A three-axis unmanned vehicle steering control method and computer-readable medium and device

Abstract

The present invention discloses a steering control method for a three-axle unmanned vehicle, a computer-readable medium, and a device. The three-axle unmanned vehicle is provided with a first axle, a second axle, a third axle, an angle sensor, a steering control module, a self-driving control module, and an environmental sensing module. The steering control method for a three-axle unmanned vehicle provided by an embodiment of the present invention can ensure that the three-axle vehicle can stably drive diagonally through the design of combining the positions of the first axle, the second axle, and the third axle and the arrangement of the steering tie rod and the steering arm with the angle sensor, the steering control module, the self-driving control module, and the environmental sensing module, thereby solving the problem of vehicle body deflection when the three-axle vehicle drives diagonally; and the turning radius is small, which can meet the turning requirements in narrow spaces.

Description

Technical Field

[0001] The present invention relates to the technical field of steering of unmanned transport vehicles, and in particular to a steering control method of a three-axle unmanned vehicle and a computer-readable medium and device. Background Art

[0002] At present, most three-axle vehicles that drive diagonally adopt a control method in which the main control wheels on the same side of each axle rotate at the same angle. However, for axles with a turning trapezoid and other states, in order to achieve pure rolling as much as possible when the vehicle turns, the inner and outer wheels do not rotate in parallel at the same angle, but when the vehicle turns, the inner and outer wheel angles are achieved through the axle steering knuckle arm, tie rod, etc. to achieve a certain angle relationship, and realize the geometric relationship of the Ackerman angle. However, when the three-axle vehicle is driven diagonally, the left and right wheels of the axle with the Ackerman angle geometric relationship cannot achieve parallel wheels when turning, and there is a problem of body deflection when driving diagonally, which affects the normal and safe driving of the vehicle. In addition, compared with the traditional two-axle vehicle structure, the three-axle vehicle has a longer body, and the vehicle has poor passability in narrow spaces or roads with a small turning radius. How to improve the passability of the vehicle in narrow spaces or roads with a small turning radius and solve the problem of body deflection when the vehicle drives diagonally has become a problem that engineers in this field need to solve urgently. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a steering control method for a three-axle unmanned vehicle, a computer-readable medium, and a device, wherein the steering control method for a three-axle unmanned vehicle, the three-axle unmanned vehicle is provided with a first axle, a second axle, a third axle, a turning angle sensor, a steering control module, a self-driving control module, and an environmental sensing module;

[0004] The first axle, the second axle, and the third axle are arranged in sequence on one side thereof, respectively, and the angle sensors are provided; the angle sensors monitor the wheel angles of the first axle, the second axle, and the third axle in real time, and transmit the angle data to the steering control module and the self-driving control module;

[0005] The steering tie rods and steering arms of the first axle and the third axle are both arranged in a trapezoidal structure, and the inner and outer wheel turning angles are different during steering; the steering structures of the first axle and the third axle are arranged symmetrically about the center of the second axle; the left wheel and the right wheel of the second axle are arranged in parallel;

[0006] The environmental sensing module is used to detect the road environment and transmit the environmental detection signal to the self-driving control module;

[0007] The self-driving control module receives the environment detection signal and uses it for path planning, and controls the state of each axle through the steering control module according to the path planning, specifically including:

[0008] When driving diagonally: the self-driving control module controls the diagonal steering of the first axle through the steering control module according to the diagonal angle of the path planning, and monitors the actual steering angle A1 of the wheel on one side of the first axle through the steering angle sensor;

[0009] The steering control module fits the steering angle A2 of the wheel on the other side of the first axle according to the actual steering angle A1 monitored by the steering angle sensor, and then calculates the average steering angle A3 of the first axle;

[0010] The steering control module controls the left and right wheels of the second axle to steer at the same angle according to the average turning angle A3 of the first axle;

[0011] The steering control module controls the wheel of the third axle on the same side as the wheel with the actual turning angle A1 to turn at the turning angle A2 of the first axle. At this time, the turning angle of the wheel on the other side of the third axle is the same as the turning angle A1 of the first axle.

