Full-vector tractor control method and device

Abstract

The invention provides a full-vector motor tractor control method and device, and relates to the technical field of full-vector vehicle control, and the method comprises the steps: obtaining airport runway traffic environment information and a driver control instruction, determining a current driving condition, determining a control mode according to the current driving condition, and controlling the motor tractor according to the control mode. The control modes comprise a linear driving mode, a steering driving mode and an obstacle avoidance mode; a control instruction for each wheel is determined based on each control mode and the current driving working condition; and transverse, longitudinal and vertical three-dimensional acting force control is performed on each wheel according to a control instruction, the dynamic controllable range of the whole tractor is expanded, mutual restriction among a plurality of performance indexes of the tractor is reduced, the theoretical upper limit of multi-objective optimization is improved, and through multiple control modes, the tractor can adapt to multiple driving working conditions, the airport runway applicability is improved, and the application prospect is wide. When a fault occurs, compared with other vehicle control modes, more braking and steering choices are provided, normal work can still be achieved, and inherent safety is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of full vector automobile control technology, and particularly relates to a control method and device of a full vector tractor. BACKGROUND

[0002] The intelligent tractor is a new product combining artificial intelligence technology and modern automobile industry, and is developing into a full-automatic wheeled intelligent machine integrating network communication, multi-source sensing, autonomous decision-making, safety and efficiency, flexible maneuvering and the like. The traditional tractor generally adopts a typical under-actuated system, that is, only three key operating devices, namely, an accelerator pedal, a brake pedal and a steering wheel, are provided, and only two relatively independent controllable inputs, namely, a longitudinal input and a lateral input, of the vehicle can be realized. The dynamics control of the under-actuated system is difficult and unstable. SUMMARY

[0003] The present application aims to provide a control method and device of a full vector tractor, expand the controllable range of vehicle dynamics, reduce the mutual restriction among multiple performance indicators of the tractor, improve the theoretical upper limit of multi-objective optimization, and through multiple control modes, adapt to multiple driving conditions, improve the adaptability to the airport runway, when a fault occurs, compared with other vehicle control modes, have more braking and steering options, and can still work normally, and have higher inherent safety.

[0004] The present application further provides a control method of a full vector control automobile, comprising:

[0005] obtaining airport runway traffic environment information and driver control instructions, and determining a current driving condition;

[0006] determining a control mode according to the current driving condition, wherein the control mode comprises a straight driving mode, a steering mode and an obstacle crossing mode;

[0007] determining a control instruction for each wheel based on each control mode and the current driving condition;

[0008] controlling the three-dimensional force of each wheel in the lateral direction, the longitudinal direction and the vertical direction according to the control instruction.

[0009] In an optional embodiment, the step of obtaining the airport runway traffic environment information and the driver control instructions, and determining the current driving condition, comprises:

[0010] obtaining the airport runway traffic environment information and the driver control instructions;

[0011] signal conditioning the airport runway traffic environment information and the driver control instructions;

[0012] determining the current driving condition according to the conditioned signal.

[0013] In an optional embodiment, the step of determining the control instruction for each wheel based on each control mode and the current driving condition comprises:

[0014] According to the straight driving condition, the corresponding number of wheels are assigned torque to brake or drive, and the straight driving condition includes normal straight driving and abnormal straight driving.

[0015] According to the steering condition, the rear wheels and the front wheels are controlled to take any angle steering, take in-phase steering mode for high-speed lane changing, and take reverse-phase steering mode for low-speed turning.

[0016] According to the obstacle avoidance condition, the vehicle body generates anti-tilt torque and suspension adjustment.

[0017] In an optional embodiment, the step of controlling the three-dimensional force of each wheel in the lateral, longitudinal and vertical directions according to the control instruction comprises:

[0018] Based on the control instruction, the corresponding actuator controls the three-dimensional force of each wheel in the lateral, longitudinal and vertical directions.

[0019] In an optional embodiment, the step of controlling the three-dimensional force of each wheel in the lateral, longitudinal and vertical directions based on the control instruction comprises:

[0020] The driving torque of the wheel is controlled by the hub motor, the brake torque of the wheel is controlled by the motor and hydraulic linear control brake system, and the longitudinal force is controlled.

[0021] The steering angle of the wheel is controlled by the motor and reducer linear control steering system, and the lateral force is controlled.

[0022] The damping of the wheel and the vehicle body is controlled by the magneto-rheological active suspension, and the vertical force is controlled.

[0023] In a second aspect, the embodiments of the present application also provide a control device of a full-vector traction vehicle, comprising:

[0024] An acquisition module is configured to acquire airport runway traffic environment information and driver control instructions, and determine a current driving condition.

[0025] A first determination module is configured to determine a control mode according to the current driving condition, and the control mode includes a straight driving mode, a steering mode and an obstacle avoidance mode.

[0026] A second determination module is configured to determine a control instruction for each wheel based on each control mode and the current driving condition.

[0027] A control module is configured to control the three-dimensional force of each wheel in the lateral direction, longitudinal direction and vertical direction according to the control instruction.

[0028] In a third aspect, an embodiment provides an electronic device, including a memory, a processor, and a program stored in the memory and capable of running on the processor, and the processor implements the control method of the full-vector traction vehicle according to any one of the preceding embodiments when executing the program.

