Engineering equipment turning control method and device, engineering equipment and readable storage medium

Abstract

The invention discloses an engineering equipment turning control method and device, engineering equipment and a readable storage medium, and relates to the technical field of engineering equipment. The method can be applied to engineering equipment with a new energy architecture or a fuel oil architecture. The method comprises the steps that size information of the engineering equipment, road information of a road where the engineering equipment is located and the maximum steering angle of each axle of the engineering equipment in each turning mode are obtained; respectively determining the minimum turning radius of the engineering equipment in each turning mode based on the size information and each maximum turning angle; determining a road allowable turning radius and a corresponding curve path based on the road information; determining a target turning mode based on the road allowable turning radius and all the minimum turning radii; and controlling the engineering equipment to turn based on the target turning mode and the curve path. Automatic control over the turning process is achieved, the frequency of manual operation is reduced, the intelligent level of equipment is improved, the operation safety of engineering equipment is improved, and the operation difficulty and cost are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of engineering equipment, and specifically to an engineering equipment turning control method, device, engineering equipment and a readable storage medium. Background Art

[0002] At present, most vehicles that use autonomous driving technology are small passenger cars. As steering technology is an important part of vehicle driving, front-wheel automatic steering technology is mainly used in small cars at this stage. Since the steering technology of small cars is generally front-axle steering, vehicles that use front-axle automatic steering technology only need to calculate the steering angle and vehicle speed when steering the front axle according to road conditions, so that the steering and throttle are controlled by the on-board controller, and there is no need to select a steering mode. For many large vehicles, such as engineering machinery vehicles, the front-axle steering function can no longer meet the driving needs of the vehicle due to the large size of the vehicle. Therefore, these vehicles not only have front-axle steering functions, but also rear-axle steering, full-axle steering, crab-walking and other multi-axle steering modes. However, the steering mode selection of large vehicles usually depends on the judgment of the driver, which requires high driver experience and is prone to the phenomenon of wrong mode selection due to misjudgment. How to improve the automated steering capability of large vehicles has become a widely concerned issue. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the embodiments of the present application is to provide a turning control method and device for engineering equipment, engineering equipment and a readable storage medium.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a turning control method for engineering equipment, comprising:

[0005] Acquire size information of the engineering equipment, road information of the road where the engineering equipment is located, and maximum steering angles of each axle of the engineering equipment in each turning mode, wherein the turning modes include a front axle steering mode, a rear axle steering mode, and a full axle steering mode;

[0006] Determine the minimum turning radius of the engineering equipment in each turning mode based on the size information and each maximum steering angle;

[0007] Determine the allowed turning radius of the road and the corresponding curve path based on the road information;

[0008] Determine a target turning mode based on the allowed turning radius of the road and all minimum turning radii;

[0009] Control engineering equipment turning based on target turning pattern and curve path.

[0010] In the embodiment of the present application, the road information includes marked road information or unmarked road information, and determining the allowed turning radius of the road and the corresponding curve path based on the road information includes:

[0011] In the case where the road information is marked road information, determining the allowed turning radius of the road and the corresponding curved path based on the marked road information, wherein the marked road information includes lane line information, information on whether the road is allowed to travel, and obstacle information;

[0012] When the road information is unmarked road information, the input target information is obtained, wherein the target information includes the destination and the vehicle head orientation requirement of the engineering equipment at the destination, and the unmarked road information includes the current position and current vehicle head orientation of the engineering equipment, obstacle information, and road map information;

[0013] determining an initial driving area based on target information and non-marked road information;

[0014] The permissible turning radius of the road and the corresponding curve path are determined based on the initial driving area.

[0015] In the embodiment of the present application, the target turning mode is determined based on the allowed turning radius of the road and all minimum turning radii, including:

[0016] Determine a turning pattern set based on the allowed turning radius of the road and all minimum turning radii;

[0017] Selecting the first minimum turning radius having the largest difference with the turning radius allowed by the road from the turning pattern set;

[0018] A first turning mode corresponding to the first minimum turning radius is determined as the target turning mode.

