Three-axis unmanned vehicle steering control method, computer readable medium and equipment

Abstract

The invention discloses a three-axle unmanned vehicle steering control method, a computer readable medium and equipment. A three-axle unmanned vehicle is provided with a first axle, a second axle, a third axle, a steering angle sensor, a steering control module, a self-driving control module and an environment sensing module. According to the three-axle unmanned vehicle steering control method provided by the embodiment of the invention, through the design that the positions of the first axle, the second axle and the third axle, the arrangement of the steering tie rod and the steering arm and the combination of the steering angle sensor, the steering control module, the self-driving control module and the environment sensing module, it can be ensured that the three-axle vehicle steadily runs in an inclined mode when running in an inclined mode, and the steering efficiency is improved. The problem of vehicle body deflection when the three-axle vehicle runs obliquely is solved; in addition, the turning radius is small, and the turning requirement in a narrow space can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of steering of unmanned transport vehicles, and particularly to a steering control method, a computer-readable medium, and a device for a three-axle unmanned vehicle. Background Art

[0002] At present, most of the three-axle vehicles moving obliquely adopt a control method in which the main control wheels on the same side of each axle rotate by the same angle. However, for axles with a steering trapezoid or other states, in order to ensure that each tire meets pure rolling as much as possible when the vehicle turns, the inner and outer wheels do not rotate parallel by the same angle. Instead, when the vehicle turns, the angles of the inner and outer wheels are realized through the steering knuckle arms, tie rods, etc. of the axle to achieve a certain angle relationship and realize the geometric relationship of Ackermann angles. However, when applied to the oblique movement of three-axle vehicles, the left and right wheels of the axle with the Ackermann angle geometric relationship cannot be parallel when turning, resulting in the problem of vehicle body deflection during oblique movement, which affects the normal and safe driving of the vehicle. Moreover, compared with the structure of traditional two-axle vehicles, the body of three-axle vehicles is longer. In narrow spaces or roads with small turning radii, the passing performance of the vehicle is poor. How to improve the passing performance of the vehicle in narrow spaces or roads with small turning radii and solve the problem of vehicle body deflection during oblique movement has become an urgent problem for engineers in this field. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a steering control method, a computer-readable medium, and a device for a three-axle unmanned vehicle. Among them, for the steering control method of the three-axle unmanned vehicle, the three-axle unmanned vehicle is provided with a first axle, a second axle, a third axle, an angle sensor, a steering control module, a self-driving control module, and an environment sensing module;

[0004] The angle sensors are respectively arranged on one side of the sequentially arranged first axle, second axle, and third axle; the angle sensors monitor the wheel angles of the first axle, second axle, and third axle in real time and transmit the angle data to the steering control module and the self-driving control module;

[0005] The steering tie rods and steering arms of the first axle and the third axle are both arranged in a trapezoidal structure, and the inner and outer wheel angles are different during steering; the steering structures of the first axle and the third axle are symmetrically arranged about the center of the second axle; the left and right wheels of the second axle are arranged in parallel;

[0006] The environment sensing module is used to detect the road environment and transmit the environment detection signal to the self-driving control module;

[0007] The self-driving control module receives the environment detection signal and is used for path planning, and controls the states of each axle through the steering control module according to the path planning, specifically including:

[0008] When moving diagonally: According to the diagonal angle planned by the self-driving control module, the first axle is controlled to turn diagonally through the steering control module, and the actual turning angle A1 of the wheels on one side of the first axle is monitored through the turning angle sensor;

[0009] The turning angles of the second axle (20) and the third axle (30) are obtained by fitting calculation based on the actual turning angle A1, and the fitting formula is as follows:

[0010] Y2 = e + fX + gX 2 + hX 3 ;

[0011] X is the actual turning angle A1 monitored by the turning angle sensor (40);

[0012] Y2 is the control turning angle of the control side of the second axle (20) or the third axle (30);

[0013] e, f, g, h are the coefficients of each term of the polynomial:

[0014] When the first axle (10) turns left:

