Attitude speed determination method and device of four steering wheels, electronic equipment and storage medium

Abstract

The invention provides an attitude speed determination method and device for four steering wheels, electronic equipment and a storage medium, and the method comprises the steps: determining a first absolute value based on an input linear speed, and determining a second absolute value based on an input angular speed, a wheel distance and offset; comparing the first absolute value with the second absolute value, determining a first motion type, and determining a second motion type based on the input linear velocity, the input transverse velocity and the input angular velocity; a first wheel speed and a first wheel angle of the steering wheel are determined for the first type of motion, and a second wheel speed and a second wheel angle of the steering wheel are determined for the second type of motion. According to the method, the device, the electronic equipment and the storage medium provided by the invention, the four-steering-wheel AGV can directly adapt to most local path planning algorithms, high-precision steering wheel navigation is realized according to the speed information provided by the algorithms, a good control effect is realized in chassis movement, and convenience is provided for automatic navigation of the four-steering-wheel AGV.

Description

Technical Field

[0001] The present invention relates to the technical field of omnidirectional steering wheel navigation, and in particular to a method, device, electronic equipment and storage medium for determining the attitude speed of four steering wheels. Background Art

[0002] At present, in the field of omnidirectional steering wheel navigation, most of the solutions used are still magnetic navigation, QR code navigation and reflector navigation. The control solution of the steering wheel attitude speed is realized by relying on the PLC (Programmable Logic Controller) control system and the sensor for detecting the trajectory.

[0003] The traditional navigation method is to achieve navigation by artificially pre-laid routes. The path is difficult to change, has high environmental dependence, and low flexibility. These are the drawbacks of fixed-path navigation AGV (Automated Guided Vehicle), which limits the application scenarios of AGV. At present, SLAM (Simultaneous Localization and Mapping) technology has changed the autonomous navigation method of AGV. In the ROS environment, different local path algorithms can be used to achieve dynamic obstacle avoidance. However, the trajectory and speed generated by the local path algorithm are conventional linear speed and angular speed, which are not applicable to the four-wheel chassis. Therefore, a general attitude and speed analysis system is needed to adapt to the four-wheel chassis. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for determining the attitude speed of four steering wheels, so as to solve the defect that the trajectory and speed generated by the local path algorithm in the prior art are conventional linear speed and angular speed, which are not applicable to the four-steering wheel chassis.

[0005] The present invention provides a method for determining the attitude speed of four steering wheels, comprising the following steps: Obtain the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear track, and wheel and steering gear offsets of the vehicle body; determining a first absolute value based on the input linear velocity, and determining a second absolute value based on the input angular velocity, the wheel spacing, and the offset; comparing the first absolute value and the second absolute value to determine a first motion type, and determining a second motion type based on the input linear velocity, the input lateral velocity, and the input angular velocity; A first wheel speed and a first wheel angle of the steering wheel in the first motion type are determined, and a second wheel speed and a second wheel angle of the steering wheel in the second motion type are determined.

[0006] According to a method for determining the attitude speed of four steering wheels provided by the present invention, the first motion type includes anti-phase motion and rotation motion; The comparing the first absolute value and the second absolute value to determine the first motion type includes: When the first absolute value is greater than the second absolute value, determining that the first motion type is the anti-phase motion; When the first absolute value is less than or equal to the second absolute value and the input angular velocity is greater than a first threshold, the second motion type is determined to be the rotation motion.