[0019] In the embodiment of the present application, a turning mode set is determined based on the allowed turning radius of the road and all minimum turning radii, including:

[0020] Compare all minimum turning radii with the road's allowed turning radius respectively;

[0021] The turning mode corresponding to the second minimum turning radius is taken as a turning mode set, wherein the second minimum turning radius is the minimum turning radius of all turning radii that are smaller than the turning radius allowed by the road.

[0022] In the embodiment of the present application, the engineering equipment turning control method further includes:

[0023] In the case that there are multiple first turning modes, the first turning mode with the highest priority among the preset modes is determined as the target turning mode.

[0024] In the embodiment of the present application, the target turning mode is determined based on the allowed turning radius of the road and all minimum turning radii, including:

[0025] In the case where there is a speed limit condition on the road, determining a second turning mode among all turning modes based on the speed limit condition;

[0026] The target turning mode is determined based on the third minimum turning radius corresponding to all the second turning modes and the turning radius allowed by the road.

[0027] In an embodiment of the present application, controlling the turning of engineering equipment based on a target turning mode and a curve path includes:

[0028] Calculate the target steering angle of each axle of the engineering equipment in the target turning mode based on the curve path;

[0029] Controlling turning of construction equipment based on target steering angles for each axle.

[0030] A second aspect of the present application provides a turning control device for engineering equipment, comprising:

[0031] a memory configured to store instructions;

[0032] The processor is configured to call instructions from the memory and implement the engineering equipment turning control method as described in the above embodiment when executing the instructions.

[0033] A third aspect of the present application provides an engineering device, comprising:

[0034] The engineering equipment turning control device as described in the above embodiment.

[0035] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the engineering equipment turning control method as described in the above-mentioned embodiment.

[0036] Through the above technical solution, the size information of the engineering equipment, the road information of the road where the engineering equipment is located, and the maximum steering angle of each axle of the engineering equipment in each turning mode are obtained, wherein the turning mode includes the front axle steering mode, the rear axle steering mode and the full-bridge steering mode; and reference data with real-time and accuracy is provided for the subsequent turning control of the engineering equipment. The minimum turning radius of the engineering equipment in each turning mode is determined based on the size information and each maximum steering angle; the road allowable turning radius and the corresponding curve path are determined based on the road information; the target turning mode is determined based on the road allowable turning radius and all minimum turning radii; the turning of the engineering equipment is controlled based on the target turning mode and the curve path. The automatic control of the turning process is realized, the frequency of manual intervention and manual operation is reduced, the intelligence level of the equipment is improved, and the operating performance and safety of the engineering equipment are improved, and the difficulty and cost of operation are reduced.

[0037] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0039] Figure 1 A schematic diagram of a process flow of a turning control method for engineering equipment according to an embodiment of the present application is schematically shown;

[0040] Figure 2 The structural block diagram of a turning control device for engineering equipment according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0042] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0043] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0044] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0045] Figure 1 The following schematically shows a flow chart of a method for controlling turning of engineering equipment according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a turning control method for engineering equipment, which may include the following steps:

[0046] Step 100, obtaining size information of the engineering equipment, road information of the road where the engineering equipment is located, and maximum steering angles of each axle of the engineering equipment in each turning mode, wherein the turning modes include a front axle steering mode, a rear axle steering mode, and a full axle steering mode;

[0047] It should be noted that the engineering equipment turning control method in this embodiment can be applied to engineering equipment with new energy architecture and / or fuel architecture. Since engineering equipment is usually large-scale equipment, in order to meet its driving and operating needs, it includes a variety of turning modes. For example, front axle steering mode, rear axle steering mode and full-bridge steering mode. In some embodiments, steering modes such as crab steering mode may also be included. When turning, engineering equipment selects the turning mode based solely on the judgment of the driver, which is prone to misjudgment and affects operating efficiency, and even safety problems. This embodiment proposes a turning control method for engineering equipment to enhance the ability of engineering equipment to automatically steer.

