding to the absolute difference ΔS in the speed limit level table;

[0085] S43: If the speed limit level table lacks the corresponding speed limit level, determine the corresponding speed limit level by using an interpolation algorithm; if the speed limit level table has the corresponding speed limit level, extract the entire row of data corresponding to the speed limit level;

[0086] S44: Determine the corresponding pedal voltage speed limit value according to the speed limit level in the speed limit level table using a data query algorithm;

[0087] In the present invention, step S5 includes the following steps:

[0088] S51: The voltage measurement module uses the voltage sensor to measure the current voltage of the accelerator pedal, obtains the real-time voltage value of the pedal, and transmits it to the processing and calculation module;

[0089] S52: The processing module compares the pedal voltage speed limit value with the pedal real-time voltage value to generate a voltage judgment result;

[0090] S53: If the real-time pedal voltage value is less than or equal to the pedal voltage speed limit value, the real-time pedal voltage value is output to the control module, and the driver is reminded through the sound and light alarm lights that the industrial vehicle starts the speed limit mode, and the industrial vehicle is automatically taken over and the speed limit is automatically implemented after the real-time pedal voltage value is greater than the pedal voltage speed limit value;

[0091] S54: If the real-time pedal voltage value is greater than the pedal voltage speed limit value, the control module automatically corrects the real-time pedal voltage value according to the pedal voltage speed limit value in the speed limiter, and reminds the driver through the sound and light alarm lights that the industrial vehicle has automatically taken over and automatically implemented the speed limit.

[0092] Example:

[0093] The industrial vehicle is parked in a flat and interference-free test site, the distance measurement module is calibrated, and a calibration time period T is set; the distance measurement module uses ultrasonic radar, millimeter wave radar or laser radar; a common measuring tool is used to measure the vertical distance between the chassis of the industrial vehicle and the road surface several times, and the average value is taken as the actual height; the common measuring tool can be a tape measure or a measuring tape; within the calibration time period T, the distance measurement module is started to detect the vertical distance between the chassis of the industrial vehicle and the road surface several times, and all the detected heights are recorded; the processing and operation module calculates the deviation value and square deviation of each detected height from the actual height; the processing and operation module calculates the variance and calibration standard deviation S based on the square deviation;

[0094] When the industrial vehicle starts to move, the distance measurement module continuously detects the vertical distance between the chassis of the industrial vehicle and the road surface within the time period T, and obtains all the detected actual heights h; the processing and calculation module performs standard deviation calculation on each actual height h and the actual height to obtain the test standard deviation S′; the processing and calculation module judges the flatness of the road surface based on the test standard deviation S′ and generates a flatness judgment result: if the test standard deviation S ′∈[0,2], the road surface is level one and the road surface is the smoothest; if the test standard deviation S′∈(2,3], the road surface is level two and the road surface is relatively smooth; if the test standard deviation S′∈(3,4], the road surface is level three and the road surface is relatively bumpy; if the test standard deviation S′∈(4,5], the road surface is level four and the road surface is the bumpiest;

[0095] The processing and operation module divides the wheel diameter of industrial vehicles into four wheel diameter levels, including small wheel diameter d≤500mm, medium wheel diameter d∈(500,700]mm, large wheel diameter d∈(700,900]mm and extra-large wheel diameter d>900mm; the processing and operation module uses a clustering algorithm to classify all absolute difference values ​​ΔS according to the wheel diameter of the industrial vehicle, and then determines the absolute difference value ΔS corresponding to each wheel diameter level; according to the safety operating procedures of industrial vehicles, different speed limit levels are set for industrial vehicles of each wheel diameter level, and the speed limit levels include low speed, medium speed and high speed; according to the industrial vehicle safety standards, the wheel diameter level, speed limit level and calibration standard deviation S are associated by using a data association algorithm, and then a safety speed limit table is constructed; according to the voltage-speed comparison table in the industrial vehicle safety technical document, the corresponding pedal voltage speed limit value is matched for each speed limit level in the safety speed limit table, and then a speed limit level table is constructed;