[0012] Preferably, the fitting formula of the rotation angle A2 of the first axle is:

[0013] ,in:

[0014] X is the actual turning angle A1 monitored by the turning angle sensor;

[0015] is the fitting angle A2 of the other wheel of the first axle;

[0016] a, b, c, and d are the coefficients of the polynomial, which are determined by fitting the rotation angle relationship.

[0017] Preferably, when moving diagonally:

[0018] When the first axle turns left:

[0019] The a is (7.00000E-03)~(9.00000E-03);

[0020] The b is (9.50000E-01)~(10.50000E-01);

[0021] The c is (-4.50000E-03)~(-3.00000E-03);

[0022] The d is (-2.20000E-05)~(-1.40000E-05);

[0023] When the first axle (10) turns right:

[0024] The a is (2.00000E-02)~(3.00000E-02);

[0025] The b is (9.50000E-01)~(10.50000E-01);

[0026] The c is (-2.70000E-03)~(-1.20000E-03);

[0027] The d is (1.00000E-04)~(1.70000E-04).

[0028] Preferably, when moving diagonally:

[0029] When the first axle turns left:

[0030] a is 8.60000E-03; b is 9.94760E-01; c is -4.0400E-03; d is -1.72843E-05;

[0031] When the first axle turns right:

[0032] a is 2.47700E-02; b is 10.1746E-01; c is -2.24000E-03; and d is 1.36506E-04.

[0033] Preferably, when driving in a straight line: the first axle, the second axle and the third axle are controlled to maintain zero position;

[0034] When turning: the first axle and the third axle are controlled to turn simultaneously, and the second axle remains at zero position;

[0035] Or control the first axle and the second axle to steer, and keep the third axle at zero position;

[0036] Or control the steering of the third axle and the second axle, and keep the first axle at zero position.

[0037] The present invention further provides a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steering control method of a three-axis unmanned vehicle as described above is implemented.

[0038] The present invention also provides a three-axis unmanned vehicle steering control device, characterized in that it includes:

[0039] one or more processors;

[0040] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement any of the three-axis unmanned vehicle steering control methods described above.

[0041] The steering control method for a three-axle unmanned vehicle provided by the present invention can ensure that the three-axle vehicle can move smoothly when moving diagonally, and solve the problem of vehicle body deflection when the three-axle vehicle moves diagonally, through the design of combining the positions of the first axle, the second axle and the third axle and the settings of the steering tie rod and the steering arm with a steering angle sensor, a steering control module, a self-driving control module and an environmental sensor module; and the turning radius is small, which can meet the turning requirements in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A diagram of a three-axis unmanned vehicle control system provided by an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the three axes when the vehicle is moving straight;

[0044] Figure 3 It is a schematic diagram of three axes in three steering modes;

[0045] Figure 4 It is a schematic diagram of three axes when traveling obliquely;

[0046] Figure 5 It is a device based on the steering control method of a three-axis unmanned vehicle provided by an embodiment of the present invention;

[0047] Among them: 10, the first axle; 20, the second axle; 30, the third axle; 40, the angle sensor; 50, the steering control module; 60, the self-driving control module; 70, the environmental sensor module. DETAILED DESCRIPTION

[0048] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments. However, the following embodiments are only preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments are conventional methods unless otherwise specified. The materials, reagents, etc. used in the following embodiments are all commercially available unless otherwise specified.