[0048] Specifically, key information is first obtained to provide effective data basis for the subsequent selection of steering modes. The key information includes the size information of the engineering equipment, the road information of the road where the engineering equipment is located, and the maximum steering angle of each axle of the engineering equipment in each turning mode. Among them, the size information of the engineering equipment includes the length, width, height, wheelbase and steering range of the engineering equipment, etc., which are crucial for determining the space required for the engineering equipment when turning and the restrictions that may be encountered. The road information of the road includes the road itself information and road-related information. Among them, the road itself information includes the road itself information such as lane lines, width, curvature, turning radius, etc. The road-related information includes the obstacle information on the road, whether the road is allowed to drive, the map information of the road, and the current position of the engineering equipment on the road and the current head direction. Road information is an important basis for evaluating whether the equipment can turn safely.

[0049] The maximum steering angle of the axle refers to the deflection angle formed when the axle turns left or right to the extreme position. This is an important parameter of the steering system of engineering equipment and directly affects the steering performance of the engineering equipment. The turning modes of engineering equipment include front axle steering mode, rear axle steering mode and full-bridge steering mode. In different turning modes, the steering ability of the axle is different, which directly determines the turning flexibility of the engineering equipment in different modes. It can be understood that the size information of the engineering equipment and the maximum steering angle of each axle of the engineering equipment in each turning mode are parameter information that can be determined when the equipment leaves the factory based on the model of the engineering equipment. The road information of the road where the engineering equipment is located can be obtained by sensing the driving road surface information through on-board sensors, cameras and other devices.

[0050] Step 200, determining the minimum turning radius of the engineering equipment in each turning mode based on the size information and each maximum steering angle;

[0051] The minimum turning radius refers to the shortest distance from the steering center to the contact point between the front outer steering wheel and the ground of the engineering equipment when the steering wheel is turned to the extreme position. It reflects the ability of the engineering equipment to pass through the curved road with the minimum curvature radius and the ability to turn around on a narrow road. The maximum steering angle of the axle will affect the minimum turning radius of the engineering equipment. According to the calculation formula of the turning radius R = L / (2×sin(δ)), where R represents the turning radius, L represents the wheelbase, and δ represents the maximum steering angle, it can be seen that when the wheelbase L remains unchanged, the larger the maximum steering angle δ, the smaller the turning radius R. The minimum turning radius of the engineering equipment is not only related to the maximum steering angle of the axle, but also to factors such as the wheelbase, tire size, road conditions, and the maximum load and speed of the vehicle. The longer the wheelbase, the larger the turning radius; changes in tire size will also affect the vehicle's contact area and friction, thereby affecting the turning radius; different road conditions will also affect the vehicle's turning radius. Therefore, through the size information of the engineering equipment and each maximum steering angle, the minimum turning radius required for the engineering equipment in each turning mode can be calculated. Calculating the minimum turning radius for each turning mode is the basis for determining whether construction equipment can safely turn on a specific road.

[0052] Step 300, determining the allowed turning radius of the road and the corresponding curve path based on the road information;

[0053] Step 400, determining a target turning mode based on the allowed turning radius of the road and all minimum turning radii;

[0054] Step 500 , controlling the engineering equipment to turn based on the target turning mode and the curve path.

[0055] It should be noted that by analyzing the road information, the allowable turning radius of the road can be determined, that is, the maximum or minimum turning radius allowed by the road conditions. At the same time, the curve path that the engineering equipment should follow when turning can also be planned to ensure the smoothness and safety of the turning process. Compare the allowable turning radius of the road with all the minimum turning radii, and select the target turning mode from all turning modes that can both meet the road conditions and maximize the steering performance of the equipment. After determining the target turning mode and curve path, the corresponding control system is used to guide the engineering equipment to perform turning operations. The control system of the engineering equipment can respond to instructions accurately and promptly to ensure that the engineering equipment remains stable and safe during the turning process.

