Vehicle motion control method and device, electronic equipment and storage medium
By controlling the torque of the vehicle motor, the number of square wave signals output by the vehicle motor encoder and the target motion distance are realized, and the problem of insufficient motion accuracy in the prior art is solved.
Patent Information
- Application Number
- CN202411958349.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-03-11
AI Technical Summary
In some special scenarios, when an autonomous vehicle needs to move in a small range, the prior art cannot achieve centimeter-level motion accuracy, and conventional driver operations are difficult to ensure that it can move at a small distance each time.
By controlling the torque applied to the vehicle motor according to the number of square wave signals output by the vehicle motor encoder and the target motion distance, a relatively accurate motion control of a small distance is achieved. The specific steps include detecting the vehicle displacement signal, adjusting the torque to maintain the vehicle's motion state, and adjusting the torque in response to the square wave signal count value when the square wave signal reaches a specific value.
It realizes precise control of the vehicle's movement distance, can complete small-scale movement within centimeter-level accuracy, and improves the operational flexibility of autonomous vehicles in special scenarios.
Smart Images
Figure CN119590229A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a vehicle motion control method, device, electronic device and storage medium. Background Art
[0002] With the rapid improvement of driverless technology, driverless cars have been put into use in more and more scenarios.
[0003] In some special scenarios, vehicles need to move in a small range (for example, at a port, an autonomous cargo vehicle needs to be moved as close to a ship at the dock as possible). The movement accuracy achieved by conventional positioning equipment in conjunction with an autonomous driving control module cannot reach the centimeter level, and conventional driver operations can hardly ensure that the vehicle can move a small distance every time. Therefore, it is necessary to develop a vehicle micro-motion control method. Summary of the invention
[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the embodiments of the present disclosure provide a vehicle motion control method, device, electronic device and storage medium, which control the torque applied to the vehicle motor according to the number of square wave signals output by the vehicle motor encoder and the target motion distance, thereby achieving more precise motion control of small distances.
[0005] In a first aspect, an embodiment of the present disclosure provides a vehicle motion control method, the method comprising:
[0006] determining whether a displacement signal of the vehicle is detected;
[0007] When a displacement signal of the vehicle is detected, a first value of the square wave signal is determined according to the target movement distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance;
[0008] adjusting the torque applied to the vehicle motor to a motion torque so as to keep the vehicle in motion, and counting the square wave signal output by the vehicle motor encoder;
[0009] In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusting the torque applied to the vehicle motor;
[0010] The vehicle moves driven by the motor.
[0011] In a second aspect, an embodiment of the present disclosure further provides a vehicle motion control device, the device comprising:
[0012] A first determination module, used to determine whether a displacement signal of a vehicle is detected;
[0013] A second determination module is used to determine a first value of the square wave signal according to the target movement distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance when a displacement signal of the vehicle is detected;
[0014] A first adjustment module, used for adjusting the torque applied to the vehicle motor to a motion torque so as to keep the vehicle in motion, and for counting the square wave signal output by the vehicle motor encoder;
[0015] a second adjustment module, configured to adjust the torque applied to the vehicle motor in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value;
[0016] The vehicle moves driven by the motor.
[0017] In a third aspect, an embodiment of the present disclosure further provides an electronic device, comprising: 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, the one or more processors implement the vehicle motion control method as described above.
[0018] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle motion control method as described above.
[0019] A vehicle motion control method provided by an embodiment of the present disclosure realizes more accurate motion control of a small distance by controlling the torque applied to the vehicle motor according to the number of square wave signals output by the vehicle motor encoder and the target motion distance. Specifically, when the displacement signal of the vehicle is detected, the first value of the square wave signal is determined according to the target motion distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle motion distance; the torque applied to the vehicle motor is adjusted to the motion torque to keep the vehicle in motion, and the square wave signals output by the vehicle motor encoder are counted; in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, the torque applied to the vehicle motor is adjusted; wherein the vehicle moves driven by the motor. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.