[0049] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention 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 cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0052] The embodiment of the present invention provides a three-axis unmanned vehicle steering control method and a computer-readable medium and device, wherein the three-axis unmanned vehicle steering control method is as follows: Figure 1 As shown, the three-axle unmanned vehicle is provided with a first axle 10, a second axle 20, a third axle 30, a turning angle sensor 40, a steering control module 50, a self-driving control module 60 and an environment sensing module 70;

[0053] The first axle 10, the second axle 20, and the third axle 30 are arranged in sequence and are respectively provided with a rotation angle sensor 40; the rotation angle sensor 40 monitors the wheel rotation angles of the first axle 10, the second axle 20, and the third axle 30 in real time, and transmits the rotation angle data to the steering control module 50 and the self-driving control module 60;

[0054] The steering tie rods and steering arms of the first axle 10 and the third axle 30 are both arranged in a trapezoidal structure. When turning, the inner and outer wheel turning angles are different, realizing the geometric relationship of the Ackerman angle; the steering structures of the first axle 10 and the third axle 30 are arranged symmetrically about the center of the second axle 20; the left wheel and the right wheel of the second axle 20 are arranged in parallel; the central symmetrical arrangement means that the turning angle of the first axle 10 is rotated 180 degrees in a trapezoidal shape and arranged on the third axle 30, and the axle is symmetrical on the left and right; the central symmetrical arrangement enables the extension line of the tire axis to intersect at a point on the second axle 20 when the first axle 10 and the third axle 30 turn and the intermediate shaft does not turn, thereby reducing the turning radius, meeting the turning requirements in a narrow space, and reducing tire wear. Under a large tonnage load, the loss of the tire can be greatly reduced. Since the turning angle relationship between the first axle 10 and the third axle 30 is arranged in a central symmetric manner, that is, the inner wheel turning angle of the first axle 10 is greater than the outer wheel turning angle, but the inner wheel turning angle of the third axle 30 is smaller than the outer wheel turning angle, the left and right wheel turning angles of the intermediate shaft (the second axle 20) are nearly parallel, so that, for example, when the steering angle is controlled by the same inner wheel turning angle to achieve oblique driving, the lateral moment of the vehicle body cannot be balanced, resulting in the deflection of the vehicle body;

[0055] The environment sensor module 70 is used to detect the road environment and transmit the environment detection signal to the self-driving control module 60; the environment sensor module 70 is usually arranged around the vehicle body or in the vehicle operation area, and the environment sensor module 70 includes but is not limited to laser sensors, visual sensors, etc.; the braking system includes but is not limited to the use of existing air compression braking systems, hydraulic braking systems, etc.; the self-driving control module 60 can also receive GPS positioning information to realize vehicle positioning;

[0056] The self-driving control module 60 is a vehicle control device, including a VCU module, etc. The self-driving control module 60 receives the environmental detection signal and uses it for path planning, and controls the state of each axle through the steering control module 50 according to the path planning;

[0057] The left and right wheels of each axle are rigidly connected through a steering knuckle, a tie rod, etc. and are provided with a hydraulic system; the steering control module 50 is connected to the hydraulic system, and the steering control of each axle is realized by controlling the hydraulic system; the steering control module 50 realizes the steering control of each axle by controlling the hydraulic system, and performs path planning through the self-driving control module 60, etc., which belong to the prior art in this field and will not be repeated here;

[0058] When driving obliquely: Taking the example that the turning angle sensor 40 is arranged on the left wheel side of each axle and the axle steering control end is also arranged on the left wheel side; the oblique driving control method is specifically as follows:

[0059] The steering control module 50 controls the oblique steering of the first axle 10 according to the oblique steering angle, and monitors the actual steering angle A1 of the left wheel of the first axle 10 through the steering angle sensor 40;

[0060] The steering control module 50 fits the turning angle A2 of the right wheel of the first axle 10 according to the actual turning angle A1 of the left wheel of the first axle 10, and then calculates the average turning angle A3 of the first axle 10; the average turning angle A3 is equal to (turning angle A1+turning angle A2) / 2;

[0061] The steering control module 50 controls the left and right wheels of the second axle 20 to steer at the same angle according to the average turning angle A3 of the first axle 10;

[0062] The steering control module 50 controls the left wheel of the third axle 30 to steer at the turning angle A2 of the right wheel of the first axle 10 . At this time, the turning angle of the right wheel of the third axle 30 is the same as the actual turning angle A1 of the left wheel of the first axle 10 .