[0015] The fitting coefficients of the wheel turning angle on the control side of the second axle (20):

[0016] e is from (3.50000E-03) to (5.00000E-03);

[0017] f is from (9.50000E-01) to (10.50000E-01);

[0018] g is from (-2.50000E-03) to (-1.30000E-03);

[0019] h is from (-9.50000E-06) to (-8.00000E-06);

[0020] The fitting coefficients of the wheel turning angle on the control side of the third axle (30):

[0021] e is from (6.00000E-03) to (9.00000E-03);

[0022] f is from (9.50000E-01) to (10.50000E-01);

[0023] g is from (-4.50000E-03) to (-3.00000E-03);

[0024] h is from (-2.00000E-05) to (-1.30000E-05);

[0025] When the first axle (10) turns right:

[0026] The fitting coefficients of the wheel angles on the steering control side of the second axle (20):

[0027] e ranges from (1.00000E-02) to (1.60000E-02);

[0028] f ranges from (9.50000E-01) to (10.50000E-01);

[0029] g ranges from (-1.50000E-03) to (-0.60000E-03);

[0030] h ranges from (5.50000E-05) to (7.00000E-05);

[0031] The fitting coefficients of the wheel angles on the steering control side of the third axle (30):

[0032] e ranges from (2.50000E-02) to (3.00000E-02);

[0033] f ranges from (9.50000E-01) to (10.50000E-01);

[0034] g ranges from (-2.60000E-03) to (-1.30000E-03);

[0035] h ranges from (1.00000E-04) to (1.50000E-04).

[0036] Preferably, when driving straight: control the first axle, the second axle, and the third axle to all maintain the zero position;

[0037] When steering: control the first axle and the third axle to steer simultaneously, and the second axle to maintain the zero position;

[0038] Or control the first axle and the second axle to steer, and the third axle to maintain the zero position;

[0039] Or control the third axle and the second axle to steer, and the first axle to maintain the zero position.

[0040] The present invention further provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the three-axle driverless vehicle steering control method described above.

[0041] The present invention also provides a three-axle driverless vehicle steering control device, which is characterized by including:

[0042] One or more processors;

[0043] A storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the three-axis autonomous vehicle steering control method described above.

[0044] The three-axis autonomous vehicle steering control method provided by the present invention, through the design of the combination of the positions of the first axle, the second axle and the third axle, the steering tie rod and the steering arm with the angle sensor, the steering control module, the autonomous driving control module and the environment sensing module, can ensure that the three-axis vehicle travels smoothly diagonally and solve the problem of the vehicle body deflection when the three-axis vehicle travels diagonally; moreover, the turning radius is small, which can meet the turning requirements in narrow spaces. Description of the Drawings

[0045] Figure 1 It is a control system diagram of a three-axis autonomous vehicle provided by an embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of the three axles when the vehicle is traveling straight;

[0047] Figure 3 It is a schematic diagram of the three axles in three steering modes;

[0048] Figure 4 It is a schematic diagram of the three axles when traveling diagonally;

[0049] Figure 5 It is a device based on the three-axis autonomous vehicle steering control method provided by an embodiment of the present invention;

[0050] Wherein: 10, the first axle; 20, the second axle; 30, the third axle; 40, the angle sensor; 50, the steering control module; 60, the autonomous driving control module; 70, the environment sensing module. Detailed Embodiments

[0051] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments are all conventional methods unless otherwise specified. The materials, reagents, etc. used in the following embodiments can be obtained from commercial channels unless otherwise specified.