[0021] Figure 1 A vehicle motion control method according to an embodiment of the present disclosure is shown in FIG. Figure 1 ;
[0022] Figure 2 A vehicle motion control method according to an embodiment of the present disclosure is shown in FIG. Figure 2 ;
[0023] Figure 3 A vehicle motion control method according to an embodiment of the present disclosure is shown in FIG. Figure 3 ;
[0024] Figure 4 A vehicle motion control method according to an embodiment of the present disclosure is shown in FIG. Figure 4 ;
[0025] Figure 5 It is a schematic diagram showing that the torque applied to the vehicle motor changes with the number of square wave signals output by the motor encoder during a vehicle motion control process in an embodiment of the present disclosure;
[0026] Figure 6 is a structural schematic diagram of a vehicle motion control device in an embodiment of the present disclosure;
[0027] Figure 7 It is a structural schematic diagram of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION
[0028] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.
[0029] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.
[0030] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.
[0031] In some scenarios, autonomous vehicles need to move a short distance. For example, at the port, the autonomous vehicle needs to be as close to the dock ship as possible; when the autonomous vehicle is automatically charged through the charging gun, if there is a certain deviation between the charging port and the charging gun position, the autonomous vehicle needs to move a short distance. The movement accuracy achieved by conventional positioning equipment in conjunction with the autonomous driving control module cannot reach the centimeter level, and conventional driver operations can hardly ensure that the vehicle can move a small distance every time.
[0032] In view of the above problems, an embodiment of the present application discloses a vehicle control solution that is particularly suitable for movement over a shorter distance, namely, a vehicle micro-motion control method.
[0033] Figure 1 FIG. 1 is a flow chart of a vehicle motion control method in an embodiment of the present disclosure. The method can be executed by a vehicle motion control device, which can be implemented in software and / or hardware, and can be configured in an electronic device. Figure 1 As shown, the vehicle motion control method specifically includes the following steps:
[0034] S110: Determine whether a displacement signal of the vehicle is detected.
[0035] If a displacement signal of the vehicle is detected, it means that the vehicle has been displaced, that is, the vehicle has started to move.
[0036] In some embodiments, the displacement of the vehicle may be determined by a laser rangefinder installed on the vehicle, and when the vehicle is displaced, a corresponding displacement signal is fed back.
[0037] In other embodiments, whether the vehicle is displaced can be determined by detecting whether the vehicle motor encoder outputs a square wave signal. Specifically, in response to detecting the square wave signal output by the vehicle motor encoder, it is determined that the displacement signal of the vehicle is detected. The motor encoder is a sensor installed on the vehicle motor, which is used to measure parameters such as the rotation position, angle and speed of the motor. When the motor encoder starts to output a square wave signal, it means that the motor starts to rotate, and the rotation of the motor drives the vehicle to move. Therefore, when the vehicle motor starts to rotate, it is considered that the vehicle starts to displace.
[0038] S120. When a displacement signal of the vehicle is detected, a first value of the square wave signal is determined according to a target movement distance and a relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance.
[0039] Among them, the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance can be obtained through calibration. The theoretical calculation formula for reference is:
[0040]
[0041] Among them, S represents the vehicle movement distance, r represents the wheel radius, d represents the number of square wave signals output by the vehicle motor encoder, D represents the total number of teeth of the vehicle motor encoder, and δ represents the total transmission ratio.
[0042] According to the above theoretical calculation formula, the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance can be predetermined. Then, the first value of the square wave signal corresponding to the target movement distance is found from the relationship. The target movement distance represents the distance that the vehicle is expected to move.
[0043] Furthermore, the target movement distance can be manually measured and determined according to the scene at that time, and then input into the vehicle, or can be automatically analyzed and determined by visual means, or measured by laser ranging or the like.
[0044] S130, adjusting the torque applied to the vehicle motor to a motion torque to keep the vehicle in motion, and counting the square wave signal output by the vehicle motor encoder.
[0045] The vehicle moves driven by the motor.