[0063] When driving diagonally as mentioned above, the self-driving control module 30 calculates the path angle required for the diagonal driving according to the path planning, and follows the control method of the average turning angle, that is, the left and right average turning angles of all axes are equal to the path angle required for the diagonal driving. According to the left and right wheel turning angle relationship provided by the self-driving control module 30 and the chassis, the turning angle requirement of the left wheel of the first axle 10 is issued. The self-driving control module 30 and the chassis system agree on controlling the left side turning angle of the first axle 10, and the wire-controlled chassis system executes the left wheel turning angle to the target angle, and monitors and feeds back the actual turning angle of the left wheel of the first axle 10 through the turning angle sensor 40, and the other axes are controlled accordingly.

[0064] The steering control method for a three-axle unmanned vehicle provided in an embodiment of the present invention can ensure that the three-axle vehicle can stably move diagonally when turning diagonally, thereby solving the problem of vehicle body deflection when the three-axle vehicle moves diagonally, through a design combining the positions of the first axle, the second axle and the third axle and the settings of the steering tie rod and the steering arm with a steering angle sensor, a steering control module, a self-driving control module and an environmental sensor module; and the turning radius is small, which can meet the turning requirements in a narrow space.

[0065] In a specific implementation, the fitting formula of the rotation angle A2 of the first axle 10 is:

[0066] ,in:

[0067] X is the actual rotation angle A1 of the wheel on one side of the first axle 10 monitored by the rotation angle sensor 40;

[0068] is the fitting angle A2 of the other wheel of the first axle 10;

[0069] a, b, c, d are the coefficients of each term of the polynomial, which are determined by fitting according to the relationship between the turning angles; the fitting confirmation method of each term of the polynomial coefficients is as follows: according to the steering trapezoidal structure of the bridge components\the hard point arrangement of the wheel end, a model of the steering trapezoid is built, and then through dynamic simulation, the sampling points are set, and the tables corresponding to the left and right wheel turning angles within the turning angle range are collected, and a scatter plot is drawn. Then, the polynomial fitting is performed in three intervals: left turn, right turn, and zero position, and the polynomial coefficients are confirmed. After the fitting accuracy is evaluated, it is confirmed that the cubic polynomial fitting is used.

[0070] When walking diagonally:

[0071] When the first axle 10 turns left:

[0072] The a is (7.00000E-03)~(9.00000E-03);

[0073] The b is (9.50000E-01)~(10.50000E-01);

[0074] The c is (-4.50000E-03)~(-3.00000E-03);

[0075] The d is (-2.20000E-05)~(-1.40000E-05);

[0076] When the first axle (10) turns right:

[0077] The a is (2.00000E-02)~(3.00000E-02);

[0078] The b is (9.50000E-01)~(10.50000E-01);

[0079] The c is (-2.70000E-03)~(-1.20000E-03);

[0080] The d is (1.00000E-04)~(1.70000E-04).

[0081] In specific implementation, the coefficient table of each polynomial is as follows:

[0082] The E-03 and other numbers in the above coefficients are scientific decimal places.

[0083] The fitting formula provided in this embodiment determines the coefficients by fitting three sections: left turn, right turn, and zero position interval, and can well fit the relationship between oblique travel and turning angle. The formula is simple and easy to control.

