Construction equipment turning control method and device, construction equipment and readable storage medium

Abstract

The application 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 architecture. The method comprises the following steps: acquiring size information of the engineering equipment, road information of a road where the engineering equipment is located, and maximum steering angles of each axle of the engineering equipment in each turning mode; determining minimum turning radii of the engineering equipment in each turning mode based on the size information and the maximum steering angles; 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. The method realizes automatic control of the turning process, reduces the frequency of manual operation, improves the intelligent level of the equipment, improves the operation safety of the engineering equipment, and reduces the operation difficulty and cost.

Description

TECHNICAL FIELD

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

[0002] Currently, vehicles applying automatic driving technology are mostly small passenger cars, and as an important part of vehicle driving, the steering technology is mainly applied to small cars at the present stage. Since the steering technology of small cars is generally front axle steering, vehicles applying front axle automatic steering technology only need to calculate the steering angle and vehicle speed when the front axle is steered according to road condition information, so as to control steering and throttle by the vehicle-mounted controller, without the need for steering mode selection. Many large vehicles, such as engineering machinery vehicles, cannot meet the driving requirements due to the large size of the vehicle shape, and therefore such vehicles not only have front axle steering function, but also have rear axle steering, full axle steering, crabbing 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 experience of the driver and is prone to mode selection errors due to judgment errors. How to improve the automatic steering capability of large vehicles has become a widely concerned problem. SUMMARY

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

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides an engineering equipment turning control method, comprising:

[0005] 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 under each turning mode, wherein the turning mode includes front axle steering mode, rear axle steering mode and full axle steering mode;

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

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

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

[0009] controlling the engineering equipment to turn based on the target turning mode and the curve path.

[0010] In the embodiments of the present application, the road information includes identified road information or non-identified road information, and the road turning radius allowed by the road and the corresponding curved path are determined based on the road information, including:

[0011] In the case of road information being identified road information, the road turning radius allowed by the road and the corresponding curved path are determined based on the identified road information, wherein the identified road information includes lane line information, information about whether the road allows driving, and obstacle information;

[0012] In the case of road information being non-identified road information, input target information is obtained, wherein the target information includes a destination and a requirement for the heading of the construction equipment at the destination, and the non-identified road information includes the current position and the current heading of the construction equipment, obstacle information, and map information of the road;

[0013] An initial driving area is determined based on the target information and the non-identified road information;

[0014] The road turning radius allowed by the road and the corresponding curved path are determined based on the initial driving area.

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

[0016] A set of turning modes is determined based on the road turning radius allowed by the road and all the minimum turning radii;

[0017] A first minimum turning radius with the largest difference from the road turning radius allowed by the road is selected from the set of turning modes;

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

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

[0020] All the minimum turning radii are compared with the road turning radius allowed by the road respectively;

[0021] A turning mode corresponding to a second minimum turning radius is selected as the set of turning modes, wherein the second minimum turning radius is the minimum turning radius that is smaller than the road turning radius allowed by the road.

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

[0023] In the case of multiple first turning modes, a first turning mode with the highest preset mode priority is determined as the target turning mode.

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

[0025] In the case that the road has a speed limit condition, the second turning mode in all turning modes is determined based on the speed limit condition;

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

[0027] In the embodiments of the present application, the engineering equipment is controlled to turn based on the target turning mode and the curved path, including:

[0028] The target steering angle of each axle of the engineering equipment in the target turning mode is calculated based on the curved path;

[0029] The engineering equipment is controlled to turn based on the target steering angle of each axle.

[0030] The second aspect of the present application provides an engineering equipment turning control device, including:

[0031] The memory is configured to store instructions;

[0032] The processor is configured to call the instructions from the memory and enable the engineering equipment turning control method as described in the above embodiments when the instructions are executed.

[0033] The third aspect of the present application provides an engineering equipment, including:

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

[0035] The fourth aspect of the present application provides a machine readable storage medium, and the machine readable storage medium has instructions stored thereon, the instructions being used to cause the machine to execute the engineering equipment turning control method as described in the above embodiments.

