Steering control method and device for unmanned vehicle

Abstract

The invention discloses a steering control method and device of an unmanned vehicle. The steering control method comprises the steps that actual left-turning oil cylinder telescopic information and actual right-turning oil cylinder telescopic information are obtained; an actual left wheel steering angle is determined according to the actual left-turning oil cylinder telescopic information, and an actual right wheel steering angle is determined according to the actual right-turning oil cylinder telescopic information; determining a first neutral position steering angle according to the actual left wheel steering angle, and determining a second neutral position steering angle according to the actual right wheel steering angle; according to the telescopic information of the left turning oil cylinder, the telescopic information of the right turning oil cylinder and a preset neutral position steering angle priority, an actual neutral position steering angle is determined, and the actual neutral position steering angle comprises a first neutral position steering angle or a second neutral position steering angle; and steering of the unmanned vehicle is controlled according to the actual neutral-position steering angle and the preset neutral-position steering angle. By the adoption of the steering control method, redundancy calculation of the neutral position angle is achieved, and steering safety can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicles, and in particular to a steering control method and device for an unmanned vehicle. Background Art

[0002] The existing steering control method of unmanned vehicles only relies on the cylinder extension and contraction information obtained from a displacement sensor to determine the actual mid-position steering angle, and then control the steering of the unmanned vehicle. However, if the displacement sensor fails, it will cause the steering to lose control, posing a great safety hazard. Summary of the invention

[0003] The present invention provides a steering control method and device for an unmanned vehicle, so as to solve the problem that the existing steering control method for unmanned vehicles cannot achieve redundancy and may cause steering out of control.

[0004] In a first aspect, an embodiment of the present invention provides a steering control method for an unmanned vehicle, the steering control method comprising:

[0005] Obtain the actual extension and retraction information of the left-turn oil cylinder and the actual extension and retraction information of the right-turn oil cylinder;

[0006] Determine the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information, and determine the actual right wheel steering angle according to the actual right turn cylinder extension and retraction information;

[0007] Determine a first median steering angle according to the actual left wheel steering angle, and determine a second median steering angle according to the actual right wheel steering angle;

[0008] Determining an actual middle steering angle according to the actual left-turn oil cylinder extension and retraction information, the actual right-turn oil cylinder extension and retraction information, and a preset middle steering angle priority, wherein the actual middle steering angle includes the first middle steering angle or the second middle steering angle;

[0009] The steering of the unmanned vehicle is controlled according to the actual median steering angle and the preset median steering angle.

[0010] Optionally, before obtaining the actual left-turn oil cylinder extension and retraction information and the actual right-turn oil cylinder extension and retraction information, the steering control method further includes:

[0011] Acquire the telescopic information of the first left-turn oil cylinder and the telescopic information of the first right-turn oil cylinder when the unmanned vehicle turns left to the left maximum steering angle, and the telescopic information of the second left-turn oil cylinder and the telescopic information of the second right-turn oil cylinder when the unmanned vehicle turns right to the right maximum steering angle;

[0012] Obtaining a first preset left wheel steering angle and a first preset right wheel steering angle when the unmanned vehicle turns left to a left maximum steering angle, and a second preset left wheel steering angle and a second preset right wheel steering angle when the unmanned vehicle turns right to a right maximum steering angle;

[0013] Determine the relationship between the actual left-turn cylinder extension and retraction information and the actual left-turn steering angle according to the first left-turn cylinder extension and retraction information, the second left-turn cylinder extension and retraction information, the first preset left-wheel steering angle, and the second preset left-wheel steering angle;

[0014] Determine the relationship between the actual right-turn cylinder extension and retraction information and the actual right-turn wheel steering angle according to the first right-turn cylinder extension and retraction information, the second right-turn cylinder extension and retraction information, the first preset right-wheel steering angle, and the second preset right-wheel steering angle;

[0015] Determining the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information includes:

[0016] Determining the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information, and the relationship between the actual left turn cylinder extension and retraction information and the actual left wheel steering angle;

[0017] Determining the actual right wheel steering angle according to the actual right turn cylinder extension and retraction information includes:

[0018] The actual right wheel steering angle is determined according to the actual right turn cylinder extension and retraction information, and the relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle.

[0019] Optionally, determining the relationship between the actual left turn cylinder extension and retraction information and the actual left wheel steering angle according to the first left turn cylinder extension and retraction information, the second left turn cylinder extension and retraction information, the first preset left wheel steering angle, and the second preset left wheel steering angle includes:

[0020] Determining a first theoretical left wheel steering angle corresponding to the first left turn cylinder extension and retraction information according to the first left turn cylinder extension and retraction information and a theoretical relationship between the left turn cylinder extension and retraction information and a left wheel steering angle;

[0021] Determining a second theoretical left wheel steering angle corresponding to the second left turn cylinder extension and retraction information according to the second left turn cylinder extension and retraction information and a theoretical relationship between the left turn cylinder extension and retraction information and the left wheel steering angle;

[0022] Determine a relationship between a theoretical left-wheel steering angle and an actual left-wheel steering angle according to the first theoretical left-wheel steering angle, the second theoretical left-wheel steering angle, the first preset left-wheel steering angle, and the second preset left-wheel steering angle, wherein the relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle satisfies a linear relationship;

[0023] Determine the relationship between the actual left-turn oil cylinder extension and retraction information and the actual left-wheel steering angle according to the theoretical relationship between the left-turn oil cylinder extension and retraction information and the left-wheel steering angle, and the relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle;

[0024] Determining a relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle according to the first right turn cylinder extension and retraction information, the second right turn cylinder extension and retraction information, the first preset right wheel steering angle, and the second preset right wheel steering angle includes:

[0025] Determining a first theoretical right wheel steering angle corresponding to the first right turn cylinder extension and retraction information according to the first right turn cylinder extension and retraction information and a theoretical relationship between the right turn cylinder extension and retraction information and a right wheel steering angle;

[0026] Determining a second theoretical right wheel steering angle corresponding to the second right turn cylinder extension and retraction information according to the second right turn cylinder extension and retraction information and a theoretical relationship between the right turn cylinder extension and retraction information and the right wheel steering angle;

[0027] Determining a relationship between a theoretical right wheel steering angle and an actual right wheel steering angle according to the first theoretical right wheel steering angle, the second theoretical right wheel steering angle, the first preset right wheel steering angle, and the second preset right wheel steering angle, wherein the relationship between the theoretical right wheel steering angle and the actual right wheel steering angle satisfies a linear relationship;

[0028] The relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle is determined based on the theoretical relationship between the right turn cylinder extension and retraction information and the right wheel steering angle, and the relationship between the theoretical right wheel steering angle and the actual right wheel steering angle.