[0084] In specific implementation, the rotation angles of the second axle 20 and the third axle 30 are obtained by fitting and calculating the monitored rotation angle A1 of the first axle 10, and the fitting formula is as follows:

[0085] ;

[0086] X is the actual rotation angle A1 of the wheel on one side of the first axle 10 monitored by the rotation angle sensor 40;

[0087] A control angle for the steering control side of the second axle 20 or the third axle 30;

[0088] e, f, g, h are the coefficients of the polynomial:

[0089] When the first axle 10 turns left:

[0090] Fitting coefficient of the wheel angle on the steering control side of the second axle 20:

[0091] e is (3.50000E-03)~(5.00000E-03);

[0092] f is (9.50000E-01)~(10.50000E-01);

[0093] g is (-2.50000E-03)~(-1.30000E-03);

[0094] h is (-9.50000E-06)~(-8.00000E-06);

[0095] Fitting coefficient of the wheel angle on the steering control side of the third axle 30:

[0096] e is (6.00000E-03)~(9.00000E-03);

[0097] f is (9.50000E-01)~(10.50000E-01);

[0098] g is (-4.50000E-03)~(-3.00000E-03);

[0099] h is (-2.00000E-05)~(-1.30000E-05);

[0100] When the first axle 10 turns right:

[0101] Fitting coefficient of the wheel angle on the steering control side of the second axle (20):

[0102] e is (6.00000E-03)~(9.00000E-03);

[0103] f is (9.50000E-01)~(10.50000E-01);

[0104] g is (-4.50000E-03)~(-3.00000E-03);

[0105] h is (-2.00000E-05)~(-1.30000E-05);

[0106] Fitting coefficient of the wheel angle on the steering control side of the third axle 30:

[0107] e is (2.50000E-02)~(3.00000E-02);

[0108] f is (9.50000E-01)~(10.50000E-01);

[0109] g is (-2.60000E-03)~(-1.30000E-03);

[0110] h is (1.00000E-04)~(1.50000E-04).

[0111] In specific implementation, the coefficients of the polynomials e, f, g, and h are provided as follows:

[0112] The E-03 and other numbers in the above coefficients are scientific decimal places.

[0113] In this embodiment, due to the fact that the left and right wheels of the second axle 20 cannot be completely parallel during the actual steering control, and the deviation phenomenon of the third axle 30 during the steering control, the above-mentioned Fitting formula. This formula is based on the average turning angle control of the first axle 10, which can make the vehicle steering control more precise.

[0114] Preferably, when moving diagonally: Figure 4 As shown, according to the planned oblique angle of the path, the steering of the first axle 10 is controlled, and the average steering angle of the first axle is calculated by detecting the steering angles of the left and right wheels of the axle through the steering angle sensor 40, and the steering of the remaining axles is controlled according to the average steering angle; the oblique steering of the first axle 10, the second axle 20, and the third axle 30 is achieved, and the parallel movement of the vehicle is achieved, which is convenient for lane changing, side parking, etc.

[0115] The above-mentioned "zero position" means that the axle or wheel is in its original or standard position without any offset or deviation;

[0116] The steering control method for a three-axle unmanned vehicle provided by an embodiment of the present invention provides a variety of steering control modes for a three-axle vehicle, which can adapt to different driving scenarios and different steering requirements.

[0117] In specific implementation, when driving in a straight line: Figure 2 As shown, the first axle 10, the second axle 20, and the third axle 30 are controlled to maintain zero position, and the wheel angle is monitored in real time through the angle sensor 40, and the system angle control is responded to to maintain straight driving;

[0118] When turning:

[0119] Full eight turns: Figure 3 As shown, according to the path planning angle, the first axle 10 and the third axle 30 are controlled to turn simultaneously, and the second axle 20 remains at zero position, so as to achieve the minimum turning radius; it is suitable for scenes with a small turning radius;