[0007] According to a method for determining the attitude speed of four steering wheels provided by the present invention, the determining of the first wheel speed and the first wheel angle of the steering wheel under the first motion type includes: determining a velocity offset based on the input angular velocity and the offset; Based on the speed offset, determining a first left front wheel speed and a first right front wheel speed of the steering wheel in the anti-phase motion; Based on the first left front wheel speed, determining a first left rear wheel speed of the steering wheel in the counter-phase motion, and based on the first right front wheel speed, determining a first right rear wheel speed of the steering wheel in the counter-phase motion; Determine a first left front wheel angle and a first right front wheel angle of the steering wheel in the counter-phase motion, and determine a first left rear wheel angle based on the first left front wheel angle, and determine a first right rear wheel angle based on the first right front wheel angle; or, determining a second left front wheel speed and a second right front wheel speed of the steering wheel during the autorotation motion based on the input angular velocity; Determine a second left rear wheel speed of the steering wheel during the autorotation based on the second left front wheel speed, and determine a second right rear wheel speed of the steering wheel during the autorotation based on the second right front wheel speed; A second left front wheel angle and a second right front wheel angle are determined based on the wheel spacing and the front-rear wheel track, a second left rear wheel angle is determined based on the second left front wheel angle, and a second right rear wheel angle is determined based on the second right front wheel angle.

[0008] According to a method for determining the attitude speed of four steering wheels provided by the present invention, the determining of the first left front wheel angle and the first right front wheel angle of the steering wheel under the anti-phase motion comprises: The first left front wheel angle and the first right front wheel angle are determined based on the input linear velocity, the input angular velocity, the wheel spacing, and the front-rear wheel track.

[0009] According to a method for determining the attitude speed of four steering wheels provided by the present invention, the second motion type includes in-phase motion and lateral translation motion; The determining of the second motion type based on the input linear velocity, the input lateral velocity and the input angular velocity comprises: When the input linear velocity is greater than a second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, determining that the second motion type is the in-phase motion; When the input linear velocity is equal to the second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, the second motion type is determined to be the lateral translation motion.

[0010] According to a method for determining the attitude speed of four steering wheels provided by the present invention, determining the second wheel speed and the second wheel angle of the steering wheel under the second motion type includes: determining the second wheel speed and the second wheel angle in the in-phase motion based on the input linear speed and the input lateral speed; Or, based on the input lateral speed, the second wheel speed under the lateral translation movement is determined, and the second wheel angle under the lateral translation movement is determined to be 90°.

[0011] The present invention also provides a device for determining the attitude and speed of four steering wheels, comprising the following modules: An acquisition unit, used for acquiring an input linear velocity, an input lateral velocity, an input angular velocity, a wheel spacing, a front and rear wheel spacing, and an offset of a wheel and a steering gear of a vehicle body; a first determination unit, configured to determine a first absolute value based on the input linear velocity, and to determine a second absolute value based on the input angular velocity, the wheel spacing, and the offset; a comparison unit, configured to compare the first absolute value and the second absolute value to determine a first motion type, and to determine a second motion type based on the input linear velocity, the input lateral velocity, and the input angular velocity; The second determination unit is used to determine a first wheel speed and a first wheel angle of the steering wheel in the first motion type, and to determine a second wheel speed and a second wheel angle of the steering wheel in the second motion type.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for determining the attitude speed of the four steering wheels as described in any one of the above is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for determining the attitude speed of the four steering wheels.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for determining the attitude speed of the four steering wheels as described in any one of the above is implemented.

[0015] The method, device, electronic device and storage medium for determining the attitude speed of four steering wheels provided by the present invention obtain the input linear speed, input lateral speed, input angular speed, wheel spacing, front and rear wheel track, and the offset of the wheel and steering gear of the vehicle body; determine the first absolute value based on the input linear speed, and determine the second absolute value based on the input angular speed, wheel spacing and offset; compare the first absolute value and the second absolute value to determine the first motion type, and determine the second motion type based on the input linear speed, input lateral speed and input angular speed; determine the first wheel speed and the first wheel angle of the steering wheel under the first motion type, and determine the second wheel speed and the second wheel angle of the steering wheel under the second motion type. A speed and attitude analysis method is provided for the chassis of the four-steering wheel structure in the ROS environment, so that the four-steering wheel AGV car can be directly adapted to use most local path planning algorithms, and high-precision steering wheel navigation is achieved according to the speed information provided by the algorithm, and good control effect is achieved in the chassis movement, which provides convenience for the automatic navigation of the four-steering wheel AGV car. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is one of the flow charts of the method for determining the attitude speed of four steering wheels provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the anti-phase motion provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the rotation motion provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the in-phase motion provided by the present invention.

