Vehicle control method, controller, system, device, and storage medium

Abstract

A vehicle control method, device, equipment, and storage medium, the vehicle control method includes: acquiring positioning data output from a global navigation satellite system (GNSS) module and IMU data output from an inertial measurement unit (IMU) module, and acquiring attitude angle data based on the positioning data and the IMU data (S110); acquiring vehicle front wheel steering angle information based on the IMU data, motor position encoder data of an electric steering wheel, and vehicle size data (S120); acquiring target steering angle information of the vehicle front wheels based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information, and planned route data (S130); generating target control information based on the target steering angle information, and transmitting the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information (S140).

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application bearing application number 202111477499.1, filed with the China Patent Office on December 6, 2021, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of autonomous driving, and relates to, for example, a vehicle control method, a controller, a system, an apparatus, and a storage medium. [Background technology]

[0003] Autonomous driving of agricultural machinery, as one of the core technologies of precision agriculture, is widely applied to agricultural production processes such as plowing, sowing, fertilization, pesticide spraying, harvesting, etc. Typical core technologies of autonomous driving of agricultural machinery include acquisition of navigation position and attitude information, navigation route planning, and navigation control, etc. Accurate and reliable acquisition of navigation position and attitude information is a prerequisite for route planning and vehicle control. An optimized navigation route can effectively reduce resource waste, such as reducing overlapping and missing work, and reducing routes that turn around on the headland. Fast and stable navigation control can deal with the complex road environment of farmland and realize accurate tracking of the navigation route.

[0004] All autonomous driving modes of agricultural machinery require the installation of displays and angle sensors on the vehicle, which requires the installation of many and complicated harnesses. Because the farm work process is complicated, the harnesses often get caught and cut. At the same time, the system has many parts and is expensive. Summary of the Invention

[0005] The present application provides a vehicle control method, controller, system, device, and storage medium for realizing fast and stable control of vehicle driving while reducing cost consumption.

[0006] The present application, Acquiring positioning data output from a Global Navigation Satellite System (GNSS) module and Inertial Measurement Unit (IMU) data output from an IMU module, and acquiring attitude angle data based on the positioning data and the IMU data; Obtaining vehicle front wheel steering angle information based on the IMU data, the motor position encoder data of the electric steering wheel, and the vehicle size data; Obtaining target steering angle information of the vehicle front wheels based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and the planned route data; generating target control information based on the target steering angle information, and transmitting the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information.

[0007] The present application, a mobile communication signal receiver configured to receive difference information transmitted from a base station or a server and transmit the difference information to a GNSS module; a GNSS module configured to acquire positioning data based on the differential information; an IMU module configured to acquire IMU data; and a central processing unit configured to acquire attitude angle data based on the positioning data and the IMU data, acquire vehicle front wheel steering angle information based on the IMU data, electric steering wheel motor position encoder data and vehicle size data, acquire target steering angle information for the vehicle front wheels based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and planned route data, generate target control information based on the target steering angle information, and send the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information.

[0008] The present application, The integrated controller described above; A handle configured to at least one of turning on and off an automatic driving state based on a user's operation and transmitting planned route data set by the user to a central processing unit of the integrated controller; The present invention further provides an automatic driving system for agricultural machinery, comprising: an electric steering wheel configured to receive target control information transmitted from the central processing unit, rotate based on the received target control information, and move the front wheels of the vehicle to rotate.

[0009] The present application, a data acquisition module configured to acquire positioning data output from a global navigation satellite system (GNSS) module and IMU data output from an inertial measurement unit (IMU) module, and acquire attitude angle data according to the positioning data and the IMU data; a vehicle front wheel steering angle determination module configured to obtain vehicle front wheel steering angle information according to the IMU data, the motor position encoder data of the electric steering wheel, and the vehicle size data; a target steering angle determination module configured to obtain target steering angle information of a vehicle front wheel according to the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and a planned route data; The present invention further provides a vehicle control device comprising: a steering wheel control module configured to generate target control information based on the target steering angle information and to transmit the target control information to the electric steering wheel such that the electric steering wheel rotates based on the target control information.

[0010] The present application further provides a computer-readable storage medium storing a computer program for implementing the above-described vehicle control method when executed by a processor. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a flowchart of a vehicle control method according to the first embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram of the calibration of the electric steering wheel according to the first embodiment of the present invention. [Diagram 3] FIG. 2 is a schematic diagram of a button on a steering wheel according to the first embodiment of the present invention. [Figure 4] FIG. 11 is a flowchart of a vehicle control method according to a second embodiment of the present invention. [Diagram 5] FIG. 11 is a schematic diagram of a method for acquiring vehicle front wheel steering angle information according to a second embodiment of the present invention; [Figure 6] FIG. 11 is a flowchart of a vehicle control method according to a third embodiment of the present invention. [Figure 7] FIG. 11 is a schematic diagram of a method for acquiring vehicle front wheel steering angle information according to a third embodiment of the present invention; [Figure 8] FIG. 11 is a structural schematic diagram of an integrated controller according to a fourth embodiment of the present invention. [Figure 9] FIG. 11 is a structural schematic diagram of an automatic driving system for agricultural machinery according to a fifth embodiment of the present application. [Figure 10] FIG. 11 is a flow chart showing the operation of an automatic driving system for an agricultural machine according to a fifth embodiment of the present invention. [Figure 11] FIG. 13 is a structural schematic diagram of a vehicle control device according to a sixth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present application will be described below with reference to the drawings and examples. The specific examples described herein are merely for the purpose of interpreting the present application. For ease of explanation, only parts relevant to the present application are shown in the drawings.