[0120] Or the first half eight turns: Figure 3 As shown, according to the path planning angle, the turning angle of the first axle 10 is controlled, the third axle 30 is kept at zero position, and the turning angle of the second axle 20 is determined according to the vehicle layout, axle steering structure parameters, etc. and the turning angle of the first axle 10; the third axle 30 is at zero position, and the minimum turning radius becomes larger than the full eight-axis steering mode, but the rear tail swing of the third axle is reduced, which is suitable for steering on narrower roads; in this steering mode, the first axle 10 and the second axle 20 are turned, and the third axle 30 does not turn. When turning, the first axle 10 and the second axle 20 are turned. 20. Theoretically, the wheel center extension line of the third axle 30 should intersect with the third axle 30 as much as possible, but it is difficult to do so in practice. Therefore, we calculate the average turning angle of the inner and outer wheels of the first axle 10, extend the midpoint of the axle and intersect with the extension line of the third axle 30, and then calculate the average turning angle of the second axle 20, and the extension line of the center of the second axle 20 also intersects at this point. The specific turning angle relationship is calculated based on the vehicle layout, axle steering structure parameters, etc., and the relationship is determined. You can refer to the above explanation of the different turning angles of the inner and outer wheels of the steering wheel to understand.

[0121] Or the second half of the eight turns: Figure 3 As shown, according to the path planning angle, the turning angle of the third axle 30 is controlled, the first axle 10 is kept at zero position, and the turning angle of the second axle 20 is determined according to the vehicle layout, axle steering structure parameters, etc. and the turning angle of the third axle 30; the first axle 10 is at zero position, and the minimum turning radius is larger than the full eight-turn steering mode, but the rearward swing of the first axle 10 is reduced, which is suitable for steering on narrower roads;

[0122] An embodiment of the present invention further provides a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steering control method of a three-axis unmanned vehicle as described above is implemented.

[0123] The embodiment of the present invention further provides a three-axis unmanned vehicle steering control device, characterized in that it includes:

[0124] one or more processors;

[0125] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement any of the three-axis unmanned vehicle steering control methods described above.

[0126] The present invention further provides a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steering control method of a three-axis unmanned vehicle as described above is implemented.

[0127] The present invention also provides a three-axis unmanned vehicle steering control method and device, comprising:

[0128] one or more processors;

[0129] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement any of the three-axis unmanned vehicle steering control methods described above.

[0130] In a specific implementation, in another embodiment, a three-axis unmanned vehicle steering control method and device is provided, comprising:

[0131] one or more processors;

[0132] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement any of the three-axis unmanned vehicle steering control methods described above.

[0133] The device of this embodiment can implement the above-mentioned three-axis unmanned vehicle steering control method. The specific implementation method can be found in the method embodiment and will not be repeated here.

[0134] Refer to the following Figure 5 1 and 2 to describe the device 900 according to this embodiment of the present invention. Figure 5 The device 900 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0135] like Figure 5 As shown, the device 900 is in the form of a general computing device. The components of the device 900 may include but are not limited to: at least one processing unit 910, at least one storage unit 920, and a bus 930 connecting different system components (including the storage unit 920 and the processing unit 910).

[0136] The storage unit stores program codes, which can be executed by the processing unit 910, so that the processing unit 910 performs the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification. For example, the processing unit 910 can perform the following steps: Figure 1 The steering control method of a three-axis unmanned vehicle is shown in .

[0137] The storage unit 920 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 9201 and / or a cache storage unit 9202 , and may further include a read-only storage unit (ROM) 9203 .

[0138] The storage unit 920 may also include a program / utility 9204 having a set (at least one) of program modules 9205, such program modules 9205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0139] Bus 930 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0140] The device 900 may also communicate with one or more external devices 1000 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the device 900, and / or communicate with any device that enables the device 900 to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication may be performed through an input / output (I / O) interface 950. In addition, the device 900 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 960. As shown, the network adapter 960 communicates with other modules of the device 900 through a bus 930. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the device 900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0141] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0142] In another embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for local route planning of an unmanned container truck based on laser point cloud described in any one of the above is implemented.

[0143] This embodiment provides a computer-readable storage medium, on which a program product capable of implementing the above method of this specification is stored. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0144] A program product for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or device.

[0145] The program product may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0146] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device.

