A stable driving method for industrial vehicles

Abstract

The invention discloses a stable driving method for an industrial vehicle, which relates to the technical field of industrial vehicle safety. The method solves the problem that existing methods fail to analyze road conditions and limit speed, resulting in an increase in unexpected failures or accidents caused by overspeeding of industrial vehicles. The stable driving method comprises the following steps: when the industrial vehicle is stationary, a distance measurement module detects a plurality of detection heights within a time period, and a processing and operation module calculates a calibration standard deviation from the actual height; when the industrial vehicle is driving, the distance measurement module obtains the actual detection height within the time period, and the processing and operation module calculates the test standard deviation from the actual height to determine the road surface flatness; the processing and operation module determines a speed limit grade table of the calibration standard deviation based on the wheel diameter of the industrial vehicle; the processing and operation module calculates the absolute difference between the test standard deviation and the calibration standard deviation, and selects a corresponding pedal voltage speed limit value; a voltage measurement module obtains a real-time pedal voltage value, compares it with the pedal voltage speed limit value, and then adjusts the speed limit mode state of the industrial vehicle; when the absolute differences are all within the calibration standard deviation, it is determined that the current road surface is a smooth road surface, the speed limit mode is released, and the accelerator pedal is released.

Description

Technical Field

[0001] The present 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] Currently, there are two main types of speed limits for electric industrial forklifts: turning speed limits and lifting speed limits. Turning speed limits are generally linearly limited according to the steering angle or have a fixed speed limit of 5km / h. Lifting speed limits are generally limited when the forks are lifted above a certain height. The purpose of both 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 corresponding original position data to obtain a driving behavior sequence and an original road type sequence; smoothing each original road type sequence, eliminating non-smooth data, and obtaining a 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 based on 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 operating status data; the feature extraction module extracts features from the vehicle operating status data to obtain operating status feature data; the feature analysis module performs feature analysis on the operating 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 scores the vehicle stability status by collecting and analyzing vehicle operating status data, which can identify potential vehicle equipment aging or loss problems, provide reference information for equipment maintenance, and thus improve the operational safety and reliability of unmanned vehicles.

[0006] Although the above patents only limit the speed of existing industrial vehicles in terms of 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 of industrial vehicles due to speeding. Summary of the Invention

[0007] The purpose of the present invention is to provide a stable driving method for industrial vehicles. The method can scan the fluctuation of the vertical distance between the industrial vehicle chassis and the ground in real time, infer the bumpiness of the industrial vehicle during driving based on the test standard deviation, 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; thereby reducing unexpected failures of industrial vehicles caused by speeding and lowering the suddenness rate of accidents.

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

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

[0010] S1: Keep the industrial vehicle stationary. During a calibration period T, the ranging module installed on the industrial vehicle chassis detects the vertical distance between the industrial vehicle chassis and the ground several times and obtains several detected heights. The vertical distance between the industrial vehicle chassis and the ground measured by ordinary measuring tools is used as the actual height. Then, the processing module calculates the calibration standard deviation S between each detected height and the actual height to form a calibration standard deviation set {S}.

[0011] S2: During the driving process of the industrial vehicle, the ranging module continuously detects the vertical distance between the industrial vehicle chassis and the ground within a time period T and obtains several actual heights h. The processing module then calculates the test standard deviation S′ between each actual height h and the actual height to form a test standard deviation set {S′}. The test standard deviation set {S′} is then used to determine the road surface flatness.

[0012] S3: The processing module sets a speed limit level table of absolute difference values ​​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 from 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. Then, the speed limit mode is adjusted by the speed limiter through the control module of the industrial vehicle;

[0015] S6: When the absolute difference values ​​ΔS calculated within several consecutive time periods T are all within the absolute difference set {ΔS}, the current road surface is predicted to be a smooth road surface. At the same time, the sound and light alarm lights go out, 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 on 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 lidar;

[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 tape or tape measure;

[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 module calculates the deviation value and square deviation between each detected height and the actual height;

[0023] S15: The processing module calculates the variance and the calibration standard deviation S based on 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 ranging module continuously detects the vertical distance between the industrial vehicle chassis and the road surface within a time period T, and obtains all the detected actual heights h;

[0026] S22: The processing module performs a standard deviation operation 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 smoothness based on the test standard deviation S′ and generates a smoothness determination result:

[0028] 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 flat; 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.