[0096] The processing module calculates the absolute difference ΔS between the test standard deviation S′ and the calibration standard deviation S; searches for the speed limit level corresponding to the absolute difference ΔS in the speed limit level table: if the speed limit level table lacks the corresponding speed limit level, the interpolation algorithm is used to determine the corresponding speed limit level; if the speed limit level table has the corresponding speed limit level, the entire row of data corresponding to the speed limit level is extracted; the corresponding pedal voltage speed limit value is determined in the speed limit level table according to the speed limit level using the data query algorithm;

[0097] The voltage measurement module uses a voltage sensor to measure the current voltage of the accelerator pedal, obtains the real-time voltage value of the pedal, and transmits it to the processing and operation module; the processing and operation module compares the pedal voltage speed limit value with the pedal real-time voltage value to generate a voltage judgment result: if the pedal real-time voltage value is not greater than the pedal voltage speed limit value, the pedal real-time voltage value is output to the control module, and the driver is reminded through the sound and light alarm light that the industrial vehicle has turned on the speed limit mode; if the pedal real-time voltage value is greater than the pedal voltage speed limit value, the control module automatically corrects the pedal real-time voltage value according to the pedal voltage speed limit value in the speed limiter, and reminds the driver through the sound and light alarm light that the industrial vehicle has automatically taken over;

[0098] When the absolute difference values ​​ΔS calculated in several consecutive time periods T are all in the absolute difference set {ΔS}, the current road surface is determined to be a smooth road surface, and the sound and light alarm lights are turned off, reminding the driver that the industrial vehicle is on a smooth road surface, the speed limit mode is released, and the accelerator pedal is released.

Claims

1. A method for stable driving of an industrial vehicle, characterized in that: The following steps are involved: S1: Keep the industrial vehicle stationary, and detect the vertical distance between the industrial vehicle chassis and the ground several times within the calibration time period T through the distance measurement module set on the industrial vehicle chassis, and obtain several detection heights. The vertical distance between the industrial vehicle chassis and the ground measured by ordinary measuring tools is used as the actual height, and then the calibration standard deviation S between each detection height and the actual height is calculated by the processing and calculation module to form a calibration standard deviation set {S}; S2: During the driving process of the industrial vehicle, the vertical distance between the chassis of the industrial vehicle and the ground is continuously detected by the distance measurement module within the time period T and several actual heights h are obtained. Then, the test standard deviation S′ between each actual height h and the actual height is calculated by the processing and calculation module to form a test standard deviation set {S′}. Subsequently, the test standard deviation set {S′} is used to judge the road surface flatness; S3: The processing and calculation module sets a speed limit level table of absolute difference ΔS according to the wheel diameter d of the industrial vehicle; the speed limit level table includes the correspondence between wheel diameter level, speed limit level, absolute difference set {ΔS} and pedal voltage speed limit value; S4: the processing module calculates the absolute difference ΔS between the test standard deviation S′ and the calibration standard deviation S, and selects the corresponding pedal voltage speed limit value in the speed limit level table according to the absolute difference ΔS; S5: The voltage measurement module measures the voltage of the accelerator pedal, obtains the real-time voltage value of the pedal, and compares it with the pedal voltage speed limit value, and then uses the speed limiter through the control module of the industrial vehicle to adjust the opening and closing of the speed limit mode; S6: When the absolute difference values ​​ΔS calculated in several consecutive time periods T are all in the absolute difference set {ΔS}, it is predicted that the current road surface is a smooth road surface, and the sound and light alarm lights are turned off, reminding the driver that the industrial vehicle is on a smooth road surface, the speed limit mode is released, and the accelerator pedal is released.

2. The stable driving method for an industrial vehicle according to claim 1, characterized in that: The step S1 includes the following steps: S11: Park the industrial vehicle in a flat and interference-free test site, calibrate the distance measurement module, and set a calibration time period T; The ranging module uses ultrasonic radar, millimeter wave radar or laser radar; S12: Use common measuring tools to measure the vertical distance between the industrial vehicle chassis and the road surface several times, and take the average value as the actual height; Common measuring tools are measuring tapes or tape measures; S13: within the calibration time period T, start the distance measurement module to detect the vertical distance between the industrial vehicle chassis and the road surface several times, and record all the detected heights; S14: The processing operation module calculates the deviation value and square deviation of each detected height and the actual height; S15: The processing operation module calculates the variance and the calibration standard deviation S according to the square deviation to form a calibration standard deviation set {S}.