[0021] Figure 5 It is a schematic diagram of the lateral translation motion provided by the present invention.

[0022] Figure 6 This is the second flow chart of the method for determining the attitude speed of four steering wheels provided by the present invention.

[0023] Figure 7 It is a structural schematic diagram of the attitude speed determination device of four steering wheels provided by the present invention.

[0024] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The terms "first", "second", etc. in the present invention are used to distinguish similar objects, rather than to describe a specific order or precedence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type.

[0027] The present invention provides a method for determining the attitude speed of four steering wheels. Figure 1 FIG. 1 is one of the flow charts of the method for determining the attitude speed of four steering wheels provided by the present invention, such as Figure 1 As shown, the method includes step 110 , step 120 , step 130 and step 140 .

[0028] Step 110, obtaining the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear track, and wheel and steering gear offsets of the vehicle body; Step 120, determining a first absolute value based on the input linear velocity, and determining a second absolute value based on the input angular velocity, the wheel spacing and the offset; Step 130, comparing the first absolute value and the second absolute value to determine a first motion type, and determining a second motion type based on the input linear velocity, the input lateral velocity, and the input angular velocity; Step 140, determining a first wheel speed and a first wheel angle of the steering wheel in the first motion type, and determining a second wheel speed and a second wheel angle of the steering wheel in the second motion type.

[0029] Specifically, the chassis steering wheel installation configuration information, wheel spacing, wheel steering y offset, and front and rear wheel tracks are set in advance, and the steering trajectory is calculated. The calculation formula for the steering trajectory is [wheel spacing - 2 * wheel steering y offset], that is, This represents the effective track width that affects the vehicle's handling. The steering wheel motion is divided into 4 cases by the input linear velocity and angular velocity. In each case, the linear velocity and angle of the 4 steering wheels are calculated according to the inverse kinematics and navigation mode.

[0030] Specifically, get the input linear velocity of the vehicle body , input lateral speed , input angular velocity , wheel spacing , front and rear wheel track , and the deflection of the wheels and steering gear Among them, wheel spacing refers to the distance between the left and right wheels on the same axle, and front and rear wheel spacing refers to the distance between the center lines of the wheels on both sides of the front and rear axles of the car. Wheel and steering gear offset refers to the change or deviation in the position of the wheel (especially the front wheel) relative to the steering gear or steering axis during the vehicle steering process.

[0031] Then, based on the input linear velocity, a first absolute value is determined, and based on the input angular velocity, wheel spacing, and offset, a second absolute value is determined. For example, the first absolute value is , the second absolute value is .

[0032] Further, the first absolute value and the second absolute value are compared to determine a first motion type, wherein the first motion type includes anti-phase motion and rotation motion.

[0033] When the first absolute value is greater than the second absolute value, that is, In the case of, the first motion type is determined to be anti-phase motion, Figure 2 Schematic diagram of the anti-phase motion provided by the present invention, such as Figure 2 As shown, in the anti-phase motion, the front and rear wheels of the four steering wheels swing in opposite ways, that is, when the front wheel swings to the right, the rear wheel swings to the left.

[0034] Figure 3 It is a schematic diagram of the rotation motion provided by the present invention, such as Figure 3 As shown, when the first absolute value is less than or equal to the second absolute value and the input angular velocity is greater than the first threshold, that is, and In the case of, the second motion type is determined to be a rotation motion. The first threshold is 0.001.

[0035] A second motion type may be determined based on the input linear velocity, the input lateral velocity, and the input angular velocity, wherein the second motion type includes an in-phase motion and a lateral translation motion.