[0029] Optionally, the actual left-turn cylinder extension and retraction information and the actual right-turn cylinder extension and retraction information are obtained, including:

[0030] The actual extension and contraction information of the left-turn oil cylinder is obtained by a first displacement sensor arranged on the left-turn oil cylinder, and the actual extension and contraction information of the right-turn oil cylinder is obtained by a second displacement sensor arranged on the right-turn oil cylinder.

[0031] Optionally, determining the actual middle steering angle according to the actual left-turn oil cylinder extension and retraction information, the actual right-turn oil cylinder extension and retraction information, and a preset middle steering angle priority includes:

[0032] Determine first fault information of the first displacement sensor according to the actual left-turn oil cylinder extension and retraction information;

[0033] Determine second fault information of the second displacement sensor according to the actual right-turn oil cylinder extension and retraction information;

[0034] The actual mid-steering angle is determined according to the first fault information, the second fault information and a preset mid-steering angle priority.

[0035] Optionally, determining the actual median steering angle according to the first fault information, the second fault information and a preset median steering angle priority includes:

[0036] If the first fault information includes that the first displacement sensor is normal, the second fault information includes that the second displacement sensor is normal, and the preset neutral steering angle priority includes that the priority of the first neutral steering angle is greater than the priority of the second neutral steering angle, then determining that the actual neutral steering angle includes the first neutral steering angle;

[0037] If the first fault information includes that the first displacement sensor is normal, the second fault information includes that the second displacement sensor is normal, and the preset neutral steering angle priority includes that the priority of the first neutral steering angle is less than the priority of the second neutral steering angle, then determining that the actual neutral steering angle includes the second neutral steering angle;

[0038] If the first fault information includes that the first displacement sensor is faulty, and the second fault information includes that the second displacement sensor is normal, determining that the actual neutral steering angle includes the second neutral steering angle;

[0039] If the first fault information includes that the first displacement sensor is normal, and the second fault information includes that the second displacement sensor is faulty, it is determined that the actual neutral steering angle includes the first neutral steering angle.

[0040] Optionally, the steering control method further includes:

[0041] The running speed of the vehicle is controlled according to the first fault information and the second fault information.

[0042] Optionally, controlling the running speed of the vehicle according to the first fault information and the second fault information includes:

[0043] If the first fault information includes that the first displacement sensor is normal, and the second fault information includes that the second displacement sensor is faulty, or if the first fault information includes that the first displacement sensor is faulty, and the second fault information includes that the second displacement sensor is normal, then controlling the running speed of the vehicle to be lower than a preset speed;

[0044] If the first fault information includes a fault of the first displacement sensor and the second fault information includes a fault of the second displacement sensor, the running speed of the vehicle is controlled to be zero.

[0045] Optionally, determining a first median steering angle according to the actual left wheel steering angle includes:

[0046] Determining a first median steering angle according to the actual left wheel steering angle and a relationship between the actual left wheel steering angle and the first median steering angle;

[0047] The relationship between the actual left wheel steering angle and the first median steering angle is as follows:

[0048] ;

[0049] represents the actual left wheel steering angle, represents the first median steering angle, Indicates the distance between the left and right wheels. Indicates the distance between the front and rear axles;

[0050] Determining a second mid-position steering angle according to the actual right wheel steering angle includes:

[0051] determining a second median steering angle according to the actual right wheel steering angle and a relationship between the actual right wheel steering angle and the second median steering angle;

[0052] The relationship between the actual right wheel steering angle and the second median steering angle is as follows:

[0053] ;

[0054] represents the actual right wheel steering angle, represents the second median steering angle.

[0055] In a second aspect, an embodiment of the present invention provides a steering control device for an unmanned vehicle, the steering control device comprising:

[0056] The oil cylinder extension and retraction information acquisition unit is used to acquire the actual left-turn oil cylinder extension and retraction information and the actual right-turn oil cylinder extension and retraction information;

[0057] A left-right wheel steering angle determination unit, used to determine an actual left wheel steering angle according to the actual left-turn oil cylinder extension and retraction information, and to determine an actual right wheel steering angle according to the actual right-turn oil cylinder extension and retraction information;

[0058] a median steering angle determination unit, configured to determine a first median steering angle according to the actual left wheel steering angle, and to determine a second median steering angle according to the actual right wheel steering angle;

[0059] an actual middle steering angle determination unit, configured to determine an actual middle steering angle according to the actual left-turn cylinder extension and retraction information, the actual right-turn cylinder extension and retraction information, and a preset middle steering angle priority, wherein the actual middle steering angle includes the first middle steering angle or the second middle steering angle;

[0060] A steering control unit is used to control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

[0061] The technical solution of the embodiment of the present invention, by adopting the above-mentioned steering control method, can determine the actual left wheel steering angle according to the actual left turn cylinder extension and contraction information, and determine the actual median steering angle through the left wheel steering angle, and can also determine the actual right wheel steering angle according to the actual right turn cylinder extension and contraction information, and determine the actual median steering angle through the actual right wheel steering angle, thereby realizing redundant calculation of the median steering angle, which is beneficial to improving the safety of steering.

[0062] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0064] Figure 1 A flowchart of a steering control method for an unmanned vehicle provided by an embodiment of the present invention;

[0065] Figure 2 A flowchart of another steering control method for an unmanned vehicle provided by an embodiment of the present invention;

[0066] Figure 3 A flowchart of another steering control method for an unmanned vehicle provided by an embodiment of the present invention;

[0067] Figure 4 A flowchart of another steering control method for an unmanned vehicle provided by an embodiment of the present invention;

[0068] Figure 5 A flowchart of another steering control method for an unmanned vehicle provided by an embodiment of the present invention;

[0069] Figure 6 A schematic structural diagram of a steering control device for an unmanned vehicle provided by an embodiment of the present invention;

[0070] Figure 7 A schematic structural diagram of a steering control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0071] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0072] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0073] Figure 1 A flowchart of a steering control method for an unmanned vehicle provided in an embodiment of the present invention. The steering control method for an unmanned vehicle in an embodiment of the present invention is applicable to situations where the steering of an unmanned vehicle needs to be controlled. The steering control method for an unmanned vehicle can be executed by a steering control device for an unmanned vehicle, which can be implemented in software and / or hardware and specifically configured in a steering control device. Figure 1 , the steering control method of the unmanned vehicle in the embodiment of the present invention includes:

[0074] S110, obtaining actual left-turn cylinder extension and retraction information and actual right-turn cylinder extension and retraction information.

