Method for controlling pivot steering driving torque of H-type transmission unmanned vehicle

Abstract

The invention relates to the field of vehicle control, in particular to an H-type transmission unmanned vehicle pivot steering driving torque control method, which comprises an H-type transmission unmanned vehicle pivot steering driving torque control system for realizing the control method, and the system comprises a sensing module, a control module, an execution module and a communication module, the sensing module is used for collecting real-time information of a vehicle and a vehicle driving environment, and the control module is used for analyzing and processing data of the sensing module, generating adjustment parameters according to the processed data, generating a control command according to the adjustment parameters, and sending the control command to the control module. The execution module is used for converting a control command into actual adjustment of a vehicle, and the communication module is used for achieving information transmission between the sensing module and a user and between the control module and the user. According to the method, the adjusting parameters of the driving torque are obtained by considering the historical data, the current data and the change rate of the data, the driving torque can be adjusted by integrating multiple factors, the adjusting precision of the driving torque is improved, and the needed adjusting effect is achieved more quickly.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a method for controlling in-situ steering driving torque of an H-type transmission unmanned vehicle. Background Art

[0002] With the development of unmanned driving technology, unmanned vehicles are increasingly used in logistics, agriculture, military, disaster relief and other fields. The ability to turn on the spot is an important performance of unmanned vehicles, especially in narrow spaces, complex terrain and high-mobility mission scenarios. At present, multi-wheeled or tracked unmanned vehicles usually use differential drive to achieve steering, that is, the direction adjustment is completed by applying different driving torques to the left and right wheels or tracks.

[0003] For example, the prior art disclosed in CN117584764A discloses a method for controlling the driving torque of a distributed drive vehicle turning in situ. Based on the longitudinal and lateral speeds and accelerations at the center of mass of the vehicle, combined with the influence of the slip rate changes of the four wheels on the longitudinal and lateral accelerations of the vehicle, a single wheel with a large change in longitudinal force or lateral force with the longitudinal slip rate is selected for driving torque adjustment within one adjustment cycle, and the other wheels maintain the original output torque unchanged. With this torque distribution strategy, for vehicles with the center of mass centered left or right and rearward longitudinally, turning in situ can be achieved and the center of mass can move within a small range.

[0004] Another typical method and device for estimating steering torque, and a method for lateral control of a vehicle disclosed in the prior art of CN109941342B, include the following steps: detecting at least one signal about the current vehicle state and / or the current vehicle environment; determining the desired steering angle by a steering control unit based on the at least one detection signal; estimating the vehicle lateral force based on a tire dynamics model, with the determined steering angle as an input factor; estimating the vehicle lateral force based on a lateral dynamics model; correcting the lateral force value estimated by the tire dynamics model based on the lateral force value estimated by the lateral dynamics model; estimating the self-aligning torque based on the corrected lateral force value; and estimating the steering torque based on the estimated self-aligning torque.

[0005] Next, let's look at the prior art CN109795547A, which discloses a method, device and vehicle for controlling the power-assist torque of an electric power steering system. The present invention combines a fitting function based on vehicle speed weight and a fitting function of the motor torque under different steering wheel torques. After the vehicle speed is weighted, the motor power-assist torque can better coordinate the relationship between steering lightness and road feel. By fitting the motor torque under different steering wheel torques, the value of the fitting coefficient can be changed according to different vehicle models, the power-assist effect can be adjusted, and the different power-assist requirements of different vehicle models can be better adapted.

[0006] At present, the existing driving torque control method has poor response ability when encountering obstacles during the steering process and cannot make adjustments in time. In order to solve the common problems in the field, the present invention is made. Summary of the invention

[0007] The purpose of the present invention is to propose a method for controlling the driving torque of an H-type transmission unmanned vehicle in situ steering in view of the existing deficiencies.

[0008] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0009] A method for controlling the in-situ steering driving torque of an H-type transmission unmanned vehicle, the control method comprising the following steps:

[0010] S1, the unmanned vehicle turns according to the preset plan, and the perception module detects various parameters generated during the turning process;

[0011] S2, the perception module determines whether the wheel encounters an obstacle. If not, it returns to S1. Otherwise, the perception module sends various data to the control module to execute the next step;

[0012] S3, the control module generates a control command according to the data of the perception module;

[0013] S4, the execution unit adjusts the driving torque of the unmanned vehicle according to the control command;

[0014] S5, the communication module displays the data acquired by the perception module and the control module on the master control platform;

[0015] Generating a control command includes adding an adjustment parameter based on the current driving torque, and the adjustment parameter is obtained based on a current error adjustment component, a change rate adjustment component, and a historical integral adjustment component.