[0036] After determining the first motion type and the second motion type, a first wheel speed and a first wheel angle of the steering wheel in the first motion type may be determined, and a second wheel speed and a second wheel angle of the steering wheel in the second motion type may be determined.

[0037] It can be understood that the method provided in the embodiment of the present invention is a general attitude and speed analysis method, which can analyze the local path control algorithms in most ROS environments and has universal applicability. During use, by inputting the linear speed and angle of the four steering wheels, the rotation speed and angle of the eight motors of the four steering wheels can be dynamically analyzed to realize the translation, rotation, path following and other movements of the four-drive wheel structure AGV.

[0038] The method provided by the embodiment of the present invention obtains the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear wheel track, and offset of the vehicle body; determines the first absolute value based on the input linear velocity, and determines the second absolute value based on the input angular velocity, wheel spacing and offset; compares the first absolute value and the second absolute value to determine the first motion type, and determines the second motion type based on the input linear velocity, input lateral velocity and input angular velocity; determines the first wheel speed and the first wheel angle of the steering wheel under the first motion type, and determines the second wheel speed and the second wheel angle of the steering wheel under the second motion type. In the ROS environment, a speed and posture analysis method is provided for the chassis of the four-steering wheel structure, so that the four-steering wheel AGV car can be directly adapted to use most local path planning algorithms, and realizes high-precision steering wheel navigation according to the speed information provided by the algorithm, and realizes good control effect in chassis movement, which provides convenience for the automatic navigation of the four-steering wheel AGV car.

[0039] Based on the above embodiment, determining the first wheel speed and the first wheel angle of the steering wheel in the first motion type in step 140 includes: Step 141, determining a velocity offset based on the input angular velocity and the offset; Step 142, determining a first left front wheel speed and a first right front wheel speed of the steering wheel in the anti-phase motion based on the speed offset; Step 143, determining a first left rear wheel speed of the steering wheel in the counter-phase motion based on the first left front wheel speed, and determining a first right rear wheel speed of the steering wheel in the counter-phase motion based on the first right front wheel speed; Step 144, determining a first left front wheel angle and a first right front wheel angle of the steering wheel in the counter-phase motion, and determining a first left rear wheel angle based on the first left front wheel angle, and determining a first right rear wheel angle based on the first right front wheel angle; or, Step 210, determining a second left front wheel speed and a second right front wheel speed of the steering wheel during the autorotation motion based on the input angular velocity; Step 220, determining a second left rear wheel speed of the steering wheel during the autorotation based on the second left front wheel speed, and determining a second right rear wheel speed of the steering wheel during the autorotation based on the second right front wheel speed; Step 230, determining a second left front wheel angle and a second right front wheel angle based on the wheel spacing and the front and rear wheel track, determining a second left rear wheel angle based on the second left front wheel angle, and determining a second right rear wheel angle based on the second right front wheel angle.

[0040] Specifically, the velocity offset can be determined based on the input angular velocity and the offset. For example, the velocity offset is .

[0041] Based on the speed offset, the first left front wheel speed and the first right front wheel speed of the steering wheel in anti-phase motion are determined. The formula is as follows: in, represents the first left front wheel speed, Indicates the speed of the first right front wheel, represents the input linear velocity, represents the input angular velocity, Indicates the wheel spacing, Indicates the front and rear wheel track. Indicates the speed offset.

[0042] Then, based on the first left front wheel speed, the first left rear wheel speed of the steering wheel under the anti-phase motion is determined, that is, the first left rear wheel speed , and based on the first right front wheel speed, determine the first right rear wheel speed of the steering wheel under the anti-phase motion, that is, the first right rear wheel speed .

[0043] Furthermore, in the above case, the left front wheel and the left rear wheel have the same speed, and the right front wheel and the right rear wheel have the same speed, and then determine the first left front wheel angle of the steering wheel in the anti-phase motion and the first right front wheel angle , and based on the first left front wheel angle , determine the first left rear wheel angle ,Right now , and based on the first right front wheel angle , determine the first right rear wheel angle ,Right now That is, the first left front wheel angle and the first right front wheel angle are calculated, the first left rear wheel angle is opposite to the first left front wheel angle, and the first right rear wheel angle is opposite to the first right front wheel angle.