[0075] Exemplarily, the steering control device of the unmanned vehicle may be a vehicle controller (VCU) in the unmanned vehicle, and the vehicle controller may obtain the actual cylinder extension and contraction information acquisition unit and the actual right-turn cylinder extension and contraction information. Specifically, the left-turn cylinder of the unmanned vehicle is provided with a sensor that can sense the actual left-turn cylinder extension and contraction information, and the right-turn cylinder is provided with a sensor that can sense the actual right-turn cylinder extension and contraction information. Both of the above sensors are connected to the vehicle controller in communication, and the sensed actual left-turn cylinder extension and contraction information and actual right-turn cylinder extension and contraction information may be fed back to the vehicle controller.

[0076] S120, determining an actual left wheel steering angle according to actual left turn cylinder extension and retraction information, and determining an actual right wheel steering angle according to actual right turn cylinder extension and retraction information.

[0077] It should be noted that the actual left-turn cylinder extension information may include the actual left-turn cylinder extension length. The vehicle controller may determine the theoretical left-wheel steering angle based on the actual left-turn cylinder extension information and the theoretical relationship between the left-turn cylinder extension information and the left-wheel steering angle, and may use the theoretical left-wheel steering angle as the actual left-wheel steering angle, wherein the theoretical relationship between the left-turn cylinder extension information and the left-wheel steering angle is as follows:

[0078] .

[0079] Indicates the left wheel steering angle, Indicates the information of the steering ladder arm. Indicates the distance between the left kingpin center and the left wheel cylinder fixing point. Indicates the left wheel cylinder information during wheel alignment. Indicates the left turn cylinder extension information. Indicates the kingpin inclination angle, It should be noted that the above formula , , , and All of them are known, so the actual left wheel steering angle can be obtained by substituting the actual left turn cylinder extension and contraction information into the theoretical relationship formula between the left turn cylinder extension and contraction information and the left wheel steering angle and calculating.

[0080] The actual right turn cylinder extension information may include the actual right turn cylinder extension length. The vehicle controller may determine the theoretical right wheel steering angle based on the actual right turn cylinder extension information and the theoretical relationship between the right turn cylinder extension information and the right wheel steering angle, and may use the theoretical right wheel steering angle as the actual right wheel steering angle. The theoretical relationship between the right turn cylinder extension information and the right wheel steering angle is as follows:

[0081] .

[0082] Indicates the right wheel steering angle, Indicates the information of the steering ladder arm. Indicates the distance between the left kingpin center and the right turn cylinder fixed point. Indicates the right turn cylinder information when the wheel is centered. Indicates the right turn cylinder extension information. Indicates the kingpin inclination angle, It should be noted that the above formula , , , and All of them are known, so the actual right wheel steering angle can be obtained by substituting the actual right turn cylinder extension and contraction information into the theoretical relationship formula between the right turn cylinder extension and contraction information and the right wheel steering angle and calculating.

[0083] It should be noted that the above-mentioned method of determining the actual left wheel steering angle according to the actual left turn cylinder extension and contraction information, and determining the actual right wheel steering angle according to the actual right turn cylinder extension and contraction information is only one implementation method of an embodiment of the present invention. There are other implementation methods, which are detailed below.

[0084] S130: Determine a first median steering angle according to an actual left wheel steering angle, and determine a second median steering angle according to an actual right wheel steering angle.

[0085] As a feasible implementation manner, determining the first median steering angle according to the actual left wheel steering angle includes: determining the first median steering angle according to the actual left wheel steering angle and the relationship between the actual left wheel steering angle and the first median steering angle, wherein the relationship between the actual left wheel steering angle and the first median steering angle is as follows: , Indicates the actual left wheel steering angle, represents the first median steering angle, Indicates the distance between the left and right wheels. The vehicle controller can obtain the first median steering angle by substituting the actual left wheel steering angle into the above relationship between the actual left wheel steering angle and the first median steering angle and calculating.

[0086] Determining the second median steering angle according to the actual right wheel steering angle includes: determining the second median steering angle according to the actual right wheel steering angle and the relationship between the actual right wheel steering angle and the second median steering angle, wherein the relationship between the actual right wheel steering angle and the second median steering angle is as follows: , Indicates the actual right wheel steering angle, The vehicle controller can obtain the second median steering angle by substituting the actual right wheel steering angle into the relationship between the actual right wheel steering angle and the second median steering angle and calculating.

[0087] It should be noted that the median steering angle refers to the steering angle of the center point of the two front wheel axles of the unmanned vehicle.

[0088] S140. Determine an actual median steering angle according to actual left-turn cylinder extension and retraction information, actual right-turn cylinder extension and retraction information, and a preset median steering angle priority, wherein the actual median steering angle includes a first median steering angle or a second median steering angle.

[0089] For example, the vehicle controller can first confirm whether the actual left-turn cylinder extension information and the actual right-turn cylinder extension information are normal and accurate according to the actual left-turn cylinder extension information and the actual right-turn cylinder extension information. If the actual left-turn cylinder extension information and the actual right-turn cylinder extension information are both normal and accurate, the actual median steering angle can be determined by presetting the median steering angle priority to determine whether the first median steering angle or the second median steering angle is used. If it is confirmed that one of the actual left-turn cylinder extension information and the actual right-turn cylinder extension information is abnormal, the median steering angle corresponding to another normal cylinder extension information is selected as the actual median steering angle.

[0090] S150: Control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

[0091] Exemplarily, the vehicle controller can further control the steering of the unmanned vehicle based on the difference between the actual median steering angle and the preset median steering angle to reduce the difference between the actual median steering angle and the preset median steering angle, thereby achieving precise control of the steering of the unmanned vehicle.

[0092] The embodiment of the present invention adopts the above-mentioned steering control method, which can determine the actual left wheel steering angle according to the actual left turn cylinder extension and contraction information, and determine the actual median steering angle (first median steering angle) through the left wheel steering angle, and can also determine the actual right wheel steering angle according to the actual right turn cylinder extension and contraction information, and determine the actual median steering angle (second median steering angle) through the actual right wheel steering angle, thereby realizing redundant calculation of the median steering angle, which is beneficial to improving the safety of steering.