[0036] By the 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 angles of each axle of the engineering equipment in each turning mode are obtained, wherein the turning mode includes front axle steering mode, rear axle steering mode and full axle steering mode; the reference data with real-time and accuracy is provided for subsequent turning control of the engineering equipment turning. 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 allowed turning radius and the corresponding curve path are determined based on the road information; the target turning mode is determined based on the road allowed turning radius and all the minimum turning radii; and the engineering equipment turning is controlled based on the target turning mode and the curve path. The automation control of the turning process is realized, the frequency of manual intervention and manual operation is reduced, the intelligent level of the equipment is improved, and the operation performance and safety of the engineering equipment are improved, and the operation difficulty and cost are reduced.

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

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

[0039] Figure 1 The flowchart of the engineering equipment turning control method according to the embodiments of the present application is schematically shown;

[0040] Figure 2 The structural block diagram of the engineering equipment turning control device according to the embodiments 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 more clear, 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 described herein is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

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

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

[0044] In addition, if the present application embodiments involve descriptions such as "first", "second", etc., the descriptions of "first", "second" and the like are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled persons in the art. When the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0045] Figure 1 The flowchart of the turning control method of the engineering equipment according to the embodiments of the present application is schematically shown. As shown in Figure 1 The present application provides a turning control method of engineering equipment, which can include the following steps:

[0046] Step 100, acquiring 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, wherein the turning mode includes front axle steering mode, rear axle steering mode and full axle steering mode;

[0047] It should be noted that the turning control method for engineering equipment in this embodiment can be applied to engineering equipment with new energy architecture and / or fuel architecture. Since engineering equipment is typically large, it includes multiple turning modes to meet its driving and operational needs. For example, front axle steering mode, rear axle steering mode, and full axle steering mode; in some embodiments, it may also include crab steering mode. When engineering equipment turns, relying solely on the driver's judgment to select the turning mode is prone to errors, affecting operational efficiency and even causing safety issues. This embodiment proposes a turning control method for engineering equipment to improve its automated steering capabilities.

[0048] Specifically, key information is first obtained to provide effective data for subsequent selection of steering modes. This key information includes the dimensions of the engineering equipment, the road information of the road where the equipment is located, and the maximum steering angle of each axle of the equipment under each turning mode. The dimensions of the engineering equipment include its length, width, height, wheelbase, and steering range; this information is crucial for determining the space required for the equipment to turn and the limitations it may encounter. The road information includes information about the road itself and related road information. Road information includes lane markings, width, curvature, and turning radius; related road information includes information about obstacles on the road, whether the road is permitted to travel, map information about the road, and the current position and heading of the engineering equipment on that road. Road information is a vital basis for assessing whether the equipment can turn safely.

[0049] The maximum steering angle of an axle refers to the deflection angle formed when the axle turns to its extreme left or right position. This is a crucial parameter of the steering system of engineering equipment, directly affecting its steering performance. Engineering equipment has various turning modes, including front axle steering, rear axle steering, and full axle steering. The axle's steering capability differs in each mode, directly determining the turning flexibility of the equipment. It's understandable that the dimensions of the engineering equipment and the maximum steering angles of each axle in each turning mode are parameters determined at the factory based on the equipment's model. Road information about the road surface where the engineering equipment is located can be obtained through onboard sensors, cameras, and other devices.

[0050] Step 200: Determine 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 turning center to the contact point of the front outer turning wheel with the ground when the steering wheel is turned to the limit position, reflecting the ability of the engineering equipment to bend the road with the minimum curvature radius and the ability to drive in reverse on narrow road surfaces. 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 x sin(5)), where R represents the turning radius, L represents the wheelbase, and 5 represents the maximum steering angle, it can be seen that when the wheelbase L is constant, the larger the maximum steering angle 5, 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 related to 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 contact area and friction of the vehicle, thereby affecting the turning radius. Different road conditions will also affect the turning radius of the vehicle. Therefore, by the size information of the engineering equipment and the maximum steering angle of each axle, the minimum turning radius required by the engineering equipment under each turning mode can be calculated. The basis for determining whether the engineering equipment can safely turn on a specific road when calculating the minimum turning radius under each turning mode.

[0052] In step 300, the road allowed turning radius and the corresponding curve path are determined based on the road information.

[0053] In step 400, the target turning mode is determined based on the road allowed turning radius and all the minimum turning radii.

[0054] In step 500, the engineering equipment is controlled to turn based on the target turning mode and the curve path.