[0056] Specifically, in one embodiment, controlling the turning of the engineering equipment based on the target turning mode and the curve path includes:

[0057] Calculate the target steering angle of each axle of the engineering equipment in the target turning mode based on the curve path;

[0058] Controlling turning of construction equipment based on target steering angles for each axle.

[0059] It should be noted that when determining the target steering angle, it is necessary to first analyze the curved path in detail to obtain the curvature, length, direction change, etc. of the curved path. This information is the basis for calculating the target steering angle. According to the analysis results of the curved path, the key parameters in the turning process, such as the turning radius, turning angle, etc., are determined, so that the target steering angle that each axle of the engineering equipment should reach during the turning process can be calculated based on the target turning mode and these turning parameters, using the steering mathematical model or empirical formula of the engineering equipment. The determined target steering angle is converted into a specific steering instruction and sent to the steering control system of the engineering equipment, so that after the steering control system receives the steering instruction, it controls the steering mechanism of each axle to perform the corresponding steering operation, so that the engineering equipment turns according to the predetermined curved path. In one embodiment, the steering state and position information of the engineering equipment can also be monitored in real time during the turning process to ensure that the equipment can accurately travel along the curved path. If it is found that the actual steering angle deviates from the target steering angle, or the position of the equipment deviates from the predetermined path, it is necessary to make timely adjustments to ensure the smoothness and safety of the turning process. Through the precise and efficient control of the turning of the engineering equipment, the adaptability of the engineering equipment to the turning process of complex roads is improved, and the operability and safety of the engineering equipment are improved.

[0060] In this embodiment, the size information of the engineering equipment, the road information of the road where the engineering equipment is located, and the maximum steering angle of each axle of the engineering equipment in each turning mode are obtained, wherein the turning mode includes the front axle steering mode, the rear axle steering mode, and the full-bridge steering mode; and reference data with real-time and accuracy is provided for the subsequent turning control of the engineering equipment. The minimum turning radius of the engineering equipment in each turning mode is determined based on the size information and each maximum steering angle; the allowed turning radius of the road and the corresponding curve path are determined based on the road information; the target turning mode is determined based on the allowed turning radius of the road and all the minimum turning radii; and the turning of the engineering equipment is controlled based on the target turning mode and the curve path. The automatic control of the turning process is realized, the frequency of manual intervention and manual operation is reduced, the intelligence level of the equipment is improved, and the operating performance and safety of the engineering equipment are improved, and the difficulty and cost of operation are reduced.

[0061] In one embodiment, the road information includes marked road information or unmarked road information, and determining the allowed turning radius of the road and the corresponding curve path based on the road information includes:

[0062] In the case where the road information is marked road information, determining the allowed turning radius of the road and the corresponding curved path based on the marked road information, wherein the marked road information includes lane line information, information on whether the road is allowed to travel, and obstacle information;

[0063] When the road information is unmarked road information, the input target information is obtained, wherein the target information includes the destination and the vehicle head orientation requirement of the engineering equipment at the destination, and the unmarked road information includes the current position and current vehicle head orientation of the engineering equipment, obstacle information, and road map information;

[0064] determining an initial driving area based on target information and non-marked road information;

[0065] The permissible turning radius of the road and the corresponding curve path are determined based on the initial driving area.

[0066] It should be noted that the application scope of engineering equipment is very wide, and the road environment it faces is also very complex. Especially in some environments without road signs, the driver's experience is very high. In some situations where there are many obstacles and the road is narrow, it is even more difficult for the driver to identify the road conditions. If the driver relies solely on the driver's experience to select a turning mode for turning, the turning efficiency is low and there may be safety risks. In this embodiment, in order to improve the adaptability of engineering equipment to different road environments and improve the flexibility and adaptability of engineering equipment, corresponding methods are used to determine the road's allowable turning radius and the corresponding curve path for different road information.