[0093] Based on the above embodiments, Figure 2 A flowchart of another steering control method for an unmanned vehicle provided by an embodiment of the present invention, Figure 2 The embodiment shown enriches the process of the steering control method of the unmanned vehicle, and explains in detail how to determine the actual left wheel steering angle according to the actual left turn cylinder extension information, and how to determine the actual right wheel steering angle according to the actual right turn cylinder extension information. Figure 2 , the steering control method of the unmanned vehicle in the embodiment of the present invention includes:

[0094] S210, obtaining the first left-turn cylinder extension and retraction information and the first right-turn cylinder extension and retraction information when the unmanned vehicle turns left to the left maximum steering angle, and the second left-turn cylinder extension and retraction information and the second right-turn cylinder extension and retraction information when the unmanned vehicle turns right to the right maximum steering angle.

[0095] Exemplarily, after the vehicle is started, an angle self-learning instruction can be sent to the vehicle controller. After receiving the angle self-learning instruction, the vehicle controller can perform the angle self-learning operation. Specifically, when the vehicle controller determines that the unmanned vehicle turns left to the left maximum steering angle, it will obtain the first left turn cylinder extension and retraction information and the first right turn cylinder extension and retraction information through the sensor set on the left turn cylinder and the sensor set on the right turn cylinder. When determining that the unmanned vehicle turns right to the right maximum steering angle, the vehicle controller will obtain the second left turn cylinder extension and retraction information and the second right turn cylinder extension and retraction information through the sensor set on the left turn cylinder and the sensor set on the right turn cylinder.

[0096] It should be noted that the maximum left steering angle for an unmanned vehicle to turn left and the maximum right steering angle for an unmanned vehicle to turn right can be achieved by the vehicle controller according to the angle self-learning instructions, or can be achieved manually by the staff.

[0097] It should also be noted that the vehicle controller can determine whether the unmanned vehicle turns left to the maximum left steering angle, and determine whether the unmanned vehicle turns right to the maximum right steering angle based on the comparison of the received oil pump current with the preset threshold. Specifically, when the unmanned vehicle turns left, if the received oil pump current is greater than the first preset threshold, it can be determined that the unmanned vehicle turns left to the maximum left steering angle; when the unmanned vehicle turns right, if the received oil pump current is greater than the second preset threshold, it can be determined that the unmanned vehicle turns right to the maximum right steering angle.

[0098] S220, obtaining a first preset left wheel steering angle and a first preset right wheel steering angle when the unmanned vehicle turns left to the left maximum steering angle, and a second preset left wheel steering angle and a second preset right wheel steering angle when the unmanned vehicle turns right to the right maximum steering angle.

[0099] It should be noted that the above-mentioned first preset left wheel steering angle, first preset right wheel steering angle, second preset left wheel steering angle and second preset right wheel steering angle are known and can be pre-stored in the memory of the unmanned vehicle. The vehicle controller is communicated with the memory and can be directly obtained.

[0100] S230, determining a relationship between the actual left turn cylinder extension and retraction information and the actual left wheel steering angle according to the first left turn cylinder extension and retraction information, the second left turn cylinder extension and retraction information, the first preset left wheel steering angle, and the second preset left wheel steering angle.

[0101] As a feasible implementation manner, determining the relationship between the actual left turn cylinder extension information and the actual left wheel steering angle according to the first left turn cylinder extension information, the second left turn cylinder extension information, the first preset left wheel steering angle, and the second preset left wheel steering angle includes:

[0102] A first theoretical left wheel steering angle corresponding to the first left turn cylinder extension and retraction information is determined according to the first left turn cylinder extension and retraction information and a theoretical relationship between the left turn cylinder extension and retraction information and the left wheel steering angle.

[0103] A second theoretical left wheel steering angle corresponding to the second left turn cylinder extension and retraction information is determined according to the second left turn cylinder extension and retraction information and a theoretical relationship between the left turn cylinder extension and retraction information and the left wheel steering angle.

[0104] It should be noted that the first left-turn cylinder extension information may include the first left-turn cylinder extension length, and the second left-turn cylinder extension information may include the second left-turn cylinder extension length. The vehicle controller may determine the first theoretical left-wheel steering angle based on the first left-turn cylinder extension information and the theoretical relationship between the left-turn cylinder extension information and the left-wheel steering angle, and determine the second theoretical left-wheel steering angle based on the second left-turn cylinder extension information and the theoretical relationship between the left-turn cylinder extension information and the left-wheel steering angle. The theoretical relationship between the left-turn cylinder extension information and the left-wheel steering angle is as follows:

[0105] .

[0106] Indicates the left wheel steering angle, Indicates the information of the steering ladder arm. Indicates the distance between the left kingpin center and the left wheel cylinder fixing point. Indicates the left wheel cylinder information during wheel alignment. Indicates the left turn cylinder extension information. Indicates the kingpin inclination angle, It should be noted that the above formula , , , and All of them are known, so the first theoretical left-wheel steering angle can be obtained by substituting the first left-turn cylinder extension and contraction information into the theoretical relationship formula between the left-turn cylinder extension and contraction information and the left-wheel steering angle and calculating, and the second theoretical left-wheel steering angle can be obtained by substituting the second left-turn cylinder extension and contraction information into the theoretical relationship formula between the left-turn cylinder extension and contraction information and the left-wheel steering angle and calculating.

[0107] The relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle is determined according to the first theoretical left-wheel steering angle, the second theoretical left-wheel steering angle, the first preset left-wheel steering angle and the second preset left-wheel steering angle, wherein the relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle satisfies a linear relationship.

[0108] Exemplarily, the relationship between the theoretical left wheel steering angle and the actual left wheel steering angle is as follows: . A formula can be obtained by substituting the first theoretical left-wheel steering angle and the first preset left-wheel steering angle into the above-mentioned relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle. Another formula can be obtained by substituting the second theoretical left-wheel steering angle and the second preset left-wheel steering angle into the above-mentioned relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle. Finally, by solving the two obtained formulas, k1 and b1 in the relationship between the left-wheel steering angle and the actual left-wheel steering angle can be determined. It should be noted that the first theoretical left-wheel steering angle and the second theoretical left-wheel steering angle correspond to , the first preset left wheel steering angle and the second preset left wheel steering angle correspond to .

[0109] The relationship between the actual left-turn cylinder extension and retraction information and the actual left-wheel steering angle is determined based on the theoretical relationship between the left-turn cylinder extension and retraction information and the left-wheel steering angle, and the relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle.

[0110] Exemplarily, the relationship between the actual left-turn cylinder extension information and the actual left-wheel steering angle can be obtained by combining the theoretical relationship formula between the left-turn cylinder extension information and the left-wheel steering angle and the relationship formula between the theoretical left-wheel steering angle and the actual left-wheel steering angle, as shown below:

[0111] .