[0044] Wherein, based on the input linear velocity, input angular velocity, wheel spacing, and front and rear wheel tracks, the first left front wheel angle and the first right front wheel angle are determined, and the formula is as follows: in, Indicates the first left front wheel angle, Indicates the first right front wheel angle, represents the input linear velocity, represents the input angular velocity, Indicates the wheel spacing, Indicates the front and rear wheel track.

[0045] Alternatively, the second left front wheel speed and the second right front wheel speed of the steering wheel under the autorotation motion may also be determined based on the input angular velocity, and the formula is as follows: in, Indicates the second left front wheel speed, Indicates the speed of the second right front wheel, Represents the input angular velocity.

[0046] Then, based on the second left front wheel speed, the second left rear wheel speed of the steering wheel under the autorotation motion is determined, and based on the second right front wheel speed, the second right rear wheel speed of the steering wheel under the autorotation motion is determined, and the formula is as follows: in, Indicates the speed of the second left rear wheel, Indicates the speed of the second right rear wheel, Indicates the second left front wheel speed, Indicates the second right front wheel speed.

[0047] Finally, based on the wheel spacing and the front and rear wheel tracks, the second left front wheel angle and the second right front wheel angle are determined, and based on the second left front wheel angle, the second left rear wheel angle is determined, and based on the second right front wheel angle, the second right rear wheel angle is determined, and the formula is as follows: in, Indicates the wheel spacing, Indicates the front and rear wheel track. Indicates the second left front wheel angle, Indicates the second right front wheel angle, Indicates the second left rear wheel angle, Indicates the second right rear wheel angle.

[0048] From this, we can see that the linear speed and angle of the front wheel can be calculated. The rear wheel moves in the same direction as the front wheel in terms of speed, but in opposite directions.

[0049] Based on the above embodiment, the second motion type includes in-phase motion and lateral translation motion; The step 130 includes: Step 131, determining that the second motion type is the in-phase motion when the input linear velocity is greater than a second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold; Step 132: When the input linear velocity is equal to the second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, determine that the second motion type is the lateral translation motion.

[0050] Specifically, Figure 4 It is a schematic diagram of the in-phase motion provided by the present invention, such as Figure 4 As shown, when the input linear velocity is greater than the second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, the second motion type is determined to be in-phase motion, wherein the in-phase motion means that the front and rear wheels have the same swing direction, and the second wheel speed of each wheel is the same under the in-phase motion, and the second wheel angle of each wheel is the same. The in-phase motion is also called oblique translation motion.

[0051] Here, the second threshold is 0, then and and In this case, the second motion type is determined to be in-phase motion.

[0052] The second wheel speed and the second wheel angle under in-phase motion can be determined based on the input linear speed and the input lateral speed, and the formula is as follows: in, represents the second wheel speed, represents the second wheel angle, represents the input linear velocity, Indicates the input lateral velocity.

[0053] Figure 5 is a schematic diagram of the lateral translation motion provided by the present invention, such as Figure 5 As shown, when the input linear velocity is equal to the second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, the second motion type is determined to be lateral translation motion.

[0054] Here, the second threshold is 0, then and and In this case, the second motion type is determined to be lateral translation motion.

[0055] In the case where the second motion type is lateral translation motion, the second wheel speed under lateral translation motion can be determined based on the input lateral speed, and the second wheel angle under lateral translation motion is determined to be 90°. That is, the second wheel speed of each wheel under lateral translation motion is , the second wheel angle of each wheel is 90°.

[0056] Based on any of the above embodiments, Figure 6 FIG. 2 is a flow chart of the method for determining the attitude speed of four steering wheels provided by the present invention. Figure 6 As shown, the method includes: The first step is to set the chassis parameters: wheel spacing, front and rear track, and wheel and steering gear offset.