[0016] Furthermore, the control module generates a control command according to the data of the perception module, including the following steps:

[0017] S31, the signal processing unit filters and corrects the data received from the perception module;

[0018] S32, the calculation unit generates adjustment parameters according to the processed data;

[0019] S33, the logic control unit outputs a control command according to the adjustment parameters.

[0020] Furthermore, the control method is implemented based on an H-type transmission unmanned vehicle in-situ steering drive torque control system, the system includes a perception module, a control module, an execution module and a communication module, the perception module is used to collect real-time information of the vehicle and the vehicle's driving environment, the control module is used to analyze and process the data of the perception module, and generate adjustment parameters based on the processed data, and then generate control commands based on the adjustment parameters, the execution module is used to convert the control commands into actual adjustments to the vehicle, and the communication module is used to realize information transmission between the perception module and the control module and the user.

[0021] Furthermore, the perception module includes a torque detection unit, a friction coefficient detection unit and an inertia detection unit. The torque detection unit is used to detect the actual torque output of each wheel, the friction coefficient detection unit is used to detect the friction coefficient between the wheel and the ground, and the inertia detection unit is used to detect the angular velocity of the vehicle when turning.

[0022] Furthermore, the control module includes a signal processing unit, a computing unit and a control logic unit. The signal processing unit is used to filter and correct the data of the perception module, the computing unit is used to generate adjustment parameters based on the data processed by the signal processing unit, and the control logic unit is used to output control commands based on the generated adjustment parameters.

[0023] Furthermore, the execution module includes a drive unit and a power unit, wherein the power unit is used to provide power for the drive unit, and the drive unit is used to convert the control command into a torque output of the vehicle drive wheel.

[0024] Furthermore, the communication module includes a first signal transmission unit, a second signal transmission unit and a master control platform, the first signal transmission unit is used to collect and receive various data generated by the perception module and the control module and send them to the second signal transmission unit, the second signal transmission unit is used to receive the signal of the first signal transmission unit and send it to the master control platform, and the master control platform is used to display the various data acquired by the perception module and the control module.

[0025] The beneficial effects achieved by the present invention are: 1. By considering historical data, current data and the rate of change of data to obtain the adjustment parameters of the driving torque, it is beneficial to adjust the driving torque by comprehensively considering various factors, thereby improving the adjustment accuracy of the driving torque and achieving the desired adjustment effect more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0027] Figure 1 It is a schematic diagram of the structure of the present invention.

[0028] Figure 2 It is the work flow chart of the present invention.

[0029] Figure 3 A flow chart for generating control commands for the control module of the present invention.

[0030] Figure 4 This is a diagram showing the relationship between the change rate adjustment component of the present invention and the friction coefficient between the wheel and the ground. DETAILED DESCRIPTION

[0031] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0032] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 and Figure 4 This embodiment provides a method for controlling the in-situ steering driving torque of an H-type transmission unmanned vehicle, the control method comprising the following steps:

[0033] S1, the unmanned vehicle turns according to the preset plan, and the perception module detects various parameters generated during the turning process;

[0034] Specifically, the preset scheme is set by a person skilled in the art and saved in the information storage unit of the drone vehicle;

[0035] S2, the perception module determines whether the wheel encounters an obstacle. If not, it returns to S1. Otherwise, the perception module sends various data to the control module to execute the next step;

[0036] Specifically, the perception module determines whether the torque needs to be adjusted by judging whether the collected data of each unit is within the set allowable range. When two or more data exceed the corresponding allowable range, it is considered that the vehicle's wheels encounter obstacles during the steering process and the torque needs to be adjusted. Otherwise, the torque does not need to be adjusted.

[0037] S3, the control module generates a control command according to the data of the perception module;

[0038] S4, the execution unit adjusts the driving torque of the unmanned vehicle according to the control command;

[0039] S5, the communication module displays the data obtained by the perception module and the control module on the master control platform.

[0040] Furthermore, the control module generates a control command according to the data of the perception module, including the following steps:

[0041] S31, the signal processing unit filters and corrects the data received from the perception module;

[0042] S32, the calculation unit generates adjustment parameters according to the processed data;

[0043] Specifically, the adjustment parameter of the driving torque of each wheel can be calculated according to the following formula:

[0044] ADJUST=NOW*CHANGE+MIS

[0045]

[0046] Among them, ADJUST is the torque adjustment parameter of the driving torque, NOW is the current error adjustment component, CHANGE is the change rate adjustment component, MIS is the historical integral adjustment component, A max is the maximum torque that the wheel can accept,

[0047] A nom is the rated torque of the wheel, A is the current actual torque of the wheel, u1 is the friction coefficient between the wheel and the ground, u2 is the friction coefficient between the wheel on the other side (i.e., the front wheel corresponds to the front wheel, and the rear wheel corresponds to the rear wheel) and the ground, I m is the moment of inertia of the vehicle, m is the weight of the vehicle, d is the wheelbase of the vehicle, W is the current angular velocity of the vehicle, w is the rated angular velocity of the vehicle; e is a natural constant.