[0112] S240, determining a relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle according to the first right turn cylinder extension and retraction information, the second right turn cylinder extension and retraction information, the first preset right wheel steering angle, and the second preset right wheel steering angle.

[0113] As a feasible implementation manner, determining the relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle according to the first right turn cylinder extension and retraction information, the second right turn cylinder extension and retraction information, the first preset right wheel steering angle, and the second preset right wheel steering angle includes:

[0114] The first theoretical right wheel steering angle corresponding to the first right turn cylinder extension information is determined according to the first right turn cylinder extension information and the theoretical relationship between the right turn cylinder extension information and the right wheel steering angle. The theoretical relationship between the right turn cylinder extension information and the right wheel steering angle is as follows:

[0115] A second theoretical right wheel steering angle corresponding to the second right turn cylinder extension and retraction information is determined according to the second right turn cylinder extension and retraction information and a theoretical relationship between the right turn cylinder extension and retraction information and the right wheel steering angle.

[0116] It should be noted that the first right-turn cylinder telescopic information may include the telescopic length of the first right-turn cylinder, and the second right-turn cylinder telescopic information may include the telescopic length of the second right-turn cylinder. The vehicle controller may determine the first theoretical right-wheel steering angle based on the first right-turn cylinder telescopic information and the theoretical relationship between the right-turn cylinder telescopic information and the right-wheel steering angle, and determine the second theoretical right-wheel steering angle based on the second right-turn cylinder telescopic information and the theoretical relationship between the right-turn cylinder telescopic information and the right-wheel steering angle. The theoretical relationship between the right-turn cylinder telescopic information and the right-wheel steering angle is as follows:

[0117] .

[0118] Indicates the right wheel steering angle, Indicates the information of the steering ladder arm. Indicates the distance between the left kingpin center and the right turn cylinder fixed point. Indicates the right turn cylinder information when the wheel is centered. Indicates the right turn cylinder extension information. Indicates the kingpin inclination angle, It should be noted that the above formula , , , and All of them are known, so the first theoretical right wheel steering angle can be obtained by substituting the first right turn cylinder extension and contraction information into the theoretical relationship formula between the right turn cylinder extension and contraction information and the right wheel steering angle and calculating, and the second theoretical right wheel steering angle can be obtained by substituting the second right turn cylinder extension and contraction information into the theoretical relationship formula between the right turn cylinder extension and contraction information and the right wheel steering angle and calculating.

[0119] The relationship between the theoretical right wheel steering angle and the actual right wheel steering angle is determined according to the first theoretical right wheel steering angle, the second theoretical right wheel steering angle, the first preset right wheel steering angle and the second preset right wheel steering angle, wherein the relationship between the theoretical right wheel steering angle and the actual right wheel steering angle satisfies a linear relationship.

[0120] Exemplarily, the relationship between the theoretical right wheel steering angle and the actual right wheel steering angle is as follows: . A formula can be obtained by substituting the first theoretical right-wheel steering angle and the first preset right-wheel steering angle into the above-mentioned relationship between the theoretical right-wheel steering angle and the actual right-wheel steering angle. Another formula can be obtained by substituting the second theoretical right-wheel steering angle and the second preset right-wheel steering angle into the above-mentioned relationship between the theoretical right-wheel steering angle and the actual right-wheel steering angle. Finally, by solving the two obtained formulas, k2 and b2 in the relationship between the right-wheel steering angle and the actual right-wheel steering angle can be determined. It should be noted that the first theoretical right-wheel steering angle and the second theoretical right-wheel steering angle correspond to , the first preset right wheel steering angle and the second preset right wheel steering angle correspond to .

[0121] The relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle is determined based on the theoretical relationship between the right turn cylinder extension and retraction information and the right wheel steering angle, and the relationship between the theoretical right wheel steering angle and the actual right wheel steering angle.

[0122] Exemplarily, the relationship between the actual left-turn cylinder extension information and the actual left-wheel steering angle can be obtained by combining the theoretical relationship formula between the left-turn cylinder extension information and the left-wheel steering angle and the relationship formula between the theoretical left-wheel steering angle and the actual left-wheel steering angle, as shown below:

[0123] .

[0124] S250, obtaining actual left-turn cylinder extension and retraction information and actual right-turn cylinder extension and retraction information.

[0125] S260, determining the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information, and the relationship between the actual left turn cylinder extension and retraction information and the actual left wheel steering angle, and determining the actual right wheel steering angle according to the actual right turn cylinder extension and retraction information, and the relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle.

[0126] Exemplarily, the actual left wheel steering angle can be obtained by substituting the actual left turn cylinder extension and contraction information into the relationship formula between the actual left turn cylinder extension and contraction information and the actual left wheel steering angle and calculating, and the actual right wheel steering angle can be obtained by substituting the actual right turn cylinder extension and contraction information into the relationship formula between the actual right turn cylinder extension and contraction information and the actual right wheel steering angle and calculating.

[0127] S270: Determine a first median steering angle according to an actual left wheel steering angle, and determine a second median steering angle according to an actual right wheel steering angle.

[0128] S280. Determine an actual median steering angle according to actual left-turn cylinder extension and retraction information, actual right-turn cylinder extension and retraction information, and a preset median steering angle priority, wherein the actual median steering angle includes a first median steering angle or a second median steering angle.

[0129] S290: Control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

[0130] Compared with the solution of directly using the theoretical left wheel steering angle as the actual left wheel steering angle and the theoretical right wheel steering angle as the actual right wheel steering angle, the embodiment of the present invention can obtain more accurate actual left wheel steering angle and actual right wheel steering angle through steps S210-S260, which is beneficial to improving the accuracy of the effective median angle and further improving the steering control accuracy.

[0131] Based on the above embodiments, Figure 3 A flowchart of another steering control method for an unmanned vehicle provided in an embodiment of the present invention, Figure 3 The embodiment shown in the figure provides a detailed description of how to obtain the actual left-turn cylinder extension information and the actual right-turn cylinder extension information. Figure 3 , the steering control method of the unmanned vehicle in the embodiment of the present invention includes:

[0132] S310, obtaining actual extension and retraction information of the left-turn oil cylinder by means of a first displacement sensor disposed on the left-turn oil cylinder, and obtaining actual extension and retraction information of the right-turn oil cylinder by means of a second displacement sensor disposed on the right-turn oil cylinder.

[0133] Exemplarily, the vehicle controller is communicatively connected to the first displacement sensor and the second displacement sensor respectively, and can obtain actual left-turn cylinder extension and contraction information sensed by the first displacement sensor and actual right-turn cylinder extension and contraction information sensed by the second displacement sensor.