[0046] When it is determined that the vehicle starts to move, the torque applied to the vehicle motor is adjusted to the motion torque to keep the vehicle in motion, and the square wave signal output by the vehicle motor encoder is counted. The actual distance moved by the vehicle is determined by referring to the accumulated value of the square wave signal output by the vehicle motor encoder, thereby achieving precise control of the vehicle's movement distance.
[0047] S140 , in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusting the torque applied to the vehicle motor.
[0048] The first value of the square wave signal means that when the number of square wave signals output by the vehicle motor encoder reaches the first value, it indicates that the movement distance of the vehicle reaches the target movement distance. Therefore, when the count value of the square wave signal output by the vehicle motor encoder reaches the first value, the torque applied to the vehicle motor is adjusted to stop the vehicle motor from rotating, thereby stopping the vehicle from moving.
[0049] In some embodiments, in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusting the torque applied to the vehicle motor includes:
[0050] In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, the torque applied to the vehicle motor is adjusted to 0.
[0051] Furthermore, in order to improve control accuracy and solve the inertia problem that occurs when the vehicle stops suddenly, when the count value of the square wave signal output by the vehicle motor encoder reaches the first value, a torque in the opposite direction of the motion torque can be applied to the vehicle motor to overcome the inertia that occurs when the vehicle stops suddenly. This can further improve the control accuracy of the vehicle's moving distance.
[0052] Specifically, in some embodiments, in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusting the torque applied to the vehicle motor includes:
[0053] In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, the torque applied to the vehicle motor is adjusted to the inertia torque, and in response to the count value of the square wave signal output by the vehicle motor encoder reaching a second value, the torque applied to the vehicle motor is adjusted to 0, wherein the second value is greater than the first value, and the direction of the inertia torque is opposite to the direction of the motion torque.
[0054] The second value may be determined by calibration.
[0055] The vehicle motion control method provided by the embodiment of the present disclosure achieves more precise motion control of small distances by controlling the torque applied to the vehicle motor according to the number of square wave signals output by the vehicle motor encoder and the target motion distance.
[0056] Based on the above embodiments, the present application also provides a flow chart of a vehicle motion control method, such as Figure 2 As shown, the vehicle motion control method comprises the following steps:
[0057] S210: Determine whether a displacement signal of the vehicle is detected.
[0058] S220: When a displacement signal of the vehicle is detected, a first value of the square wave signal is determined according to a target movement distance and a relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance.
[0059] S230: Determine the current target load of the vehicle.
[0060] S240, determining the motion torque and the inertia torque corresponding to the target load according to the corresponding relationship between load and torque; or, determining an adjustment coefficient relative to no-load according to the target load, and determining the motion torque and the inertia torque according to the adjustment coefficient and the calibration value under no-load.
[0061] It can be understood that the greater the load on the vehicle, the greater the torque required to move the vehicle, that is, the greater the movement torque; the smaller the load on the vehicle, the smaller the torque required to move the vehicle, that is, the smaller the movement torque.
[0062] The greater the load of the vehicle, the greater the inertia of the vehicle when it is parked, and the greater the inertia torque required to overcome the inertia of the vehicle when it is parked.
[0063] Therefore, in order to achieve more precise control, the correspondence between different loads and the torque required to move the vehicle can be pre-calibrated, and then the matching movement torque can be found according to the current target load of the vehicle; and the correspondence between different loads and the torque required to overcome the vehicle inertia can be pre-calibrated, and then the matching inertia torque can be found according to the current target load of the vehicle.
[0064] S250, adjusting the torque applied to the vehicle motor to a motion torque to keep the vehicle in motion, and counting the square wave signal output by the vehicle motor encoder.
[0065] S260. In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, the torque applied to the vehicle motor is adjusted to the inertia torque; and, in response to the count value of the square wave signal output by the vehicle motor encoder reaching the second value, the torque applied to the vehicle motor is adjusted to 0.
[0066] Based on the above embodiments, this embodiment adds a step of determining the kinetic torque and inertia torque that match the current target load of the vehicle, so that the kinetic torque and the inertia torque are more accurate, thereby more accurately controlling the movement distance of the vehicle.