[0048] HIGH is the current center of gravity height of the vehicle, high is the center of gravity height of the vehicle in a stationary state (obtained by the sensor before the vehicle starts), U is the friction coefficient threshold, which can be obtained by testing the performance of the wheels. When the friction coefficient is less than this value, the vehicle is prone to slip, and W cha is the angular velocity change rate of the vehicle at the current moment;

[0049] T is the time from the detection of the obstacle to the current moment, H is the current height parameter of the wheel, which is the current height value of the wheel from the ground minus the current height value of the other wheel; h is the average value of the height parameter of the wheel within T time, and H(t) is the height parameter of the wheel at time t. The height value of the wheel is the height of the top of the tire from the ground.

[0050] like Figure 4 As shown, Figure 4 Assume that U is 0.9, HIGH is 0.6 (meters), high is 0.5 (meters), and W cha When 0.1, the relationship between the rate adjustment component and the friction coefficient between the wheel and the ground is shown.

[0051] S33, the logic control unit outputs a control command according to the adjustment parameter, that is, the adjustment parameter is added to the current driving torque as the latest value of the driving torque as the control command.

[0052] Preferably, the unit of the wheel torque is Newton*meter, the unit of the vehicle's rotational inertia is kilogram*square meter, the unit of the vehicle's weight is kilogram, the unit of the vehicle's wheelbase is meter, and the unit of the vehicle's angular velocity is radians per second.

[0053] The following is the procedure required to calculate the tuning parameters:

[0054]

[0055]

[0056]

[0057] Furthermore, it includes an H-type transmission unmanned vehicle in-situ steering drive torque control system for implementing the control method, the system includes a perception module, a control module, an execution module and a communication module, the perception module is used to collect real-time information of the vehicle and the vehicle driving environment, the control module is used to analyze and process the data of the perception module, and generate adjustment parameters according to the processed data, and then generate control commands according to the adjustment parameters, the execution module is used to convert the control commands into actual adjustments to the vehicle, and the communication module is used to realize information transmission between the perception module and the control module and the user.

[0058] Furthermore, the perception module includes a torque detection unit, a friction coefficient detection unit and an inertia detection unit. The torque detection unit is used to detect the actual torque output of each wheel, the friction coefficient detection unit is used to detect the friction coefficient between the wheel and the ground, and the inertia detection unit is used to detect the angular velocity of the vehicle when turning.

[0059] Specifically, each unit of the perception module can be realized by a sensor arranged on the vehicle.

[0060] Furthermore, the control module includes a signal processing unit, a computing unit and a control logic unit. The signal processing unit is used to filter and correct the data of the perception module, the computing unit is used to generate adjustment parameters based on the data processed by the signal processing unit, and the control logic unit is used to output control commands based on the generated adjustment parameters.

[0061] Furthermore, the execution module includes a drive unit and a power unit, wherein the power unit is used to provide power for the drive unit, and the drive unit is used to convert the control command into a torque output of the vehicle drive wheel.

[0062] Specifically, the control logic unit outputs a control command by adjusting parameters according to a preset communication protocol, and the drive unit converts the control command into a torque output according to the preset communication protocol.

[0063] Furthermore, the communication module includes a first signal transmission unit, a second signal transmission unit and a master control platform, the first signal transmission unit is used to collect and receive various data generated by the perception module and the control module and send them to the second signal transmission unit, the second signal transmission unit is used to receive the signal of the first signal transmission unit and send it to the master control platform, and the master control platform is used to display the various data acquired by the perception module and the control module.

[0064] The beneficial effects of this solution are: 1. By considering historical data, current data and the rate of change of data to obtain the adjustment parameters of the driving torque, it is beneficial to adjust the driving torque by combining multiple factors, thereby improving the adjustment accuracy of the driving torque and achieving the desired adjustment effect more quickly.

[0065] 2. By adjusting the driving torque by considering the height difference of the wheels caused by obstacles, it is beneficial to increase the adjustment force of the wheel torque when the height difference is high, which is conducive to returning the vehicle to a normal steering state as soon as possible.