[0134] In the prior art, a pin sensor is usually used to obtain cylinder extension and contraction information, and then the wheel steering angle is determined based on the cylinder extension and contraction information. However, the poor accuracy of the pin sensor will lead to poor accuracy of the calculated wheel steering angle, which in turn affects the consistency of the vehicle. The embodiment of the present invention can solve the problem of poor wheel steering angle accuracy in the prior art by setting a first displacement sensor and a second displacement sensor using a magnetostrictive displacement sensor, which is beneficial to improving the consistency of the vehicle.

[0135] S320, determining an actual left wheel steering angle according to actual left turn cylinder extension and retraction information, and determining an actual right wheel steering angle according to actual right turn cylinder extension and retraction information.

[0136] S330: Determine a first median steering angle according to an actual left wheel steering angle, and determine a second median steering angle according to an actual right wheel steering angle.

[0137] S340. Determine an actual median steering angle according to actual left-turn cylinder extension and retraction information, actual right-turn cylinder extension and retraction information, and a preset median steering angle priority, wherein the actual median steering angle includes a first median steering angle or a second median steering angle.

[0138] S350: Control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

[0139] Based on the above embodiments, Figure 4 A flowchart of another steering control method for an unmanned vehicle provided in an embodiment of the present invention, Figure 4 The embodiment shown in the figure describes in detail how to determine the actual middle steering angle according to the actual left-turn oil cylinder extension and retraction information, the actual right-turn oil cylinder extension and retraction information and the preset middle steering angle priority. Figure 4 , the steering control method of the unmanned vehicle in the embodiment of the present invention includes:

[0140] S410, obtaining actual extension and retraction information of the left-turn oil cylinder by means of a first displacement sensor disposed on the left-turn oil cylinder, and obtaining actual extension and retraction information of the right-turn oil cylinder by means of a second displacement sensor disposed on the right-turn oil cylinder.

[0141] S420, determining an actual left wheel steering angle according to actual left turn cylinder extension and retraction information, and determining an actual right wheel steering angle according to actual right turn cylinder extension and retraction information.

[0142] S430: Determine a first median steering angle according to the actual left wheel steering angle, and determine a second median steering angle according to the actual right wheel steering angle.

[0143] S440, determining first fault information of the first displacement sensor according to actual left-turn cylinder extension and retraction information.

[0144] It can be understood that the actual left-turn cylinder extension and retraction information sensed when the first displacement sensor fails is different from the actual left-turn cylinder extension and retraction information sensed when the first displacement sensor is normal. Therefore, the vehicle controller can determine whether the first displacement sensor is faulty based on the actual left-turn cylinder extension and retraction information obtained, and then generate first fault information including whether the first displacement sensor is faulty.

[0145] S450. Determine second fault information of the second displacement sensor according to actual right-turn cylinder extension and retraction information.

[0146] It can be understood that the actual right-turn cylinder extension and retraction information sensed when the second displacement sensor fails is different from the actual right-turn cylinder extension and retraction information sensed when it is normal. Therefore, the vehicle controller can determine whether the second displacement sensor is faulty based on the actual right-turn cylinder extension and retraction information obtained, and then generate second fault information including whether the second displacement sensor is faulty.

[0147] S460. Determine an actual median steering angle according to the first fault information, the second fault information, and a preset median steering angle priority.

[0148] As a feasible implementation manner, the actual median steering angle is determined according to the first fault information, the second fault information and the preset median steering angle priority, including: if the first fault information includes that the first displacement sensor is normal, the second fault information includes that the second displacement sensor is normal, and the preset median steering angle priority includes that the priority of the first median steering angle is greater than the priority of the second median steering angle, then it is determined that the actual median steering angle includes the first median steering angle; if the first fault information includes that the first displacement sensor is normal, the second fault information includes that the second displacement sensor is normal, and the preset median steering angle priority includes that the priority of the first median steering angle is less than the priority of the second median steering angle, then it is determined that the actual median steering angle includes the second median steering angle; if the first fault information includes that the first displacement sensor is faulty and the second fault information includes that the second displacement sensor is normal, then it is determined that the actual median steering angle includes the second median steering angle; if the first fault information includes that the first displacement sensor is normal and the second fault information includes that the second displacement sensor is faulty, then it is determined that the actual median steering angle includes the first median steering angle.

[0149] S470: Control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

[0150] Based on the above embodiments, Figure 5 A flowchart of another steering control method for an unmanned vehicle provided in an embodiment of the present invention, Figure 5 The embodiment shown enriches the process of the steering control method of the unmanned vehicle, referring to Figure 5 , the steering control method of the unmanned vehicle in the embodiment of the present invention includes:

[0151] S510, obtaining actual extension and retraction information of the left-turn oil cylinder by means of a first displacement sensor disposed on the left-turn oil cylinder, and obtaining actual extension and retraction information of the right-turn oil cylinder by means of a second displacement sensor disposed on the right-turn oil cylinder.

[0152] S520, determining an actual left wheel steering angle according to actual left turn cylinder extension and retraction information, and determining an actual right wheel steering angle according to actual right turn cylinder extension and retraction information.

[0153] S530: Determine a first median steering angle according to the actual left wheel steering angle, and determine a second median steering angle according to the actual right wheel steering angle.

[0154] S540, determining first fault information of the first displacement sensor according to actual left-turn cylinder extension and retraction information.

[0155] S550. Determine second fault information of the second displacement sensor according to actual right-turn cylinder extension and retraction information.

[0156] S560. Determine the actual median steering angle according to the first fault information, the second fault information and the preset median steering angle priority.

[0157] S570: Control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

[0158] S580. Control the running speed of the vehicle according to the first fault information and the second fault information.

[0159] In order to further improve the driving safety of unmanned vehicles, the embodiment of the present invention provides a vehicle controller that can control the running speed of the vehicle according to the first fault information and the second fault information.

[0160] Specifically, the running speed of the vehicle is controlled according to the first fault information and the second fault information, including: if the first fault information includes that the first displacement sensor is normal, and the second fault information includes that the second displacement sensor is faulty, or the first fault information includes that the first displacement sensor is faulty and the second fault information includes that the second displacement sensor is normal, then the running speed of the vehicle is controlled to be lower than a preset speed; if the first fault information includes that the first displacement sensor is faulty and the second fault information includes that the second displacement sensor is faulty, then the running speed of the vehicle is controlled to be zero.