[0067] Based on the above embodiments, the present application also provides a flow chart of a vehicle motion control method, such as Figure 3 As shown, the vehicle motion control method comprises the following steps:
[0068] S310 : In response to receiving an inching request, applying a starting torque to the vehicle motor.
[0069] Among them, the starting torque is the torque used to overcome the transmission gap and the static friction of the vehicle. Further, in order to achieve more precise control, the starting torque can be subdivided into a first starting torque and a second starting torque, wherein the first starting torque is used to overcome the transmission gap and the second starting torque is used to overcome the static friction of the vehicle. The first starting torque should be as small as possible so that the motor can drive the vehicle to move. The second starting torque should also be as small as possible so that the motor can drive the vehicle to move.
[0070] The application time of the first starting torque and the application time of the second starting torque can be determined by calibration. For ease of implementation, a starting torque that increases linearly with time can also be applied to the vehicle motor. When a square wave signal output by the motor encoder is detected, the starting torque is adjusted to a motion torque to keep the vehicle in motion.
[0071] Exemplarily, in response to receiving an inching request, a starting torque that increases linearly with time is applied to the vehicle motor; or, in response to receiving an inching request, a first starting torque of constant magnitude is applied to the vehicle motor, and after a set period of time, the first starting torque is adjusted to a second starting torque of constant magnitude, wherein the magnitude of the second starting torque is greater than the magnitude of the first starting torque; or, in response to receiving an inching request, a third starting torque of constant magnitude is applied to the vehicle motor, wherein the magnitude of the third starting torque is greater than the magnitude of the first starting torque and less than the magnitude of the second starting torque.
[0072] S320: Determine whether a displacement signal of the vehicle is detected.
[0073] S330: When a displacement signal of the vehicle is detected, a first value of the square wave signal is determined according to the target movement distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance.
[0074] S340, adjusting the torque applied to the vehicle motor to a motion torque to keep the vehicle in motion, and counting the square wave signal output by the vehicle motor encoder.
[0075] S350. In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, the torque applied to the vehicle motor is adjusted to the inertia torque; and, in response to the count value of the square wave signal output by the vehicle motor encoder reaching the second value, the torque applied to the vehicle motor is adjusted to 0.
[0076] Based on the above embodiments, this embodiment adds a step of applying a starting torque to the vehicle motor, the purpose of which is to overcome the transmission gap and the static friction of the vehicle. Specifically, a starting torque is applied to the vehicle motor, and when a square wave signal of the motor encoder is detected, the starting torque is adjusted to a motion torque to keep the vehicle in motion. When the number of square wave signals of the motor encoder reaches a first value (that is, when the vehicle's movement distance reaches the target movement distance), the motion torque is adjusted to an inertia torque to resist the inertia when the vehicle suddenly stops, reduce or even eliminate the inertia when the vehicle stops, and thus make the vehicle's movement distance more accurate. When the application time of the inertia torque reaches a square wave period, the torque is adjusted to 0. Through multi-stage torque control, combined with the number of square wave signals fed back by the motor encoder, the purpose of more precise control of the vehicle's movement distance is achieved.
[0077] Based on the above embodiments, Figure 4 A schematic diagram of a vehicle motion control process shown in FIG. Figure 5 A schematic diagram showing a torque applied to a vehicle motor during a vehicle motion control process as the number of square wave signals output by a motor encoder varies. The vehicle motion control method includes:
[0078] S410: Determine whether an inching request is detected. If an inching request is detected, execute S420.
[0079] The micro-motion request may be triggered by the user through a specific physical switch, or through a soft switch on the vehicle-mounted large screen, or through voice.
[0080] S420: issuing a first starting torque, so that the first starting torque is applied for a period of time.
[0081] The period of time may be predetermined by calibration.
[0082] S430: Issue a second starting torque.
[0083] S440: Determine whether the square wave signal output by the encoder is detected. If detected, execute S450.
[0084] S450, send motion torque.
[0085] S460: Determine whether the number of square wave signals reaches a first value; if yes, execute S470.