[0055] It should be noted that by analyzing the road information, the road allowed turning radius, i.e., the maximum or minimum turning radius allowed by the road conditions, can be determined. 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. By comparing the road allowed turning radius with all the minimum turning radii, the target turning mode that can both meet the road conditions and maximize the steering performance of the equipment is selected from all the turning modes. After determining the target turning mode and the curve path, the corresponding control system is used to guide the engineering equipment to perform the turning operation. The control system of the engineering equipment can accurately and timely respond to the instructions to ensure the stability and safety of the engineering equipment during the turning process.

[0056] Specifically, in one embodiment, the engineering equipment is controlled to turn based on the target turning mode and the curve path, including:

[0057] The target steering angle of each axle of the engineering equipment under the target turning mode is calculated based on the curve path;

[0058] The engineering equipment is controlled to turn based on the target steering angles of the vehicle axles.

[0059] It should be noted that the target steering angle is determined by analyzing the curved path in detail to obtain the curvature, length, direction change, etc. of the curved path, which is the basis for calculating the target steering angle. According to the analysis result of the curved path, the key parameters in the turning process, such as the turning radius and the turning angle, are determined, so that the target steering angles of the vehicle axles of the engineering equipment in 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 angles are converted into specific steering instructions and sent to the steering control system of the engineering equipment, so that the steering control system can control the steering mechanism of each vehicle axle to perform corresponding steering operation after receiving the steering instructions, so that the engineering equipment can turn along the predetermined curved path. In an 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 equipment position deviates from the predetermined path, timely adjustment is needed to ensure the smoothness and safety of the turning process. Through accurate and efficient control of the turning of the engineering equipment, the adaptability of the engineering equipment to the complex road turning process 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 angles of the vehicle axles of the engineering equipment under each turning mode are obtained, wherein the turning mode includes front axle steering mode, rear axle steering mode and full axle steering mode. The reference data with real-time and accuracy is provided for subsequent turning control of the engineering equipment. Based on the size information and the maximum steering angles, the minimum turning radii of the engineering equipment under each turning mode are determined; based on the road information, the road allowed turning radius and the corresponding curved path are determined; based on the road allowed turning radius and all the minimum turning radii, the target turning mode is determined; based on the target turning mode and the curved path, the engineering equipment is controlled to turn. The automation control of the turning process is realized, the frequency of manual intervention and manual operation is reduced, the intelligent level of the equipment is improved, and the operation performance and safety of the engineering equipment are improved, and the operation difficulty and cost are reduced.

[0061] In an embodiment, the road information includes identified road information or non-identified road information, and the road allowed turning radius and the corresponding curved path are determined based on the road information, including:

[0062] In a case where the road information is identified road information, the identified road information is used to determine a road allowable turning radius and a corresponding turning path, wherein the identified road information includes lane line information, road drivable information, and obstacle information;

[0063] In a case where the road information is non-identified road information, input target information is obtained, wherein the target information includes a destination and a requirement for a heading of the engineering equipment at the destination, and the non-identified road information includes a current position and a current heading of the engineering equipment, obstacle information, and map information of the road;

[0064] An initial driving area is determined based on the target information and the non-identified road information;

[0065] A road allowable turning radius and a corresponding turning path are determined based on the initial driving area.

[0066] It should be noted that the application range of the engineering equipment is very wide, and the road environment faced is very complex. In particular, in some environments without road markings, the experience requirement for the driver is very high, and in some cases with many obstacles and narrow road surfaces, the driver is difficult to identify the road surface conditions. If the driver only relies on experience to select a turning mode for turning, the turning efficiency is low, and there may be safety risks. In the embodiment, in order to improve the adaptability of the engineering equipment to different road environments and improve the flexibility and adaptability of the engineering equipment, different methods are used to determine a road allowable turning radius and a corresponding turning path according to different road information.

[0067] Specifically, the road information can be divided into identified road information or non-identified road information. The identified road information refers to the relevant road information of a road with road markings, such as a city road. The non-identified road information refers to the relevant road information of a road without road markings, such as a wild road. For the identified road information, lane line information such as lane width, lane boundary, road drivable information such as single line, no-entry area, and obstacle information such as road construction and traffic accident can be collected. The lane line information can be accurately analyzed by using image processing technology and sensor data to determine the curvature and direction change of the road, exclude non-drivable areas in combination with the road drivable information, and then adjust the turning path to avoid obstacles in combination with the consideration of the obstacle information. The above information is integrated to calculate the maximum road allowable turning radius and the corresponding turning path.