[0052] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0053] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. shall be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0055] The embodiments of the present invention provide a three-axis autonomous vehicle steering control method, a computer-readable medium, and a device. Among them, the three-axis autonomous vehicle steering control method is as Figure 1 shown. The three-axis autonomous vehicle is provided with a first axle 10, a second axle 20, a third axle 30, an angle sensor 40, a steering control module 50, a self-driving control module 60, and an environment sensing module 70;

[0056] The first axle 10, the second axle 20, and the third axle 30 arranged in sequence are respectively provided with an angle sensor 40; the angle sensor 40 monitors the wheel angles of the first axle 10, the second axle 20, and the third axle 30 in real time, and transmits the angle data to the steering control module 50 and the self-driving control module 60;

[0057] The steering tie rods and steering arms of the first axle 10 and the third axle 30 are both arranged in a trapezoidal structure. When steering, the inner and outer wheel angles are different, realizing the geometric relationship of Ackermann angles. The steering structures of the first axle 10 and the third axle 30 are symmetrically arranged about the center of the second axle 20. The left and right wheels of the second axle 20 are arranged in parallel. The symmetric arrangement means that the trapezoid of the steering angle of the first axle 10 is rotated 180 degrees and arranged on the third axle 30, and the axles are symmetric left and right. The symmetric arrangement enables, when the first axle 10 and the third axle 30 are steering and the middle axle is not turning, the extension lines of the tire axles to intersect at a point on the second axle 20, which can reduce the turning radius, meet the turning requirements in narrow spaces, and at the same time reduce tire wear. Under large-tonnage loads, it can greatly reduce the tire wear condition. Since the steering angle relationship between the first axle 10 and the third axle 30 is symmetrically arranged, that is, the inner wheel angle of the first axle 10 is greater than the outer wheel angle, but the inner wheel angle of the third axle 30 is less than the outer wheel angle, and the left and right wheel angles of the middle axle (the second axle 20) are nearly parallel. Thus, for example, if the steering angle is controlled with the same inner wheel angle to achieve diagonal movement, there will be an imbalance in the lateral moment of the vehicle body, resulting in the deflection of the vehicle body;

[0058] The environmental sensing module 70 is used to detect the road environment and transmit the environmental detection signal to the self-driving control module 60. The environmental sensing module 70 is usually arranged around the vehicle body or in the vehicle operation area. The environmental sensing module 70 includes but is not limited to laser sensors, vision sensors, etc. The braking system includes but is not limited to using existing air compression braking systems, hydraulic braking systems, etc. The self-driving control module 60 can also receive GPS positioning information to achieve vehicle positioning;

[0059] The self-driving control module 60 is the vehicle control device, including the VCU module, etc. The self-driving control module 60 receives the environmental detection signal and is used for path planning, and controls the states of each axle through the steering control module 50 according to the path planning;

[0060] The left and right wheels of each axle are rigidly connected through steering knuckles, tie rods, etc. and are equipped with a hydraulic system. The steering control module 50 is connected to the hydraulic system and realizes the steering control of each axle by controlling the hydraulic system. The steering control module 50 realizes the steering control of each axle by controlling the hydraulic system and conducts path planning through the self-driving control module 60, etc. are existing technologies in this field and will not be elaborated here;

[0061] When moving diagonally: taking the example that the angle sensors 40 are all arranged on the left wheel sides of each axle and the axle steering control ends are also arranged on the left wheel sides; the diagonal control method is as follows:

[0062] The steering control module 50 controls the diagonal steering of the first axle 10 according to the diagonal angle and monitors the actual angle A1 of the left wheel of the first axle 10 through the angle sensor 40;

[0063] The steering control module 50 fits the rotation angle A2 of the right wheel of the first axle 10 based on the actual rotation angle A1 of the left wheel of the first axle 10, and then calculates the average rotation angle A3 of the first axle 10; the average rotation angle A3 is equal to (rotation angle A1 + rotation angle A2) / 2;

[0064] The steering control module 50 controls the left and right wheels of the second axle 20 to turn at the same angle according to the average rotation angle A3 of the first axle 10;

[0065] The steering control module 50 controls the left wheel of the third axle 30 to turn at the rotation angle A2 of the right wheel of the first axle 10, and at this time, the rotation angle of the right wheel of the third axle 30 is the same as the actual rotation angle A1 of the left wheel of the first axle 10.