[0057] The second step is to input speed instructions: input linear speed, input lateral speed and input angular speed of the vehicle body.

[0058] In the third step, based on the input speed command and the set chassis parameters, determine to execute one or more of anti-phase motion, rotation motion, in-phase motion and lateral translation motion.

[0059] The fourth step is to generate the linear speed and angle of the four steering wheels and issue control instructions.

[0060] The following is a description of the attitude speed determination device for four steering wheels provided by the present invention. The attitude speed determination device for four steering wheels described below and the attitude speed determination method for four steering wheels described above can correspond to each other.

[0061] Based on any of the above embodiments, the present invention provides a device for determining the attitude and speed of four steering wheels. Figure 7 FIG. 1 is a schematic diagram of the structure of the device for determining the attitude and speed of four steering wheels provided by the present invention. Figure 7 As shown, the device comprises: An acquisition unit 710 is used to acquire an input linear velocity, an input lateral velocity, an input angular velocity, a wheel spacing, a front and rear wheel spacing, and an offset of a wheel and a steering gear of a vehicle body; A first determination unit 720, configured to determine a first absolute value based on the input linear velocity, and to determine a second absolute value based on the input angular velocity, the wheel spacing and the offset; a comparing unit 730, configured to compare the first absolute value and the second absolute value to determine a first motion type, and determine a second motion type based on the input linear velocity, the input lateral velocity, and the input angular velocity; The second determination unit 740 is used to determine a first wheel speed and a first wheel angle of the steering wheel in the first motion type, and to determine a second wheel speed and a second wheel angle of the steering wheel in the second motion type.

[0062] The device provided by the embodiment of the present invention obtains the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear wheel track, and offset of the vehicle body; determines the first absolute value based on the input linear velocity, and determines the second absolute value based on the input angular velocity, wheel spacing and offset; compares the first absolute value and the second absolute value to determine the first motion type, and determines the second motion type based on the input linear velocity, input lateral velocity and input angular velocity; determines the first wheel speed and the first wheel angle of the steering wheel under the first motion type, and determines the second wheel speed and the second wheel angle of the steering wheel under the second motion type. In the ROS environment, a speed and posture analysis method is provided for the chassis of the four-steering wheel structure, so that the four-steering wheel AGV can directly adapt to most local path planning algorithms, realize high-precision steering wheel navigation according to the speed information provided by the algorithm, and achieve good control effect in chassis movement, which provides convenience for the automatic navigation of the four-steering wheel AGV.

[0063] Based on any of the above embodiments, the first motion type includes anti-phase motion and rotation motion; The comparison unit 730 is specifically used for: When the first absolute value is greater than the second absolute value, determining that the first motion type is the anti-phase motion; When the first absolute value is less than or equal to the second absolute value and the input angular velocity is greater than a first threshold, the second motion type is determined to be the rotation motion.

[0064] Based on any of the foregoing embodiments, the second determining unit 740 specifically includes: a speed offset determining unit, configured to determine a speed offset based on the input angular velocity and the offset; determining a first speed unit, for determining a first left front wheel speed and a first right front wheel speed of the steering wheel in the anti-phase motion based on the speed offset; determining a second speed unit, for determining a first left rear wheel speed of the steering wheel in the counter-phase motion based on the first left front wheel speed, and determining a first right rear wheel speed of the steering wheel in the counter-phase motion based on the first right front wheel speed; A first angle determination unit is used to determine a first left front wheel angle and a first right front wheel angle of the steering wheel in the counter-phase motion, and determine a first left rear wheel angle based on the first left front wheel angle, and determine a first right rear wheel angle based on the first right front wheel angle; or, determining a third speed unit, for determining a second left front wheel speed and a second right front wheel speed of the steering wheel during the autorotation motion based on the input angular velocity; determining a fourth speed unit, for determining a second left rear wheel speed of the steering wheel during the self-rotation based on the second left front wheel speed, and determining a second right rear wheel speed of the steering wheel during the self-rotation based on the second right front wheel speed; A second angle unit is determined, which is used to determine a second left front wheel angle and a second right front wheel angle based on the wheel spacing and the front and rear wheel track, and to determine a second left rear wheel angle based on the second left front wheel angle, and to determine a second right rear wheel angle based on the second right front wheel angle.