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

[0030] S31: The processing module divides the wheel diameters of industrial vehicles into four wheel diameter grades, 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 sequentially calculates the absolute difference set {ΔS} between the calibration standard deviation set {S} and the test standard deviation set {S′};

[0031] S32: The processing 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 operating procedures for industrial vehicles, different speed limit levels are set for industrial vehicles of different wheel diameters, 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 sets {ΔS} according to industrial vehicle safety standards, thereby constructing a safe 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 to each speed limit level in the safety speed limit table, thereby constructing a speed limit level table.

[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 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 module;

[0042] S52: The processing module compares the pedal voltage speed limit value with the real-time pedal 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 light, the industrial vehicle starts the speed limit mode, and automatically takes over the industrial vehicle and automatically implements the speed limit 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 industrial vehicle chassis and the ground in real time, infers the bumpiness of the industrial vehicle during driving based on 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. This reduces unexpected failures of industrial vehicles caused by speeding and reduces the incidence 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 following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any 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 This is a flow chart of the speed limit 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. During a calibration period T, the ranging module installed on the industrial vehicle chassis detects the vertical distance between the industrial vehicle chassis and the ground several times and obtains several detected heights. The vertical distance between the industrial vehicle chassis and the ground measured by ordinary measuring tools is used as the actual height. Then, the processing module calculates the calibration standard deviation S between each detected height and the actual height to form a calibration standard deviation set {S}.

[0055] S2: During the driving process of the industrial vehicle, the ranging module continuously detects the vertical distance between the industrial vehicle chassis and the ground within a time period T and obtains several actual heights h. The processing module then calculates the test standard deviation S′ between each actual height h and the actual height to form a test standard deviation set {S′}. The test standard deviation set {S′} is then used to determine the road surface flatness.

[0056] S3: The processing module sets a speed limit level table of absolute difference values ​​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 from 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. Then, the speed limit mode is adjusted by the speed limiter through the control module of the industrial vehicle;

[0059] S6: When the absolute difference values ​​ΔS calculated within several consecutive time periods T are all within the absolute difference set {ΔS}, the current road surface is predicted to be a smooth road surface. At the same time, the sound and light alarm lights go out, 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 on 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 lidar;

[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 tape or tape measure;

[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 module calculates the deviation value and square deviation between 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 ranging module continuously detects the vertical distance between the industrial vehicle chassis and the road surface within a time period T, and obtains all the detected actual heights h;

[0071] S22: The processing module performs a standard deviation operation 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 smoothness based on the test standard deviation S′ and generates a smoothness determination result:

[0073] If the test standard deviation S ′ ∈[0,2], the road surface is the first level of flatness, and the road surface is the smoothest; if the test standard deviation S′∈(2,3], the road surface is the second level of flatness, and the road surface 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 module divides the wheel diameters of industrial vehicles into four wheel diameter grades, 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 sequentially calculates the absolute difference set {ΔS} between the calibration standard deviation set {S} and the test standard deviation set {S′};

[0077] S32: The processing 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 operating procedures for industrial vehicles, different speed limit levels are set for industrial vehicles of different wheel diameters, 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 sets {ΔS} according to industrial vehicle safety standards, thereby constructing a safe 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 to 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 an industrial vehicle, the more road bumps it can adapt to, that is, the greater its ability to smoothly adapt to different potholes, and the corresponding vehicle speed can be faster; conversely, the speed must be slower. For example, if the wheel diameter of an industrial vehicle is large, some small potholes will not be noticeable. If the wheel diameter of an industrial vehicle is small, the bumps will be more obvious, resulting in greater undulation of the vehicle body. Therefore, the speed can be controlled based on this to allow the vehicle to pass slowly without causing excessive undulation of the vehicle 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 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 module;

[0089] S52: The processing module compares the pedal voltage speed limit value with the real-time pedal 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 light, the industrial vehicle starts the speed limit mode, and automatically takes over the industrial vehicle and automatically implements the speed limit 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, interference-free test area, the ranging module is calibrated, and a calibration period T is set. The ranging module uses ultrasonic radar, millimeter-wave radar, or laser radar. A common measuring tool is used to measure the vertical distance between the industrial vehicle chassis 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. During the calibration period T, the ranging module is activated to detect the vertical distance between the industrial vehicle chassis and the road surface several times, and all detected heights are recorded. The processing and calculation module calculates the deviation value and square deviation of each detected height from the actual height. The processing and calculation 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 module performs a standard deviation operation on each actual height h and the actual height to obtain the test standard deviation S'; the processing 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 module divides the wheel diameters of industrial vehicles into four wheel diameter grades, 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 module uses a clustering algorithm to classify all absolute differences ΔS according to the wheel diameter of the industrial vehicle, and then determines the absolute difference ΔS corresponding to each wheel diameter grade. According to the safety operating procedures of industrial vehicles, different speed limits are set for industrial vehicles of each wheel diameter grade, including low speed, medium speed, and high speed. The data association algorithm is used to associate the wheel diameter grade, speed limit grade, and calibration standard deviation S according to the industrial vehicle safety standards, and then a safety speed limit table is constructed. According to the voltage-speed comparison table in the industrial vehicle safety technical documentation, the corresponding pedal voltage speed limit value is matched to each speed limit grade in the safety speed limit table, and then a speed limit grade 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 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, an 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; and a data query algorithm is used to determine the corresponding pedal voltage speed limit value based on the speed limit level in the speed limit level table.