[0029] In a fourth aspect, an embodiment provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program, and the computer program implements the control method of the full-vector traction vehicle according to any one of the preceding embodiments when executed. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a control method of the full-vector control vehicle

[0031] Figure 2 is a schematic diagram of the control device of the full-vector control vehicle

[0032] Figure 3 is a signal conditioning schematic diagram of the control device of the full-vector control vehicle DETAILED DESCRIPTION

[0033] The embodiment of the present application provides a control method and device of a full-vector traction vehicle, through an electric control system capable of independently controlling wheels, based on airport runway traffic environment information and driver control instructions, determining a current driving condition of the vehicle, and further determining a current control mode, and then determining control instructions for each wheel according to the current working mode and driving condition, so as to realize three-dimensional force control of each wheel in the lateral direction, longitudinal direction and vertical direction.

[0034] As shown in Figure 1 The embodiment of the present application also provides a control method of a full-vector control vehicle, including the following steps:

[0035] Step S1-1, acquiring airport runway traffic environment information and driver control instructions, and determining a current driving condition;

[0036] Step S1-2, determining a control mode according to the current driving condition, and the control mode includes a straight driving mode, a steering mode and an obstacle crossing mode:

[0037] Step S1-3, determining control instructions for each wheel based on each control mode and the current driving condition;

[0038] Step S1-4, controlling the three-dimensional force of each wheel in the lateral direction, longitudinal direction and vertical direction according to the control instruction.

[0039] In the preferred embodiment of practical application, the current driving condition of the vehicle is determined based on the airport runway traffic environment information and the driver control instruction by the electric control system which can independently control the wheels, and the current control mode is further determined, and then the control instruction for each wheel is determined according to the current working mode and driving condition, so as to realize the three-dimensional force control of each wheel in the lateral, longitudinal and vertical directions. Different control modes can be adopted according to different runway environments to adapt to various driving conditions, improve the adaptability of the airport runway, and be more flexible and mobile.

Claims

1. A control method of a full vector tractor, characterized by, The step of controlling the three-dimensional force of each wheel in the lateral direction, longitudinal direction and vertical direction according to the control instruction comprises: controlling the corresponding actuator to control the three-dimensional force of each wheel in the lateral direction, longitudinal direction and vertical direction based on the control instruction.

2. The control method of the full vector traction vehicle according to claim 1, characterized by, The step of controlling the corresponding actuator to control the three-dimensional force of each wheel in the lateral direction, longitudinal direction and vertical direction based on the control instruction comprises: controlling the driving torque of the wheel by a wheel hub motor, controlling the braking torque of the wheel by a motor and a hydraulic brake-by-wire system, and controlling the longitudinal force; controlling the steering angle of the wheel by a motor and a reducer steer-by-wire system, and controlling the lateral force; and controlling the damping of the wheel and the vehicle body by a magneto-rheological active suspension, and controlling the vertical force.

3. A control device for a full vector traction vehicle, characterized by The method comprises: an acquisition module configured to acquire airport runway traffic environment information and a driver control instruction, and determine a current driving condition; The first determining module is configured to determine a control mode according to the current driving condition, the control mode including a straight driving mode, a steering mode and an obstacle avoidance mode; the second determining module is configured to determine a control instruction for each wheel based on each control mode and the current driving condition; the control module is configured to perform three-dimensional force control on each wheel in the lateral, longitudinal and vertical directions according to the control instruction; the second determining module is further configured to assign a torque to a corresponding number of wheels to make the wheels brake or drive according to a straight driving condition, the straight driving condition including normal straight driving and abnormal straight driving; to control the rear wheels and the front wheels to adopt any angle steering, to adopt a same phase steering mode for high-speed lane changing and to adopt an inverse phase steering mode for low-speed turning according to a steering condition; and to control the vehicle body to generate an anti-roll torque and to adjust the suspension according to an obstacle crossing condition; wherein the straight driving mode is adopted when there is no significant steering wheel input and the left and right airport runway unevenness is almost the same, and the four wheel hub motors are controlled; if the normal straight driving, the torque of the rear wheels is evenly distributed to the left and right two hub motors after the torque distribution between the front and rear axles of the vehicle; if the abnormal straight driving, the output torque of the motor controller is adjusted when the traction vehicle travels on a road with uneven dry and wet sides; the steering mode is adopted when there is a significant steering wheel input and the left and right airport runway unevenness is almost the same, and the specific steering mode is determined according to the vehicle speed and the driving intention: switching high-speed lane changing and low-speed turning; if the high-speed lane changing, the rear wheels and the front wheels adopt the same phase steering when the traction vehicle is at high speed, the target driving route is tracked according to the steering time of the steering wheel to the rear wheels, the vehicle body posture and the vehicle body direction when turning; if the low-speed turning, the inverse phase steering is adopted based on the turning radius when the traction vehicle is turning at low speed in a pre-set narrow space; whether there is a protrusion in front of the airport runway and whether the left and right wheel airport runway unevenness is different; if so, the obstacle avoidance mode is switched; if single side roll, when the roll movement of the carrying module is detected, the active power of one side of the oil gas spring is controlled to generate an anti-roll torque; when the nuclear shock wave is detected, the vehicle body height is lowered, and the active power of the other side of the oil gas spring is controlled accordingly; if double side lifting, when there is a pre-set size obstacle in front of the airport runway, the vehicle chassis is raised by the active suspension; the second determining module is further configured to obtain airport runway traffic environment information and driver control instructions; to process the signals of the airport runway traffic environment information and the driver control instructions; and to determine the current driving condition according to the processed signals.

4. An electronic device, comprising: The readable storage medium stores a computer program, and the computer program is executed to implement the control method of the full-vector traction vehicle according to any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that, The readable storage medium stores a computer program, and the computer program is executed to implement the control method of the full-vector traction vehicle according to any one of claims 1 to 2.

Images