[0161] Optionally, if the first fault information includes that the first displacement sensor is normal, the second fault information includes that the second displacement sensor is faulty, or the first fault information includes that the first displacement sensor is faulty, the vehicle controller will send a level 2 fault alarm to the unmanned driving system. If the first fault information includes that the first displacement sensor is faulty, and the second fault information includes that the second displacement sensor is faulty, the vehicle controller will send a level 3 fault alarm to the unmanned driving system. Sending level 2 and level 3 fault alarms to the unmanned driving system is to facilitate the subsequent acquisition of complete vehicle driving information through the unmanned driving system.

[0162] Based on the same inventive concept, an embodiment of the present invention further provides a steering control device for an unmanned vehicle. Figure 6 A schematic diagram of a steering control device for an unmanned vehicle according to an embodiment of the present invention is provided. Figure 6, the steering control device of the unmanned vehicle in the embodiment of the present invention comprises:

[0163] The cylinder extension and retraction information acquisition unit 610 is used to acquire actual left-turn cylinder extension and retraction information and actual right-turn cylinder extension and retraction information.

[0164] The left and right wheel steering angle determination unit 620 is used to determine the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information, and to determine the actual right wheel steering angle according to the actual right turn cylinder extension and retraction information.

[0165] The median steering angle determination unit 630 is used to determine a first median steering angle according to an actual left wheel steering angle, and to determine a second median steering angle according to an actual right wheel steering angle.

[0166] The actual median steering angle determination unit 640 is used to determine the actual median steering angle according to the actual left-turn cylinder extension and retraction information, the actual right-turn cylinder extension and retraction information and the preset median steering angle priority, wherein the actual median steering angle includes the first median steering angle or the second median steering angle.

[0167] The steering control unit 650 is used to control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

[0168] The steering control device for an unmanned vehicle provided in an embodiment of the present invention can execute the steering control method for an unmanned vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0169] Figure 7 A schematic diagram of a steering control device 700 that can be used to implement an embodiment of the present invention is shown, and the steering control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The steering control device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0170] like Figure 7As shown, the steering control device 700 includes at least one processor 710, and a memory connected to the at least one processor 710, such as a read-only memory (ROM) 720, a random access memory (RAM) 730, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 710 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 720 or the computer program loaded from the storage unit 780 to the random access memory (RAM) 730. In the RAM 730, various programs and data required for the operation of the steering control device 700 can also be stored. The processor 710, the ROM 720, and the RAM 730 are connected to each other through a bus 740. An input / output (I / O) interface 750 is also connected to the bus 740.

[0171] A number of components in the steering control device 700 are connected to the I / O interface 750, including: an input unit 760, such as a keyboard, a mouse, etc.; an output unit 770, such as various types of displays, speakers, etc.; a storage unit 780, such as a disk, an optical disk, etc.; and a communication unit 790, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 790 allows the steering control device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0172] The processor 710 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 710 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 710 performs the various methods and processes described above, such as a steering control method for an unmanned vehicle.

[0173] In some embodiments, the steering control method of the unmanned vehicle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 780. In some embodiments, part or all of the computer program may be loaded and / or installed on the steering control device 700 via the ROM 720 and / or the communication unit 790. When the computer program is loaded into the RAM 730 and executed by the processor 710, one or more steps of the steering control method of the unmanned vehicle described above may be performed. Alternatively, in other embodiments, the processor 710 may be configured to execute the steering control method of the unmanned vehicle in any other appropriate manner (e.g., by means of firmware).

[0174] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0175] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0176] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on 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.

[0177] To provide interaction with a user, the systems and techniques described herein may be implemented on a steering control device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the steering control device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0178] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0179] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0180] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0181] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A steering control method for an unmanned vehicle, characterized in that: include: Obtain the actual extension and retraction information of the left-turn oil cylinder and the actual extension and retraction information of the right-turn oil cylinder; Determine the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information, and determine the actual right wheel steering angle according to the actual right turn cylinder extension and retraction information; Determine a first median steering angle according to the actual left wheel steering angle, and determine a second median steering angle according to the actual right wheel steering angle; Determining an actual middle steering angle according to the actual left-turn oil cylinder extension and retraction information, the actual right-turn oil cylinder extension and retraction information, and a preset middle steering angle priority, wherein the actual middle steering angle includes the first middle steering angle or the second middle steering angle; The steering of the unmanned vehicle is controlled according to the actual median steering angle and the preset median steering angle.

2. The steering control method according to claim 1, characterized in that: Before obtaining the actual left-turn oil cylinder extension and retraction information and the actual right-turn oil cylinder extension and retraction information, the steering control method further includes: Acquire the telescopic information of the first left-turn oil cylinder and the telescopic information of the first right-turn oil cylinder when the unmanned vehicle turns left to the left maximum steering angle, and the telescopic information of the second left-turn oil cylinder and the telescopic information of the second right-turn oil cylinder when the unmanned vehicle turns right to the right maximum steering angle; Obtaining a first preset left wheel steering angle and a first preset right wheel steering angle when the unmanned vehicle turns left to a left maximum steering angle, and a second preset left wheel steering angle and a second preset right wheel steering angle when the unmanned vehicle turns right to a right maximum steering angle; Determine the relationship between the actual left-turn cylinder extension and retraction information and the actual left-turn steering angle according to the first left-turn cylinder extension and retraction information, the second left-turn cylinder extension and retraction information, the first preset left-wheel steering angle, and the second preset left-wheel steering angle; Determine the relationship between the actual right-turn cylinder extension and retraction information and the actual right-turn wheel steering angle according to the first right-turn cylinder extension and retraction information, the second right-turn cylinder extension and retraction information, the first preset right-wheel steering angle, and the second preset right-wheel steering angle; Determining the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information includes: Determining the actual left wheel steering angle according to the actual left turn cylinder extension and retraction information, and the relationship between the actual left turn cylinder extension and retraction information and the actual left wheel steering angle; Determining the actual right wheel steering angle according to the actual right turn cylinder extension and retraction information includes: The actual right wheel steering angle is determined according to the actual right turn cylinder extension and retraction information, and the relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle.