[0067] Specifically, road information can be divided into marked road information or unmarked road information. Marked road information refers to relevant road information of roads with road markings, such as urban roads. Unmarked road information refers to relevant road information of roads without road markings, such as wild roads. For marked road information, lane line information, such as lane width, lane boundary, etc., information on whether the road is allowed to drive, such as one-way streets, no-drive zones, etc., and obstacle information, such as road construction, traffic accidents, etc., can be collected. By using image processing technology and sensor data, lane line information can be accurately analyzed to determine the curvature and direction changes of the road, and combined with the information on whether the road is allowed to drive, the non-drivable area can be excluded, and then combined with the obstacle information, the turning path can be adjusted to avoid obstacles. Combining the above information, the maximum turning radius allowed by the road and the corresponding curve path are calculated.

[0068] For non-marked road information, target information is first collected. Target information includes the destination and the head orientation requirements of the engineering equipment at the destination. This information is usually input by the operator or obtained through the navigation system. Non-marked road information includes the current position and current head orientation of the engineering equipment, obstacle information, and map information of the road, such as road networks, intersections, etc. According to the destination and non-marked road information, the path planning algorithm is used to calculate the shortest or optimal path from the current position to the destination, while considering the size and driving ability of the engineering equipment, as well as obstacle information, to determine an initial, feasible driving area. In the initial driving area, the path planning is further refined in combination with the map information and obstacle information, and the turning performance and road conditions of the engineering equipment are considered to determine the allowable turning radius of each turning point. The above information is combined to generate the final curve path. In one embodiment, in the initial driving area, the curve path is planned according to the principle of minimum turning arc, that is, maximum turning radius.

[0069] In this embodiment, different types of road information are flexibly processed to adapt to different road conditions, thereby improving the accuracy, safety and flexibility of turning control of engineering equipment.

[0070] In one embodiment, determining a target turning mode based on the allowed turning radius of the road and all minimum turning radii includes:

[0071] Determine a turning pattern set based on the allowed turning radius of the road and all minimum turning radii;

[0072] Selecting the first minimum turning radius having the largest difference with the turning radius allowed by the road from the turning pattern set;

[0073] A first turning mode corresponding to the first minimum turning radius is determined as the target turning mode.

[0074] It should be noted that, during driving, choosing a suitable turning mode is crucial to ensuring driving safety and efficiency, especially in complex road environments, where vehicles must be able to adapt to different turning requirements. In this embodiment, the target turning mode is determined based on the road's allowable turning radius and all minimum turning radii. Specifically, after determining the road's allowable turning radius and the minimum turning radius in each turning mode, all minimum turning radii are compared with the road's allowable turning radius to form a turning mode set. In order to ensure that the axle can reach the required steering angle in the shortest possible time, the optimal target turning mode is screened out from the turning mode set. Specifically, for each turning mode in the turning mode set, the difference between its corresponding minimum turning radius and the road's allowable turning radius is calculated. Among all the calculated differences, the largest one is found, and the minimum turning radius corresponding to this maximum difference is the first minimum turning radius. According to the screened first minimum turning radius, the corresponding turning mode is found, which will be used as the first turning mode, and the first turning mode is determined as the target turning mode. A safe and efficient target turning mode is determined based on the road's allowable turning radius and all minimum turning radii, thereby optimizing the driving experience and driving safety.

[0075] Specifically, in one embodiment, determining a turning mode set based on the allowed turning radius of the road and all minimum turning radii includes:

[0076] Compare all minimum turning radii with the road's allowed turning radius respectively;

[0077] The turning mode corresponding to the second minimum turning radius is taken as a turning mode set, wherein the second minimum turning radius is the minimum turning radius of all turning radii that are smaller than the turning radius allowed by the road.