[0068] For non-identified road information, target information is collected first. The target information includes destination and the requirement of the heading of the vehicle at the destination, which is usually input by the operator or obtained through the navigation system. The non-identified road information includes the current position and the current heading of the engineering equipment, obstacle information and map information of the road, such as road network, intersection, etc. According to the destination and the non-identified road information, a shortest or optimal path from the current position to the target is calculated by using a path planning algorithm, while considering the size and driving ability of the engineering equipment and the 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 the obstacle information, to determine the allowable turning radius of each turning point by considering the turning performance of the engineering equipment and the road conditions, and to generate a final curved path by comprehensively considering the above information. In an embodiment, in the initial driving area, the curved path is planned according to the principle of minimum turning radian, i.e. maximum turning radius.

[0069] In this embodiment, by flexibly processing different types of road information, different road conditions are adapted, and the accuracy, safety and flexibility of the turning control of the engineering equipment are improved.

[0070] In an embodiment, the target turning mode is determined based on the road allowable turning radius and all the minimum turning radii, including:

[0071] A set of turning modes is determined based on the road allowable turning radius and all the minimum turning radii;

[0072] The first minimum turning radius with the largest difference from the road allowable turning radius is screened from the set of turning modes;

[0073] The 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, selecting a suitable turning mode is crucial to ensure driving safety and efficiency, especially in complex road environments, where the vehicle must be able to adapt to different turning requirements. In this embodiment, the target turning mode is determined based on the road allowed turning radius and all minimum turning radii. Specifically, after determining the road allowed turning radius and the minimum turning radii under each turning mode, all minimum turning radii are compared with the road allowed turning radius to form a turning mode set. To ensure that the vehicle can reach the required steering angle in the shortest possible time, the optimal target turning mode is selected 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 allowed turning radius is calculated. Among all the calculated differences, the largest one is found, and the minimum turning radius corresponding to this largest difference is the first minimum turning radius. According to the first minimum turning radius selected, the corresponding turning mode is found, which is the first turning mode, and it is determined that the first turning mode is the target turning mode. Based on the road allowed turning radius and all minimum turning radii, a target turning mode that is both safe and efficient is determined, thereby optimizing the driving experience and driving safety.

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

[0076] Comparing all minimum turning radii with the road allowed turning radius, respectively;

[0077] The turning mode corresponding to the second minimum turning radius is taken as the turning mode set, wherein the second minimum turning radius is the minimum turning radius that is less than the road allowed turning radius.

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

[0079] In the embodiment, the turning mode set with strong adaptability and high safety is determined based on the road allowed turning radius and all the minimum turning radii, which narrows the range for the selection of the target turning mode and improves the accuracy of the selection.

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

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

[0082] It should be noted that when facing multiple possible turning modes, it is crucial to select the most suitable one. In particular, in the case where there are multiple first turning modes, that is, there are multiple minimum turning radii with the same difference from the road allowed turning radius and the difference is the largest, at this time, a clear standard is needed to determine which first turning mode should be adopted. In the embodiment, the mode priority is set for different turning modes according to vehicle performance, road conditions, driving habits, safety, and other factors, that is, the preset mode priority. 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, the first turning modes are sorted according to the preset mode priority, and the first turning mode with the highest priority is given priority to as the target turning mode.

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

[0084] In one embodiment, the target turning mode is determined based on the road allowed turning radius and all minimum turning radii, including:

[0085] When there is a speed limit condition on the road, a second turning mode among all turning modes is determined based on the speed limit condition.

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

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

[0088] In the embodiment, when the speed limit condition on the road is considered, a target turning mode that is both safe and efficient is determined based on the road allowed turning radius and the minimum turning radius corresponding to all second turning modes, so as to improve the accuracy of driving decision and ensure driving safety.

[0089] Figure 2 A structural block diagram of a turning control device of an engineering equipment according to an embodiment of the present application is schematically shown. As shown in Figure 2 The turning control device 1000 of the engineering equipment according to the embodiment of the present application can include:

[0090] The memory 1001 is configured to store instructions;

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

[0092] The embodiment of the present application further provides an engineering equipment, including:

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

[0094] The embodiment of the present application further provides a machine readable storage medium, which has instructions stored thereon, and the instructions are used to cause a machine to execute the engineering equipment turning control method as described in the above embodiment.