3. The steering control method according to claim 2, characterized in that: Determining the relationship between the actual left-turn cylinder extension and retraction information and the actual left-turn steering angle according to the first left-turn cylinder extension and retraction information, the second left-turn cylinder extension and retraction information, the first preset left-wheel steering angle, and the second preset left-wheel steering angle includes: Determining a first theoretical left wheel steering angle corresponding to the first left turn cylinder extension and retraction information according to the first left turn cylinder extension and retraction information and a theoretical relationship between the left turn cylinder extension and retraction information and a left wheel steering angle; Determining a second theoretical left wheel steering angle corresponding to the second left turn cylinder extension and retraction information according to the second left turn cylinder extension and retraction information and a theoretical relationship between the left turn cylinder extension and retraction information and the left wheel steering angle; Determine a relationship between a theoretical left-wheel steering angle and an actual left-wheel steering angle according to the first theoretical left-wheel steering angle, the second theoretical left-wheel steering angle, the first preset left-wheel steering angle, and the second preset left-wheel steering angle, wherein the relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle satisfies a linear relationship; Determine the relationship between the actual left-turn oil cylinder extension and retraction information and the actual left-wheel steering angle according to the theoretical relationship between the left-turn oil cylinder extension and retraction information and the left-wheel steering angle, and the relationship between the theoretical left-wheel steering angle and the actual left-wheel steering angle; Determining a relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle according to the first right turn cylinder extension and retraction information, the second right turn cylinder extension and retraction information, the first preset right wheel steering angle, and the second preset right wheel steering angle includes: Determining a first theoretical right wheel steering angle corresponding to the first right turn cylinder extension and retraction information according to the first right turn cylinder extension and retraction information and a theoretical relationship between the right turn cylinder extension and retraction information and a right wheel steering angle; Determining a second theoretical right wheel steering angle corresponding to the second right turn cylinder extension and retraction information according to the second right turn cylinder extension and retraction information and a theoretical relationship between the right turn cylinder extension and retraction information and the right wheel steering angle; Determining a relationship between a theoretical right wheel steering angle and an actual right wheel steering angle according to the first theoretical right wheel steering angle, the second theoretical right wheel steering angle, the first preset right wheel steering angle, and the second preset right wheel steering angle, wherein the relationship between the theoretical right wheel steering angle and the actual right wheel steering angle satisfies a linear relationship; The relationship between the actual right turn cylinder extension and retraction information and the actual right wheel steering angle is determined based on the theoretical relationship between the right turn cylinder extension and retraction information and the right wheel steering angle, and the relationship between the theoretical right wheel steering angle and the actual right wheel steering angle.

4. The steering control method according to claim 1, characterized in that: Get the actual left-turn cylinder extension and retraction information and the actual right-turn cylinder extension and retraction information, including: The actual extension and contraction information of the left-turn oil cylinder is obtained by a first displacement sensor arranged on the left-turn oil cylinder, and the actual extension and contraction information of the right-turn oil cylinder is obtained by a second displacement sensor arranged on the right-turn oil cylinder.

5. The steering control method according to claim 4, characterized in that: Determining the actual middle steering angle according to the actual left-turn oil cylinder extension and retraction information, the actual right-turn oil cylinder extension and retraction information, and the preset middle steering angle priority includes: Determine first fault information of the first displacement sensor according to the actual left-turn oil cylinder extension and retraction information; Determine second fault information of the second displacement sensor according to the actual right-turn oil cylinder extension and retraction information; The actual mid-steering angle is determined according to the first fault information, the second fault information and a preset mid-steering angle priority.

6. The steering control method according to claim 5, characterized in that: Determining the actual mid-steering angle according to the first fault information, the second fault information and a preset mid-steering angle priority includes: If the first fault information includes that the first displacement sensor is normal, the second fault information includes that the second displacement sensor is normal, and the preset neutral steering angle priority includes that the priority of the first neutral steering angle is greater than the priority of the second neutral steering angle, then determining that the actual neutral steering angle includes the first neutral steering angle; If the first fault information includes that the first displacement sensor is normal, the second fault information includes that the second displacement sensor is normal, and the preset neutral steering angle priority includes that the priority of the first neutral steering angle is less than the priority of the second neutral steering angle, then determining that the actual neutral steering angle includes the second neutral steering angle; If the first fault information includes that the first displacement sensor is faulty, the second fault information includes that the second displacement sensor is normal, and the median steering angle is median steering angle, then determining that the actual median steering angle includes the second median steering angle; If the first fault information includes that the first displacement sensor is normal, and the second fault information includes that the second displacement sensor is faulty, it is determined that the actual neutral steering angle includes the first neutral steering angle.

7. The steering control method according to claim 6, characterized in that: The steering control method further comprises: The running speed of the vehicle is controlled according to the first fault information and the second fault information.

8. The steering control method according to claim 7, characterized in that: Controlling the running speed of the vehicle according to the first fault information and the second fault information includes: If the first fault information includes that the first displacement sensor is normal, and the second fault information includes that the second displacement sensor is faulty, or if the first fault information includes that the first displacement sensor is faulty, and the second fault information includes that the second displacement sensor is normal, then controlling the running speed of the vehicle to be lower than a preset speed; If the first fault information includes a fault of the first displacement sensor and the second fault information includes a fault of the second displacement sensor, the running speed of the vehicle is controlled to be zero.

9. The steering control method according to claim 1, characterized in that: Determining a first mid-position steering angle according to the actual left wheel steering angle includes: Determining a first median steering angle according to the actual left wheel steering angle and a relationship between the actual left wheel steering angle and the first median steering angle; The relationship between the actual left wheel steering angle and the first median steering angle is as follows: ； represents the actual left wheel steering angle, represents the first median steering angle, Indicates the distance between the left and right wheels. Indicates the distance between the front and rear axles; Determining a second mid-position steering angle according to the actual right wheel steering angle includes: determining a second median steering angle according to the actual right wheel steering angle and a relationship between the actual right wheel steering angle and the second median steering angle; The relationship between the actual right wheel steering angle and the second median steering angle is as follows: ； represents the actual right wheel steering angle, represents the second median steering angle.

10. A steering control device for an unmanned vehicle, characterized in that: The steering control device comprises: The oil cylinder extension and retraction information acquisition unit is used to acquire the actual left-turn oil cylinder extension and retraction information and the actual right-turn oil cylinder extension and retraction information; A left-right wheel steering angle determination unit, used to determine an actual left wheel steering angle according to the actual left-turn oil cylinder extension and retraction information, and to determine an actual right wheel steering angle according to the actual right-turn oil cylinder extension and retraction information; a median steering angle determination unit, configured to determine a first median steering angle according to the actual left wheel steering angle, and to determine a second median steering angle according to the actual right wheel steering angle; an actual mid-steering angle determining unit, configured to determine an actual mid-steering angle according to the actual left-turn cylinder extension and retraction information, the actual right-turn cylinder extension and retraction information, and a preset mid-steering angle priority, wherein the actual mid-steering angle includes the first mid-steering angle or the second mid-steering angle; A steering control unit is used to control the steering of the unmanned vehicle according to the actual median steering angle and the preset median steering angle.

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