[0066] During the above-mentioned diagonal movement, the self-driving control module 30 calculates the path angle required for diagonal movement according to the path planning. According to the control method of the average rotation angle, that is, the left and right average rotation angles of all axles are equal to the path angle required for diagonal movement. According to the relationship between the left and right wheel rotation angles provided by the self-driving control module 30 and the chassis, the rotation angle requirement of the left wheel of the first axle 10 is issued. The agreement between the self-driving control module 30 and the chassis system is to control the left rotation angle of the first axle 10. The wire-controlled chassis system executes the left wheel rotation angle to the target angle, and monitors and feeds back the actual rotation angle of the left wheel of the first axle 10 through the rotation angle sensor 40, and the other axles make corresponding controls.

[0067] The three-axle unmanned vehicle steering control method provided by the embodiment of the present invention, through the design of combining the positions of the first axle, the second axle and the third axle, the steering tie rod and the steering arm with the rotation angle sensor, the steering control module, the self-driving control module and the environment sensing module, can ensure that the three-axle vehicle moves diagonally smoothly when turning diagonally, and solve the problem of vehicle body deflection when the three-axle vehicle moves diagonally; moreover, the turning radius is small, and it can meet the turning requirements in narrow spaces.

[0068] Specifically, when implemented, the fitting formula for the rotation angle A2 of the first axle 10 is:

[0069] Y r =a + bX + cX 2 +dX 3 , where:

[0070] X is the actual rotation angle A1 of one side wheel of the first axle 10 monitored by the rotation angle sensor 40;

[0071] Y1 is the fitting rotation angle A2 of the other wheel of the first axle 10;

[0072] a, b, c, and d are the coefficients of each term of the polynomial, which are determined by fitting according to the corner relationship; the method for fitting and confirming the coefficients of each term of the polynomial: based on the layout of hard points such as the steering trapezoid structure and wheel ends of the bridge components, build a model of the steering trapezoid, and then through dynamic simulation, set sampling points, collect the tables corresponding to the left and right wheel angles within the corner range, draw a scatter plot, and then perform polynomial fitting in three intervals: left turn, right turn, and zero position to confirm the polynomial coefficients. After evaluating the fitting accuracy, it is confirmed that a cubic polynomial fitting is adopted.

[0073] When traveling obliquely:

[0074] When the first axle 10 turns left:

[0075] The value of a is in the range of (7.00000E-03) to (9.00000E-03);

[0076] The value of b is in the range of (9.50000E-01) to (10.50000E-01);

[0077] The value of c is in the range of (-4.50000E-03) to (-3.00000E-03);

[0078] The value of d is in the range of (-2.20000E-05) to (-1.40000E-05);

[0079] When the first axle (10) turns right:

[0080] The value of a is in the range of (2.00000E-02) to (3.00000E-02);

[0081] The value of b is in the range of (9.50000E-01) to (10.50000E-01);

[0082] The value of c is in the range of (-2.70000E-03) to (-1.20000E-03);

[0083] The value of d is in the range of (1.00000E-04) to (1.70000E-04).

[0084] During specific implementation, the table of coefficients of each term of the polynomial is as follows:

[0085]

[0086] E-03 and the like in the above coefficients are the decimal places of scientific notation.

[0087] The fitting formula provided in this embodiment determines the coefficients through three-segment piecewise fitting in the left turn, right turn, and zero position intervals, can well fit the oblique travel and corner relationship, and the formula is simple and convenient for control.

[0088] During specific implementation, the rotation angles of the second axle 20 and the third axle 30 are obtained through fitting calculations based on the monitored rotation angle A1 of the first axle 10. The fitting formula is as follows:

[0089] Y2 = e + fX + gX 2 + hX 3 ;

[0090] X is the actual rotation angle A1 of the wheel on one side of the first axle 10 monitored by the rotation angle sensor 40;

[0091] Y2 is the control rotation angle on the steering control side of the second axle 20 or the third axle 30;

[0092] e, f, g, and h are the coefficients of each term of the polynomial:

[0093] When the first axle 10 turns left:

[0094] Fitting coefficients for the wheel rotation angle on the steering control side of the second axle 20:

[0095] e is from (3.50000E - 03) to (5.00000E - 03);

[0096] f is from (9.50000E - 01) to (10.50000E - 01);

[0097] g is from (-2.50000E - 03) to (-1.30000E - 03);

[0098] h is from (-9.50000E - 06) to (-8.00000E - 06);

[0099] Fitting coefficients for the wheel rotation angle on the steering control side of the third axle 30:

[0100] e is from (6.00000E - 03) to (9.00000E - 03);

[0101] f is from (9.50000E - 01) to (10.50000E - 01);

[0102] g is from (-4.50000E - 03) to (-3.00000E - 03);

[0103] h is from (-2.00000E - 05) to (-1.30000E - 05);

[0104] When the first axle 10 turns right:

[0105] Fitting coefficients for the wheel rotation angle on the steering control side of the second axle (20):

[0106] e is from (6.00000E-03) to (9.00000E-03);

[0107] f is from (9.50000E-01) to (10.50000E-01);

[0108] g is from (-4.50000E-03) to (-3.00000E-03);

[0109] h is from (-2.00000E-05) to (-1.30000E-05);

[0110] Fitting coefficients of the wheel rotation angle on the steering control side of the third axle 30: e is from (2.50000E-02) to (3.00000E-02);

[0111] f is from (9.50000E-01) to (10.50000E-01);

[0112] g is from (-2.60000E-03) to (-1.30000E-03);

[0113] h is from (1.00000E-04) to (1.50000E-04).

[0114] During specific implementation, the specific coefficients of each term of the polynomials of e, f, g, and h are provided as follows:

[0115]

[0116]

[0117] E-03, etc. in the above coefficients are decimal places in scientific notation.

[0118] In this embodiment, due to the fact that when the second axle 20 is actually under steering control, the left and right wheels cannot be completely parallel; and there are deviation phenomena when the third axle 30 is under steering control, the above Y2 fitting formula is proposed. Based on the average rotation angle control of the first axle 10, this formula can make the vehicle steering control more accurate.

[0119] Preferably, during diagonal movement: as Figure 4 shown, according to the diagonal movement angle planned by the path, control the rotation of the first axle 10, and calculate the average rotation angle of the first axle by detecting the rotation angles of the left and right wheels of this axle through the rotation angle sensor 40, and control the rotation of the remaining axles according to the average rotation angle; realize the diagonal movement of the first axle 10, the second axle 20, and the third axle 30, and realize the parallel movement of the vehicle, which is convenient for lane change, side parking, etc.

[0120] The above "zero position" refers to the original or standard position of the axle or wheel without deviation or deflection;

[0121] The steering control method for a three-axle unmanned vehicle provided by the embodiments of the present invention provides multiple steering control modes for a three-axle vehicle, and can adapt to different driving scenarios and different steering requirements.

[0122] During specific implementation, when driving straight: as Figure 2 shown, control the first axle 10, the second axle 20, and the third axle 30 to all maintain the zero position, and monitor the wheel angle in real time through the angle sensor 40, and respond to the system angle control to maintain straight driving;

[0123] When steering:

[0124] Full eight-steering: as Figure 3 shown, according to the path planning angle, control the first axle 10 and the third axle 30 to steer simultaneously, and the second axle 20 maintains the zero position, and the minimum turning radius can be achieved; it is applicable to scenarios with a small turning radius;