3. The stable driving method for industrial vehicles according to claim 1, characterized in that: The step S2 includes the following steps: S21: The industrial vehicle starts to move, and the distance measurement module continuously detects the vertical distance between the chassis of the industrial vehicle and the road surface within a time period T, and obtains all the actual heights h detected; S22: The processing and calculation module performs standard deviation calculation on each live height h and the actual height to obtain a test standard deviation S′, forming a test standard deviation set {S′}; S23: The processing module determines the road surface flatness according to the test standard deviation S′ and generates a flatness determination result: If the test standard deviation S ′ ∈[0,2], the road surface is of first-level flatness and is the smoothest; if the test standard deviation S′∈(2,3], the road surface is of second-level flatness and is relatively smooth; If the test standard deviation S′∈(3,4], the road surface is level 3 smoothness and is relatively bumpy; if the test standard deviation S′∈(4,5], the road surface is level 4 smoothness and is the most bumpy.

4. The stable driving method for an industrial vehicle according to claim 1, characterized in that: The step S3 includes the following steps: S31: The processing and calculation module divides the wheel diameters of industrial vehicles into four wheel diameter levels, including small wheel diameter, medium wheel diameter, large wheel diameter and extra-large wheel diameter; and sequentially calculates the absolute difference set {ΔS} between the calibration standard deviation set {S} and the test standard deviation set {S′}; S32: The processing and operation module classifies all absolute difference values ​​ΔS according to the wheel diameter of the industrial vehicle using a clustering algorithm, and then determines the absolute difference value ΔS corresponding to each wheel diameter grade; S33: According to the safe operating procedures for industrial vehicles, different speed limit levels are set for industrial vehicles of different wheel diameters, including low speed, medium speed and high speed; S34: using a data association algorithm to associate wheel diameter grades, speed limit grades, and absolute difference value sets {ΔS} according to industrial vehicle safety standards, thereby constructing a safety speed limit table; S35: According to the voltage-speed comparison table in the industrial vehicle safety technical document, the corresponding pedal voltage speed limit value is matched for each speed limit level in the safety speed limit table, and then the speed limit level table is constructed.

5. The stable driving method for an industrial vehicle according to claim 1, characterized in that: The step S4 includes the following steps: S41: The processing module calculates the absolute difference between the test standard deviation S′ and the calibration standard deviation S ΔS=|S ′ -S|; S42: Searching the speed limit level corresponding to the absolute difference ΔS in the speed limit level table; S43: If the speed limit level table lacks the corresponding speed limit level, determine the corresponding speed limit level by using an interpolation algorithm; if the speed limit level table has the corresponding speed limit level, extract the entire row of data corresponding to the speed limit level; S44: Determine the corresponding pedal voltage speed limit value according to the speed limit level in the speed limit level table using a data query algorithm.

6. The stable driving method for an industrial vehicle according to claim 1, characterized in that: The step S5 includes the following steps: S51: The voltage measurement module uses the voltage sensor to measure the current voltage of the accelerator pedal, obtains the real-time voltage value of the pedal, and transmits it to the processing and calculation module; S52: The processing module compares the pedal voltage speed limit value with the pedal real-time voltage value to generate a voltage judgment result; S53: If the real-time pedal voltage value is less than or equal to the pedal voltage speed limit value, the real-time pedal voltage value is output to the control module, and the driver is reminded through the sound and light alarm lights that the industrial vehicle starts the speed limit mode, and the industrial vehicle is automatically taken over and the speed limit is automatically implemented after the real-time pedal voltage value is greater than the pedal voltage speed limit value; S54: If the real-time pedal voltage value is greater than the pedal voltage speed limit value, the control module automatically corrects the real-time pedal voltage value according to the pedal voltage speed limit value in the speed limiter, and reminds the driver through the sound and light alarm lights that the industrial vehicle has automatically taken over and automatically implemented the speed limit.

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