[0066] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, and further improves on the basis thereof, and also includes a preferred method for determining whether a wheel encounters an obstacle. The method determines by obtaining an obstacle index of the wheel. When the obstacle index is greater than 1, it is considered that the wheel encounters an obstacle and its torque needs to be adjusted. The obstacle index can be calculated according to the following formula:

[0067]

[0068] Among them, ZAZB is the obstacle index, e is the natural constant, A nom is the rated torque of the wheel, A is the current actual torque of the wheel, u1 is the friction coefficient between the wheel and the ground, U is the friction coefficient threshold, W is the current angular velocity of the vehicle, w is the rated angular velocity of the vehicle, u0 is the friction coefficient between the wheel and the ground at the previous moment, and W0 is the angular velocity of the vehicle at the previous moment.

[0069] The beneficial effects of this embodiment are as follows: by setting an obstacle index to determine whether the wheel encounters an obstacle, compared with the first embodiment, at the cost of an additional calculation, it is possible to more accurately determine whether the wheel encounters an obstacle, with higher accuracy and intelligence.

[0070] The above disclosed contents are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology. The above units are only examples. Those skilled in the art can use corresponding units according to different designs according to actual needs when implementing this solution.

Claims

1. A method for controlling the driving torque of an H-type transmission unmanned vehicle in-situ steering, characterized in that: The control method comprises the following steps: S1, the unmanned vehicle turns according to the preset plan, and the perception module detects various parameters generated during the turning process; S2, the perception module determines whether the wheel encounters an obstacle. If not, it returns to S1. Otherwise, the perception module sends various data to the control module to execute the next step; S3, the control module generates a control command according to the data of the perception module; S4, the execution unit adjusts the driving torque of the unmanned vehicle according to the control command; S5, the communication module displays the data acquired by the perception module and the control module on the master control platform; Generating a control command includes adding an adjustment parameter based on the current driving torque, and the adjustment parameter is obtained based on a current error adjustment component, a change rate adjustment component, and a historical integral adjustment component.

2. The method for controlling the in-situ steering driving torque of an H-type transmission unmanned vehicle according to claim 1, characterized in that: The control module generates a control command according to the data of the perception module, including the following steps: S31, the signal processing unit filters and corrects the data received from the perception module; S32, the calculation unit generates adjustment parameters according to the processed data; S33, the logic control unit outputs a control command according to the adjustment parameters.

3. The method for controlling the driving torque of an H-type transmission unmanned vehicle in situ steering according to claim 2, characterized in that: The control method is implemented based on an in-situ steering drive torque control system for an H-type transmission unmanned vehicle. The system includes a perception module, a control module, an execution module and a communication module. The perception module is used to collect real-time information about the vehicle and its driving environment. The control module is used to analyze and process the data of the perception module, and generate adjustment parameters based on the processed data, and then generate control commands based on the adjustment parameters. The execution module is used to convert the control commands into actual adjustments to the vehicle. The communication module is used to realize information transmission between the perception module and the control module and the user.

4. The method for controlling the in-situ steering driving torque of an H-type transmission unmanned vehicle according to claim 3 is characterized in that: The perception module includes a torque detection unit, a friction coefficient detection unit and an inertia detection unit. The torque detection unit is used to detect the actual torque output of each wheel, the friction coefficient detection unit is used to detect the friction coefficient between the wheel and the ground, and the inertia detection unit is used to detect the angular velocity of the vehicle when turning.

5. The method for controlling the in-situ steering driving torque of an H-type transmission unmanned vehicle according to claim 4, characterized in that: The control module includes a signal processing unit, a computing unit and a control logic unit. The signal processing unit is used to filter and correct the data of the perception module. The computing unit is used to generate adjustment parameters based on the data processed by the signal processing unit. The control logic unit is used to output control commands based on the generated adjustment parameters.

6. The method for controlling the driving torque of an H-type transmission unmanned vehicle in situ steering according to claim 5, characterized in that: The execution module includes a drive unit and a power unit, wherein the power unit is used to provide power for the drive unit, and the drive unit is used to convert a control command into a torque output of a vehicle drive wheel.

7. The method for controlling the in-situ steering driving torque of an H-type transmission unmanned vehicle according to claim 6, characterized in that: The communication module includes a first signal transmission unit, a second signal transmission unit and a master control platform. The first signal transmission unit is used to collect and receive various data generated by the perception module and the control module and send them to the second signal transmission unit. The second signal transmission unit is used to receive the signal of the first signal transmission unit and send it to the master control platform. The master control platform is used to display the various data obtained by the perception module and the control module.

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