[0125] Or front half eight-steering: as Figure 3 shown, according to the path planning angle, control the angle of the first axle 10, the third axle 30 maintains the zero position, and the angle of the second axle 20 is determined according to the vehicle layout, axle steering structure parameters, etc. and the angle of the first axle 10; the third axle 30 is in the zero position, compared with the full eight-steering mode, the minimum turning radius becomes larger, but the rear swing of the third axle is reduced, and it is applicable to steering in a relatively narrow section of the road; in this steering mode, the first axle 10 and the second axle 20 steer, and the third axle 30 does not turn. When steering, the theoretical extension lines of the wheel centers of the first axle 10, the second axle 20, and the third axle 30 should intersect at the third axle 30 as much as possible, but it is actually difficult to achieve. Therefore, we calculate the average inner and outer wheel angles of the first axle 10, and the intersection of the extension line of the axle midpoint and the extension line of the third axle 30, and then calculate the average angle of the second axle 20, and the extension line of the center of the second axle 20 also intersects at this point. The specific angle relationship is calculated by drawing according to the vehicle layout, axle steering structure parameters, etc., and the relational expression is determined, and it can be understood by referring to the above description of different inner and outer wheel angles of the steering wheels.

[0126] Or rear half eight-steering: as Figure 3 shown, according to the path planning angle, control the angle of the third axle 30, the first axle 10 maintains the zero position, and the angle of the second axle 20 is determined according to the vehicle layout, axle steering structure parameters, etc. and the angle of the third axle 30; the first axle 10 is in the zero position, compared with the full eight-steering mode, the minimum turning radius becomes larger, but the rear swing of the first axle 10 is reduced, and it is applicable to steering in a relatively narrow section of the road;

[0127] The embodiments of the present invention further provide a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned steering control method for a three-axle unmanned vehicle is implemented.

[0128] An embodiment of the present invention further provides a three-axis unmanned vehicle steering control device, which is characterized by comprising:

[0129] One or more processors;

[0130] A storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the three-axis unmanned vehicle steering control method as described above arbitrarily.

[0131] The present invention further provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, the three-axis unmanned vehicle steering control method as described above arbitrarily is implemented.

[0132] The present invention also provides a three-axis unmanned vehicle steering control method device, including:

[0133] One or more processors;

[0134] A storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the three-axis unmanned vehicle steering control method as described above arbitrarily.

[0135] Specifically, in another embodiment, a three-axis unmanned vehicle steering control method device is provided, including:

[0136] One or more processors;

[0137] A storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the three-axis unmanned vehicle steering control method as described above arbitrarily.

[0138] The device of this embodiment can implement the above-mentioned three-axis unmanned vehicle steering control method, and the specific implementation manner can be referred to the method embodiment and will not be elaborated here.

[0139] Next, with reference to Figure 5 the device 900 according to this embodiment of the present invention will be described. Figure 5 The device 900 shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0140] As Figure 5 shown, the device 900 is presented in the form of a general-purpose computing device. The components of the device 900 may include but are not limited to: at least one of the above-mentioned processing units 910, at least one of the above-mentioned storage units 920, and a bus 930 connecting different system components (including the storage unit 920 and the processing unit 910).

[0141] Among them, the storage unit stores program codes, and the program codes can be executed by the processing unit 910, so that the processing unit 910 executes the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of this specification. For example, the processing unit 910 can execute the three-axis unmanned vehicle steering control method as shown in Figure 1 .

[0142] The storage unit 920 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 9201 and / or a cache storage unit 9202, and may further include a read-only storage unit (ROM) 9203.

[0143] The storage unit 920 may also include a program / utilities 9204 having a set (at least one) of program modules 9205. Such program modules 9205 include but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0144] The bus 930 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the multiple bus structures.

[0145] The device 900 can also communicate with one or more external devices 1000 (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the device 900, and / or communicate with any device that enables the device 900 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 950. And the device 900 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 960. As shown in the figure, the network adapter 960 communicates with other modules of the device 900 through the bus 930. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the device 900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0146] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a portable hard drive, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0147] In another embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method for local route planning of an unmanned container truck based on laser point cloud described in any one of the above is implemented.

[0148] A computer-readable storage medium provided in this embodiment stores a program product capable of implementing the method described in this specification. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the "Exemplary Method" section of this specification.

[0149] A program product for implementing the above method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device.

[0150] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0151] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The readable signal medium may also be any readable medium other than a readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0152] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0153] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0154] It should be noted that although several modules or units of a device for action execution are mentioned in the foregoing detailed description, such a division is not mandatory. In fact, according to embodiments of the present disclosure, the features and functions of two or more of the above-described modules or units may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided and embodied by a plurality of modules or units.