[0147] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0148] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0149] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0150] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0151] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0152] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steering control method for a three-axis unmanned vehicle, characterized in that: The three-axle unmanned vehicle is provided with a first axle (10), a second axle (20), a third axle (30), a rotation angle sensor (40), a steering control module (50), a self-driving control module (60), and an environmental sensing module (70); The first axle (10), the second axle (20), and the third axle (30) are each provided with a rotation angle sensor (40) on one side thereof; the rotation angle sensor (40) monitors the wheel rotation angles of the first axle (10), the second axle (20), and the third axle (30) in real time, and transmits the rotation angle data to a steering control module (50) and a self-driving control module (60); The steering tie rods and steering arms of the first axle (10) and the third axle (30) are both arranged in a trapezoidal structure, and the inner and outer wheel turning angles are different during steering; the steering structures of the first axle (10) and the third axle (30) are arranged symmetrically about the center of the second axle (20); the left wheel and the right wheel of the second axle (20) are arranged in parallel; The environment sensing module (70) is used to detect the road environment and transmit the environment detection signal to the self-driving control module (60); The self-driving control module (60) receives the environmental detection signal and uses it for path planning, and controls the state of each axle through the steering control module (50) according to the path planning, specifically including: When driving diagonally: the self-driving control module (60) controls the diagonal steering of the first axle (10) through the steering control module (50) according to the diagonal angle of the path planning, and monitors the actual steering angle A1 of the wheel on one side of the first axle (10) through the steering angle sensor (40); The steering control module (50) fits the turning angle A2 of the wheel on the other side of the first axle (10) based on the actual turning angle A1 monitored by the turning angle sensor (40), and further calculates the average turning angle A3 of the first axle (10); The steering control module (50) controls the left and right wheels of the second axle (20) to steer at the same angle according to the average turning angle A3 of the first axle (10); The steering control module (50) controls the wheel of the third axle (30) on the same side as the wheel that detects the actual turning angle A1 to turn at the turning angle A2 of the first axle (10), and at this time the turning angle of the wheel on the other side of the third axle (30) is the same as the turning angle A1 of the first axle (10).

2. The steering control method for a three-axis unmanned vehicle according to claim 1, characterized in that: The fitting formula of the rotation angle A2 of the first axle (10) is: ,in: X is the actual rotation angle A1 monitored by the rotation angle sensor (40); is the fitting angle A2 of the other wheel of the first axle (10); a, b, c, d are the coefficients of the polynomial: When the first axle (10) turns left: The a is (7.00000E-03)~(9.00000E-03); The b is (9.50000E-01)~(10.50000E-01); The c is (-4.50000E-03)~(-3.00000E-03); The d is (-2.20000E-05)~(-1.40000E-05); When the first axle (10) turns right: The a is (2.00000E-02)~(3.00000E-02); The b is (9.50000E-01)~(10.50000E-01); The c is (-2.70000E-03)~(-1.20000E-03); The d is (1.00000E-04)~(1.70000E-04).

3. The steering control method for a three-axis unmanned vehicle according to claim 2, characterized in that: When the first axle (10) turns left: a is 8.60000E-03; b is 9.94760E-01; c is -4.0400E-03; d is -1.72843E-05; When the first axle (10) turns right: a is 2.47700E-02; b is 10.1746E-01; c is -2.24000E-03; and d is 1.36506E-04.

4. The steering control method for a three-axis unmanned vehicle according to any one of claims 1 to 3, characterized in that: When driving in a straight line: the first axle (10), the second axle (20), and the third axle (30) are controlled to maintain a zero position; When turning: the first axle (10) and the third axle (30) are controlled to turn simultaneously, and the second axle (20) is kept at a zero position; or controlling the first axle (10) and the second axle (20) to turn, and the third axle (30) to maintain a zero position; Alternatively, the third axle (30) and the second axle (20) are controlled to turn, and the first axle (10) is kept at a zero position.

5. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steering control method of a three-axis unmanned vehicle as described in any one of claims 1 to 4 is implemented.

6. A three-axis unmanned vehicle steering control device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the three-axis unmanned vehicle steering control method as described in any one of claims 1-4.

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