[0065] Based on any of the above embodiments, the determining the first angle unit is specifically used for: The first left front wheel angle and the first right front wheel angle are determined based on the input linear velocity, the input angular velocity, the wheel spacing, and the front-rear wheel track.

[0066] Based on any of the above embodiments, the second motion type includes in-phase motion and lateral translation motion; The comparison unit 730 is specifically used for: When the input linear velocity is greater than a second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, determining that the second motion type is the in-phase motion; When the input linear velocity is equal to the second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, the second motion type is determined to be the lateral translation motion.

[0067] Based on any of the foregoing embodiments, the second determining unit 740 is specifically configured to: determining the second wheel speed and the second wheel angle in the in-phase motion based on the input linear speed and the input lateral speed; Or, based on the input lateral speed, the second wheel speed under the lateral translation movement is determined, and the second wheel angle under the lateral translation movement is determined to be 90°.

[0068] Figure 8 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the method for determining the attitude speed of the four steering wheels, the method comprising: obtaining the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear wheel spacing, and the offset of the wheel and the steering gear of the vehicle body; determining a first absolute value based on the input linear velocity, and determining a second absolute value based on the input angular velocity, the wheel spacing and the offset; comparing the first absolute value and the second absolute value to determine a first motion type, and determining a second motion type based on the input linear velocity, the input lateral velocity and the input angular velocity; determining a first wheel velocity and a first wheel angle of the steering wheel under the first motion type, and determining a second wheel velocity and a second wheel angle of the steering wheel under the second motion type.

[0069] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0070] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the posture speed determination method of the four steering wheels provided by the above methods, which method includes: obtaining the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear wheel spacing, and offset of the vehicle body; determining a first absolute value based on the input linear velocity, and determining a second absolute value based on the input angular velocity, the wheel spacing and the offset; comparing the first absolute value and the second absolute value to determine a first motion type, and determining a second motion type based on the input linear velocity, the input lateral velocity and the input angular velocity; determining a first wheel speed and a first wheel angle of the steering wheel under the first motion type, and determining a second wheel speed and a second wheel angle of the steering wheel under the second motion type.

[0071] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the posture speed determination method of four steering wheels provided by the above-mentioned methods, the method comprising: obtaining the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear wheel spacing, and offset of the vehicle body; determining a first absolute value based on the input linear velocity, and determining a second absolute value based on the input angular velocity, the wheel spacing and the offset; comparing the first absolute value and the second absolute value to determine a first motion type, and determining a second motion type based on the input linear velocity, the input lateral velocity and the input angular velocity; determining a first wheel speed and a first wheel angle of the steering wheel under the first motion type, and determining a second wheel speed and a second wheel angle of the steering wheel under the second motion type.

[0072] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0073] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the attitude speed of four steering wheels, characterized in that: include: Obtain the input linear velocity, input lateral velocity, input angular velocity, wheel spacing, front and rear track, and wheel and steering gear offsets of the vehicle body; determining a first absolute value based on the input linear velocity, and determining a second absolute value based on the input angular velocity, the wheel spacing, and the offset; comparing the first absolute value and the second absolute value to determine a first motion type, and determining a second motion type based on the input linear velocity, the input lateral velocity, and the input angular velocity; A first wheel speed and a first wheel angle of the steering wheel in the first motion type are determined, and a second wheel speed and a second wheel angle of the steering wheel in the second motion type are determined.