[0155] In addition, although the steps of the methods in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in that specific order, or that all of the steps shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc.

[0156] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0157] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steering control method for a three-axis unmanned vehicle, characterized in that: The three-axis unmanned vehicle is provided with a first axle (10), a second axle (20), a third axle (30), an angle sensor (40), a steering control module (50), a self-driving control module (60) and an environment sensing module (70); On one side of the sequentially arranged first axle (10), second axle (20), and third axle (30), the angle sensor (40) is respectively provided; the angle sensor (40) monitors the wheel angles of the first axle (10), second axle (20), and third axle (30) in real time, and transmits the angle data to the steering control module (50) and the self-driving control module (60); The steering tie rods and steering arms of the first axle (10) and the third axle (30) are both arranged in a trapezoidal structure, and the inner and outer wheel angles are different during steering; the steering structures of the first axle (10) and the third axle (30) are symmetrically arranged about the center of the second axle (20); the left and right wheels of the second axle (20) are arranged in parallel; The environment sensing module (70) is used to detect the road environment and transmit the environment detection signal to the self-driving control module (60); The self-driving control module (60) receives the environment detection signal and is used for path planning, and controls the states of each axle through the steering control module (50) according to the path planning, specifically including: During diagonal travel: The self-driving control module (60) controls the diagonal steering of the first axle (10) through the steering control module (50) according to the diagonal angle of the path planning, and monitors the actual angle A1 of the wheels on one side of the first axle (10) through the angle sensor (40); The angles of the second axle (20) and the third axle (30) are obtained by fitting calculation based on the actual angle A1, and the fitting formula is as follows: Y2 = e + fX + gX 2 + hX 3 ; X is the actual angle A1 monitored by the angle sensor (40); Y2 is the control angle of the steering control side of the second axle (20) or the third axle (30); e, f, g, h are the coefficients of each term of the polynomial: When the first axle (10) turns left: The fitting coefficients of the wheel angle of the steering control side of the second axle (20): e is from (3.50000E-03) to (5.00000E-03); f is from (9.50000E-01) to (10.50000E-01); g is from (-2.50000E-03) to (-1.30000E-03); h is from (-9.50000E-06) to (-8.00000E-06); The fitting coefficients of the wheel angle of the steering control side of the third axle (30): e is from (6.00000E-03) to (9.00000E-03); f is from (9.50000E-01) to (10.50000E-01); g is from (-4.50000E-03) to (-3.00000E-03); h is from (-2.00000E-05) to (-1.30000E-05); When the first axle (10) turns right: The fitting coefficients of the wheel angle of the steering control side of the second axle (20): e is from (1.00000E-02) to (1.60000E-02); f is from (9.50000E-01) to (10.50000E-01); g is from (-1.50000E-03) to (-0.60000E-03); h is from (5.50000E-05) to (7.00000E-05); The fitting coefficients of the wheel angles on the steering control side of the third axle (30): e is from (2.50000E-02) to (3.00000E-02); f is from (9.50000E-01) to (10.50000E-01); g is from (-2.60000E-03) to (-1.30000E-03); h is from (1.00000E-04) to (1.50000E-04).

2. The three-axle driverless vehicle steering control method according to claim 1, wherein: When driving straight: control the first axle (10), the second axle (20), and the third axle (30) to all maintain the zero position; When steering: control the first axle (10) and the third axle (30) to steer simultaneously, and the second axle (20) to maintain the zero position; Or control the first axle (10) and the second axle (20) to steer, and the third axle (30) to maintain the zero position; Or control the third axle (30) and the second axle (20) to steer, and the first axle (10) to maintain the zero position.

3. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the three-axle driverless vehicle steering control method according to claim 1 or 2.

4. A three-axis unmanned vehicle steering control device, characterized in that, Including: One or more processors; A storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the three-axle driverless vehicle steering control method according to claim 1 or 2.

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