[0095] Those skilled in the art should understand that the embodiment of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer readable storage media containing computer usable program codes (including but not limited to disk memory, CD-ROM, optical memory, etc.).

[0096] The present application is described with reference to the flowcharts and / or block diagrams of the method, device (system), computer program product according to the embodiment of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to a general purpose computer, a special purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the computer or other programmable data processing device produce a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in the flow(s) or block(s).

[0097] These computer program instructions can also be stored in a computer readable memory that can direct the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including instruction apparatus, which realizes the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in the flow(s) or block(s).

[0098] These computer program instructions can also be loaded to the computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer implemented process, so that the instructions executed on the computer or other programmable device provide a process for realizing the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in the flow(s) or block(s).

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

[0100] Memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. A memory can also include non-volatile memory, such as a read only memory (ROM), EPROM, EEPROM, or flash memory. Memory can further include a data storage 110, which can include a disk drive, an optical storage, a tape drive, a solid-state storage, or another storage device.

[0101] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as 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 disc read-only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic disks storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0102] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0103] The above merely provides an embodiment of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. An engineering equipment turning control method characterized by, The method comprises: obtaining size information of an engineering equipment, road information of a 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 mode includes front axle steering mode, rear axle steering mode, and full axle steering mode; determining minimum turning radii of the engineering equipment in each turning mode based on the size information and each maximum steering 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; controlling the engineering equipment to turn based on the target turning mode and the curve path; determining a target turning mode based on the road allowable turning radius and all the minimum turning radii, comprising: determining a turning mode set based on the road allowable turning radius and all the minimum turning radii; selecting a first minimum turning radius with the largest difference from the road allowable turning radius from the turning mode set; determining a first turning mode corresponding to the first minimum turning radius as the target turning mode; determining a target turning mode based on the road allowable turning radius and all the minimum turning radii, comprising: comparing all the minimum turning radii with the road allowable turning radius respectively; determining a turning mode corresponding to a second minimum turning radius as the turning mode set, wherein the second minimum turning radius is the minimum turning radius smaller than the road allowable turning radius.

2. The engineered equipment turning control method of claim 1, wherein, The road information includes identified road information or non-identified road information, and determining a road allowable turning radius and a corresponding curve path based on the road information comprises: in the case that the road information is identified road information, determining a road allowable turning radius and a corresponding curve path based on the identified road information, wherein the identified road information includes lane line information, information about whether the road allows driving, and obstacle information; in the case that the road information is non-identified road information, obtaining input target information, wherein the target information includes a destination and a requirement for a vehicle head orientation of the engineering equipment at the destination, and the non-identified road information includes a current position and a 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-identified road information; determining a road allowable turning radius and a corresponding curve path based on the initial driving area.

3. The engineered equipment turning control method of claim 1, wherein, Further comprising: in the case that there are multiple first turning modes, determining the first turning mode with the highest preset mode priority as the target turning mode.

4. The engineered equipment turning control method of claim 1, wherein, Determining a target turning mode based on the road allowable turning radius and all the minimum turning radii, comprising: in the case that there is a speed limit condition on the road, determining a second turning mode in all the turning modes based on the speed limit condition; determining a target turning mode based on third minimum turning radii corresponding to all the second turning modes and the road allowable turning radius.

5. The engineered equipment turning control method of claim 1, wherein, controlling the engineering equipment to turn based on the target turning mode and the curve path, comprising: calculating target steering angles of each of the vehicle axles of the engineering equipment in the target turning mode based on the curve path; controlling the engineering equipment to turn based on the target steering angles of each of the vehicle axles.

6. An engineered device cornering control apparatus, characterized by, comprising: a memory configured to store instructions; a processor configured to call the instructions from the memory and enable the engineering equipment turning control method according to any one of claims 1 to 5 when the instructions are executed.

7. An engineering apparatus characterised in that, comprising: the engineering equipment turning control device according to claim 6.

8. A machine-readable storage medium, characterized in that, The machine readable storage medium has instructions stored thereon for causing a machine to perform the engineering equipment turning control method according to any one of claims 1 to 5.

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