[0086] S470: Send inertia torque, and the application time of inertia torque lasts for one square wave cycle.
[0087] S480, torque is cleared to 0.
[0088] Through multi-stage torque control, combined with the number of square wave signals fed back by the motor encoder, the goal of more precise control of the vehicle's movement distance is achieved.
[0089] Figure 6 FIG. 1 is a schematic diagram of the structure of a vehicle motion control device in an embodiment of the present disclosure. Figure 6 As shown: the device includes: a first determination module 610, a second determination module 620, a first adjustment module 630 and a second adjustment module 640.
[0090] Wherein, the first determination module 610 is used to determine whether a displacement signal of a vehicle is detected;
[0091] The second determination module 620 is used to determine the first value of the square wave signal according to the target movement distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance when the displacement signal of the vehicle is detected; the first adjustment module 630 is used to adjust the torque applied to the vehicle motor to the movement torque so that the vehicle remains in a moving state, and to count the square wave signals output by the vehicle motor encoder; the second adjustment module 640 is used to adjust the torque applied to the vehicle motor in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value; wherein, the vehicle moves driven by the motor.
[0092] Further, the first adjustment module 630 is specifically used to: in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjust the torque applied to the vehicle motor to the inertia torque, and in response to the count value of the square wave signal output by the vehicle motor encoder reaching the second value, adjust the torque applied to the vehicle motor to 0, wherein the second value is greater than the first value, and the direction of the inertia torque is opposite to the direction of the motion torque. Alternatively, in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjust the torque applied to the vehicle motor to 0.
[0093] Furthermore, it also includes: a third determination module, which is used to determine the current target load of the vehicle before adjusting the torque applied to the vehicle motor to the motion torque; determine the motion torque and the inertia torque corresponding to the target load according to the corresponding relationship between load and torque; or determine the adjustment coefficient relative to no-load according to the target load, and determine the motion torque and the inertia torque according to the adjustment coefficient and the calibration value under no-load.
[0094] Furthermore, it also includes: an application module, which is used to apply a starting torque to the vehicle motor in response to receiving an inching request before determining whether a displacement signal of the vehicle is detected.
[0095] Furthermore, the application module is specifically used to: in response to receiving a micro-motion request, apply a starting torque that increases linearly with time to the vehicle motor; or, in response to receiving a micro-motion request, apply a first starting torque of constant magnitude to the vehicle motor, and after a set period of time, adjust the first starting torque to a second starting torque of constant magnitude, wherein the magnitude of the second starting torque is greater than the magnitude of the first starting torque; or, in response to receiving a micro-motion request, apply a third starting torque of constant magnitude to the vehicle motor, wherein the magnitude of the third starting torque is greater than the magnitude of the first starting torque and less than the magnitude of the second starting torque.
[0096] Furthermore, the first determination module 610 is specifically configured to: in response to detecting a square wave signal output by the vehicle motor encoder, determine that a displacement signal of the vehicle is detected.
[0097] The vehicle motion control device provided in the embodiment of the present disclosure realizes more precise motion control of small distances by controlling the torque applied to the vehicle motor according to the number of square wave signals output by the vehicle motor encoder and the target motion distance.
[0098] The vehicle motion control device provided in the embodiment of the present disclosure can execute the steps in the vehicle positioning method provided in the method embodiment of the present disclosure, and the execution steps and beneficial effects are no longer repeated here.
[0099] Figure 7 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 7 , which shows a structural schematic diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure. Figure 7 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.
[0100] like Figure 7As shown, the electronic device 500 may include a processing device 501, a ROM 502, a RAM 503, a bus 504, an input / output (I / O) interface 505, an input device 506, an output device 507, a storage device 508, and a communication device 509. The processing device (e.g., a central processing unit, a graphics processor, etc.) 501 can perform various appropriate actions and processes to implement the method of the embodiment described in the present disclosure according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage device 508 to the random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through the bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.
[0101] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart, thereby implementing the vehicle positioning method as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.