[0078] It should be noted that before screening the target turning mode, this embodiment will pre-construct a turning mode set to improve the accuracy and effectiveness of the target turning mode selection. All turning modes in the turning mode set can be safely performed on the road where the engineering equipment is located. Specifically, all minimum turning radii are traversed, and each minimum turning radius is compared with the turning radius allowed by the road. Find all minimum turning radii that are less than the turning radius allowed by the road as the second minimum turning radius. It can be understood that the second minimum turning radius represents the turning action that the engineering equipment can safely perform on the road. According to all the second minimum turning radii, the corresponding turning mode is determined to form a turning mode set. It should be noted that if all the minimum turning radii are greater than the turning radius allowed by the road, it is determined that the engineering equipment cannot turn, and manual intervention is required to issue a reminder. In the case where there are one or more minimum turning radii equal to the turning radius allowed by the road, and the remaining minimum turning radii are greater than the turning radius allowed by the road, based on different application requirements, the turning mode with one or more minimum turning radii equal to the turning radius allowed by the road is selected as the turning mode set, or manual intervention is performed to output a reminder.

[0079] In this embodiment, a turning mode set with strong adaptability and high safety is determined based on the allowed turning radius of the road and all minimum turning radii, so as to narrow the range of selection of the target turning mode and improve the accuracy of selection.

[0080] In one embodiment, the engineering equipment turning control method further includes:

[0081] In the case that there are multiple first turning modes, the first turning mode with the highest priority among the preset modes is determined as the target turning mode.

[0082] It should be noted that when faced with multiple possible turning modes, it is crucial to choose the most appropriate one. Especially when there are multiple first turning modes, that is, there are multiple minimum turning radiuses with the same difference between the turning radius allowed by the road and the difference is the largest. At this time, a clear standard is needed to determine which first turning mode should be adopted. In this embodiment, mode priorities, that is, preset mode priorities, are set for different turning modes based on factors such as vehicle performance, road conditions, driving habits, and safety. Specifically, it is confirmed whether the first turning mode contains multiple first turning modes. If there is only one first turning mode, it is directly determined as the target turning mode. When there are multiple first turning modes, these first turning modes are sorted according to the preset mode priority, and the first turning mode with the highest priority will be given priority as the target turning mode.

[0083] In this embodiment, when there are multiple first turning modes, an optimal target turning mode is determined based on the preset mode priority, thereby improving driving efficiency and enhancing driving safety.

[0084] In one embodiment, determining a target turning mode based on the allowed turning radius of the road and all minimum turning radii includes:

[0085] In the case where there is a speed limit condition on the road, determining a second turning mode among all turning modes based on the speed limit condition;

[0086] The target turning mode is determined based on the third minimum turning radius corresponding to all the second turning modes and the turning radius allowed by the road.

[0087] It should be noted that the speed limit condition includes the maximum allowable driving speed and the minimum allowable driving speed set on the road. In this embodiment, when there is a speed limit condition on the road, all turning modes are traversed to evaluate the feasibility and safety of each mode under the speed limit condition, with special attention paid to those modes that may cause safety hazards due to excessive speed or too small turning radius. A turning mode that is compatible with the speed limit condition is selected from all turning modes as the second turning mode. The third minimum turning radius refers to the minimum turning radius corresponding to the second turning mode. After the second turning mode is selected, the third turning radius corresponding to the second turning mode is further compared with the turning radius allowed by the road to determine the final target turning mode. The comparison between the third turning radius and the turning radius allowed by the road can refer to the method described in the above embodiment.

[0088] In this embodiment, taking into account the road speed limit conditions, a safe and efficient target turning mode is determined based on the allowed turning radius of the road and the minimum turning radius corresponding to all second turning modes, thereby improving the accuracy of driving decisions and ensuring driving safety.