2. The method for determining the attitude speed of four steering wheels according to claim 1, characterized in that: The first motion type includes anti-phase motion and rotational motion; The comparing the first absolute value and the second absolute value to determine the first motion type includes: When the first absolute value is greater than the second absolute value, determining that the first motion type is the anti-phase motion; When the first absolute value is less than or equal to the second absolute value and the input angular velocity is greater than a first threshold, the second motion type is determined to be the rotation motion.

3. The method for determining the attitude speed of four steering wheels according to claim 2, characterized in that: The determining a first wheel speed and a first wheel angle of the steering wheel in the first motion type comprises: determining a velocity offset based on the input angular velocity and the offset; Based on the speed offset, determining a first left front wheel speed and a first right front wheel speed of the steering wheel in the anti-phase motion; Based on the first left front wheel speed, determining a first left rear wheel speed of the steering wheel in the counter-phase motion, and based on the first right front wheel speed, determining a first right rear wheel speed of the steering wheel in the counter-phase motion; Determine a first left front wheel angle and a first right front wheel angle of the steering wheel in the counter-phase motion, and determine a first left rear wheel angle based on the first left front wheel angle, and determine a first right rear wheel angle based on the first right front wheel angle; or, determining a second left front wheel speed and a second right front wheel speed of the steering wheel during the autorotation motion based on the input angular velocity; Determine a second left rear wheel speed of the steering wheel during the autorotation based on the second left front wheel speed, and determine a second right rear wheel speed of the steering wheel during the autorotation based on the second right front wheel speed; A second left front wheel angle and a second right front wheel angle are determined based on the wheel spacing and the front-rear wheel track, a second left rear wheel angle is determined based on the second left front wheel angle, and a second right rear wheel angle is determined based on the second right front wheel angle.

4. The method for determining the attitude speed of four steering wheels according to claim 3, characterized in that: The determining of a first left front wheel angle and a first right front wheel angle of the steering wheel in the counter-phase motion comprises: The first left front wheel angle and the first right front wheel angle are determined based on the input linear velocity, the input angular velocity, the wheel spacing, and the front-rear wheel track.

5. The method for determining the attitude speed of four steering wheels according to any one of claims 1 to 4, characterized in that: The second motion type includes in-phase motion and lateral translation motion; The determining of the second motion type based on the input linear velocity, the input lateral velocity and the input angular velocity comprises: When the input linear velocity is greater than a second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, determining that the second motion type is the in-phase motion; When the input linear velocity is equal to the second threshold, the input lateral velocity is greater than the second threshold, and the input angular velocity is equal to the second threshold, the second motion type is determined to be the lateral translation motion.

6. The method for determining the attitude speed of four steering wheels according to claim 5, characterized in that: The determining of the second wheel speed and the second wheel angle of the steering wheel in the second motion type comprises: determining the second wheel speed and the second wheel angle in the in-phase motion based on the input linear speed and the input lateral speed; Or, based on the input lateral speed, the second wheel speed under the lateral translation movement is determined, and the second wheel angle under the lateral translation movement is determined to be 90°.

7. A device for determining the attitude and speed of four steering wheels, characterized in that: include: An acquisition unit, used for acquiring an input linear velocity, an input lateral velocity, an input angular velocity, a wheel spacing, a front and rear wheel spacing, and an offset of a wheel and a steering gear of a vehicle body; a first determination unit, configured to determine a first absolute value based on the input linear velocity, and to determine a second absolute value based on the input angular velocity, the wheel spacing, and the offset; a comparison unit, configured to compare the first absolute value and the second absolute value to determine a first motion type, and to determine a second motion type based on the input linear velocity, the input lateral velocity, and the input angular velocity; The second determination unit is used to determine a first wheel speed and a first wheel angle of the steering wheel in the first motion type, and to determine a second wheel speed and a second wheel angle of the steering wheel in the second motion type.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the method for determining the attitude speed of four steering wheels as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining the attitude speed of four steering wheels as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for determining the attitude speed of four steering wheels as described in any one of claims 1 to 6 is implemented.

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