[0102] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-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 of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer 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 of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.
[0103] The computer-readable medium may be included in the electronic device; or it may exist independently without being assembled into the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: determines whether the displacement signal of the vehicle is detected; when the displacement signal of the vehicle is detected, determines the first value of the square wave signal according to the target movement distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance; adjusts the torque applied to the vehicle motor to the movement torque to keep the vehicle in motion, and counts the square wave signals output by the vehicle motor encoder; in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusts the torque applied to the vehicle motor; wherein the vehicle moves driven by the motor.
[0104] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.
[0105] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection according to one or more lines, a portable computer 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 of the foregoing.
[0106] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.
Claims
1. A vehicle motion control method, characterized in that: The method comprises: determining whether a displacement signal of the vehicle is detected; When a displacement signal of the vehicle is detected, a first value of the square wave signal is determined according to the target movement distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance; adjusting the torque applied to the vehicle motor to a motion torque so as to keep the vehicle in motion, and counting the square wave signal output by the vehicle motor encoder; In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusting the torque applied to the vehicle motor; The vehicle moves driven by the motor.
2. The method according to claim 1, characterized in that In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusting the torque applied to the vehicle motor includes: In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, the torque applied to the vehicle motor is adjusted to the inertia torque, and in response to the count value of the square wave signal output by the vehicle motor encoder reaching a second value, the torque applied to the vehicle motor is adjusted to 0, wherein the second value is greater than the first value, and the direction of the inertia torque is opposite to the direction of the motion torque.
3. The method according to claim 2, characterized in that Before adjusting the torque applied to the vehicle motor to the motion torque, the method further includes: determining a current target load of the vehicle; Determine the motion torque and the inertia torque corresponding to the target load according to the corresponding relationship between load and torque; Alternatively, an adjustment coefficient relative to no-load is determined according to the target load, and the motion torque and the inertia torque are determined according to the adjustment coefficient and a calibration value under no-load.
4. The method according to claim 1, characterized in that: Before determining whether the displacement signal of the vehicle is detected, the method further includes: In response to receiving the inching request, a starting torque is applied to the vehicle electric machine.
5. The method according to claim 4, characterized in that In response to receiving the inching request, applying a starting torque to the vehicle motor includes: In response to receiving an inching request, applying a starting torque to the vehicle motor that increases linearly with time; Alternatively, in response to receiving an inching request, applying a first starting torque of a constant magnitude to the vehicle motor, and adjusting the first starting torque to a second starting torque of a constant magnitude after a set time, wherein the magnitude of the second starting torque is greater than the magnitude of the first starting torque; Alternatively, in response to receiving the inching request, a third starting torque of a constant magnitude is applied to the vehicle motor, wherein the magnitude of the third starting torque is greater than the magnitude of the first starting torque and less than the magnitude of the second starting torque.
6. The method according to any one of claims 1 to 5, characterized in that: The step of determining whether a displacement signal of a vehicle is detected comprises: In response to detecting the square wave signal output by the vehicle motor encoder, it is determined that a displacement signal of the vehicle is detected.
7. The method according to any one of claims 1 to 5, characterized in that: In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, adjusting the torque applied to the vehicle motor includes: In response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value, the torque applied to the vehicle motor is adjusted to 0.
8. A vehicle motion control device, characterized in that: include: A first determination module, used to determine whether a displacement signal of a vehicle is detected; A second determination module is used to determine a first value of the square wave signal according to the target movement distance and the relationship between the number of square wave signals output by the vehicle motor encoder and the vehicle movement distance when a displacement signal of the vehicle is detected; A first adjustment module, used for adjusting the torque applied to the vehicle motor to a motion torque so as to keep the vehicle in motion, and for counting the square wave signal output by the vehicle motor encoder; a second adjustment module, configured to adjust the torque applied to the vehicle motor in response to the count value of the square wave signal output by the vehicle motor encoder reaching the first value; The vehicle moves driven by the motor.
9. An electronic device, characterized in that: The electronic device comprises: 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, the one or more processors implement the method according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.