[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 module; the processing module compares the pedal voltage speed limit value with the real-time voltage value of the pedal and generates a voltage judgment result: if the real-time voltage value of the pedal is not greater than the pedal voltage speed limit value, the real-time voltage value of the pedal is output to the control module, and the driver is reminded through the sound and light alarm light that the industrial vehicle has entered the speed limit mode; if the real-time voltage value of the pedal is greater than the pedal voltage speed limit value, the control module automatically corrects the real-time voltage value of the pedal 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 within several consecutive time periods T are all within the absolute difference set {ΔS}, the current road surface is determined to be a smooth road surface. At the same time, the sound and light alarm lights go out, 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 by: The following steps are involved: S1: Keep the industrial vehicle stationary. During a calibration period T, the ranging module installed on the industrial vehicle chassis detects the vertical distance between the industrial vehicle chassis and the ground several times and obtains several detected heights. The vertical distance between the industrial vehicle chassis and the ground measured by ordinary measuring tools is used as the actual height. Then, the processing module calculates the calibration standard deviation S between each detected height and the actual height to form a calibration standard deviation set {S}. S2: During the driving process of the industrial vehicle, the ranging module continuously detects the vertical distance between the industrial vehicle chassis and the ground within a time period T and obtains several actual heights h. The processing module then calculates the test standard deviation S′ between each actual height h and the actual height to form a test standard deviation set {S′}. The test standard deviation set {S′} is then used to determine the road surface flatness. S3: The processing module sets a speed limit level table of absolute difference values ​​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 from 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. Then, the speed limit mode is adjusted by the speed limiter through the control module of the industrial vehicle; S6: When the absolute difference values ​​ΔS calculated within several consecutive time periods T are all within the absolute difference set {ΔS}, the current road surface is predicted to be a smooth road surface. At the same time, the sound and light alarm lights go out, 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 method for stable driving of an industrial vehicle according to claim 1, characterized in that: The step S1 includes the following steps: S11: Park the industrial vehicle on 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 lidar; 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 module calculates the deviation value and square deviation between each detected height and the actual height; S15: The processing module calculates the variance and the calibration standard deviation S based on the square deviation to form a calibration standard deviation set {S}.

3. The stable driving method for an industrial vehicle according to claim 1, characterized in that: The step S2 includes the following steps: S21: The industrial vehicle starts to move, and the ranging module continuously detects the vertical distance between the industrial vehicle chassis and the road surface within a time period T, and obtains all the detected actual heights h; S22: The processing module performs a standard deviation operation 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 smoothness based on the test standard deviation S′ and generates a smoothness determination result: If the test standard deviation S ′ ∈[0,2], the road surface is of first-level roughness, and the road surface is the smoothest; if the test standard deviation S′∈(2,3], the road surface is of second-level roughness, and the road surface is relatively smooth; If the test standard deviation S′∈(3,4], the road surface is level three smoothness and is relatively bumpy; if the test standard deviation S′∈(4,5], the road surface is level four smoothness and is the most bumpy.

4. The method for stable driving of an industrial vehicle according to claim 1, wherein: The step S3 includes the following steps: S31: The processing module divides the wheel diameters of industrial vehicles into four wheel diameter grades, 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 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; S33: According to the safe operating procedures for industrial vehicles, different speed limits 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 sets {ΔS} according to industrial vehicle safety standards, thereby constructing a safe 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 to each speed limit level in the safety speed limit table, thereby constructing a speed limit level table.

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 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 method for stable driving of an industrial vehicle according to claim 1, wherein: 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 module; S52: The processing module compares the pedal voltage speed limit value with the real-time pedal 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 light, the industrial vehicle starts the speed limit mode, and automatically takes over the industrial vehicle and automatically implements the speed limit 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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