[0089] Figure 2 The structure block diagram of a turning control device for engineering equipment according to an embodiment of the present application is schematically shown. Figure 2 As shown, the embodiment of the present application provides an engineering equipment turning control device 1000, which may include:

[0090] Memory 1001, configured to store instructions;

[0091] The processor 1002 is configured to call instructions from the memory 1001 and implement the engineering equipment turning control method as described in the above embodiment when executing the instructions.

[0092] The present application also provides an engineering device, including:

[0093] The engineering equipment turning control device as described in the above embodiment.

[0094] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the engineering equipment turning control method as described in the above embodiment.

[0095] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0096] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0099] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0100] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0101] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0102] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0103] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A turning control method for engineering equipment, characterized in that: include: Acquire size information of the engineering equipment, road information of the road where the engineering equipment is located, and maximum steering angles of each axle of the engineering equipment in each turning mode, wherein the turning modes include a front axle steering mode, a rear axle steering mode, and a full axle steering mode; Determine the minimum turning radius of the engineering equipment in each turning mode based on the size information and each maximum steering angle; Determine the allowed turning radius of the road and the corresponding curve path based on the road information; determining a target turning mode based on the road's allowed turning radius and all of the minimum turning radii; The engineering equipment is controlled to turn based on the target turning mode and the curve path.

2. The engineering equipment turning control method according to claim 1, characterized in that: The road information includes marked road information or unmarked road information, and determining the allowed turning radius of the road and the corresponding curve path based on the road information includes: In the case where the road information is marked road information, determining the allowed turning radius of the road and the corresponding curved path based on the marked road information, wherein the marked road information includes lane line information, information on whether the road is allowed to travel, and obstacle information; In the case where the road information is unmarked road information, obtaining input target information, wherein the target information includes a destination and a vehicle head orientation requirement of the engineering equipment at the destination, and the unmarked road information includes a current position and current vehicle head orientation of the engineering equipment, obstacle information, and map information of the road; determining an initial driving area based on the target information and the non-marked road information; An allowable turning radius of the road and a corresponding curve path are determined based on the initial driving area.

3. The engineering equipment turning control method according to claim 1, characterized in that: The determining of the target turning mode based on the allowed turning radius of the road and all the minimum turning radii includes: determining a turning pattern set based on the road allowed turning radius and all the minimum turning radii; Selecting a first minimum turning radius having the largest difference from the turning pattern set and the allowed turning radius of the road; A first turning mode corresponding to the first minimum turning radius is determined as a target turning mode.

4. The engineering equipment turning control method according to claim 3, characterized in that: The determining of the turning mode set based on the allowed turning radius of the road and all the minimum turning radii includes: Comparing all the minimum turning radii with the allowed turning radius of the road respectively; The turning mode corresponding to the second minimum turning radius is taken as a turning mode set, wherein the second minimum turning radius is the minimum turning radius of all turning radii that are smaller than the turning radius allowed by the road.

5. The engineering equipment turning control method according to claim 3, characterized in that: Also includes: In the case that there are multiple first turning modes, the first turning mode with the highest priority among preset modes is determined as the target turning mode.

6. The engineering equipment turning control method according to claim 1, characterized in that: The determining of the target turning mode based on the allowed turning radius of the road and all the minimum turning radii includes: In a case where a speed limit condition exists on the road, determining a second turning mode among all the turning modes based on the speed limit condition; The target turning mode is determined based on the third minimum turning radius corresponding to all the second turning modes and the road allowed turning radius.

7. The engineering equipment turning control method according to claim 1, characterized in that: The controlling the turning of the engineering equipment based on the target turning mode and the curve path includes: Calculating the target steering angle of each axle of the engineering equipment in the target turning mode based on the curve path; The engineering equipment is controlled to turn based on the target steering angle of each of the axles.

8. A turning control device for engineering equipment, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the engineering equipment turning control method according to any one of claims 1 to 7 when executing the instructions.

9. An engineering equipment, characterized in that: include: The engineering equipment turning control device according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling a machine to execute the engineering equipment turning control method according to any one of claims 1 to 7.

Images