[0013] Like reference numerals and letters represent like items in the following drawings, so that once an item is defined in one drawing, no definition or interpretation thereof is required in the subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are merely for the purpose of separating and describing, and are not to be understood as indicating or implying relative importance.

[0014] Example 1 FIG. 1 is a flow diagram of a vehicle control method according to a first embodiment of the present application, which is applicable to controlling automatic driving of a vehicle, and the method can be executed by a vehicle control device in the first embodiment of the present application, which can be realized by adopting a software and / or hardware scheme. As shown in FIG. 1, the method includes:

[0015] In S110, the positioning data output from a Global Navigation Satellite System (GNSS) module and the IMU data output from an Inertial Measurement Unit (IMU) module are obtained, and attitude angle data is obtained based on the positioning data and the IMU data.

[0016] GNSS broadly refers to all satellite navigation systems, and has the functions of omnipotent, global, all-weather, continuous and real-time navigation, positioning and timer. In the embodiment of the present application, the GNSS module supports both GNSS positioning and GNSS pointing. GNSS pointing can determine the orientation of a geometric vector formed by two points in space in a given coordinate system. The GNSS receiving antenna can be used to receive positioning data output from the GNSS. Among them, the positioning data includes positioning information and pointing information. The GNSS module further supports augmentation modes such as Real-Time Kinematic (RTK), Satellite-Based Augmentation System (SBAS), Differential Global Position System (DGPS) and Precise Point Positioning (PPP). The IMU can be configured to detect and measure acceleration and rotational motion states. In the embodiment of the present application, the IMU can collect and output IMU data, including the vehicle body rotation angular velocity and the vehicle body acceleration. Attitude angle data is calculated based on the GNSS positioning data and the IMU data. Among them, the attitude angle data includes the heading angle, pitch angle, roll angle, etc. Generally, the spatial rotation of the aircraft coordinate system relative to the geographic coordinate system can be expressed in the order of the heading angle, pitch angle, and roll angle.

[0017] In S120, vehicle front wheel steering angle information is obtained according to the IMU data, the motor position encoder data of the electric steering wheel and the vehicle size data.

[0018] The motor position encoder data of the electric steering wheel represents the current rotation position of the electric steering wheel. The vehicle size data includes the vehicle wheelbase, the height of the rear axle, the wheelbase of the front wheels, the distance between the antenna and the center axle, the position of the antenna relative to the center axle, the distance between the antenna and the rear axle, the position of the antenna relative to the rear axle, the height of the antenna, and the working width. The vehicle size data can be used to establish a vehicle kinematic model and to correct the data.

[0019] The vehicle size information can be entered by a terminal device such as a mobile phone or a tablet, and the electric steering wheel can be calibrated. FIG. 2 is a schematic diagram of the calibration of the electric steering wheel according to the first embodiment of the present application. As shown in FIG. 2, the process of calibrating the electric steering wheel is as described in steps 1 to 6. The calibration process requires a flat, open, hard ground with a length of about 100 meters and a width of about 10 meters. In FIG. 2, the two circles are the route along which the vehicle travels, and "540 degrees" refers to turning the electric steering wheel to turn the vehicle 540 degrees, and "10 meters" refers to the vehicle traveling 10 meters forward after turning 540 degrees.

[0020] In step 1, set up line AB, and the distance between both points on AB should be greater than 70 meters.

[0021] In step 2, after the AB line has been set, the vehicle is manually turned around, parked at point B, and directed toward point A.

[0022] In step 3, the vehicle maintains a speed of 2 km / h and moves forward at a constant speed until it reaches point A.

[0023] In step 4, manually turn the vehicle around to park it at point A and point the vehicle head toward point B.

[0024] In step 5, the vehicle maintains a speed of 2 km / h and moves forward at a constant speed until it reaches point B.

[0025] In step 6, the calibration is completed. FIG. 3 is a schematic diagram of the buttons on the steering wheel according to the first embodiment of the present application. As shown in FIG. 3, the steering wheel is provided with at least three buttons. In the actual work process, the AUTO button controls the on and off of the automatic driving state. The button "A" and the button "B" on the steering wheel control the planning operation of the straight path of both points A and B. After the calibration is performed on the electric steering wheel, the calibration of the mounting deviation can be performed on the terminal device, and the calibration of the mounting deviation can eliminate the associated mounting error. By performing the calibration on the electric steering wheel in the above steps, the system identification of the execution mechanism can be established, that is, the functional relationship between the steering wheel turning angle and the vehicle front wheel turning angle.

[0026] According to the IMU data, the motor position encoder data of the electric steering wheel and the vehicle size data, the vehicle front wheel steering angle information is obtained, where the vehicle front wheel steering angle information is information such as the current steering angle of the vehicle front wheel and the steering angle direction.

[0027] In S130, target steering angle information of the vehicle front wheels is obtained according to the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and the planned route data.

[0028] The planned route data can be obtained in the form of accessing a web page via WIFI, Bluetooth or a mobile communication data link. The planned route data can be introduced by a mobile phone, or the user can obtain the planned route data by operating a button on the steering wheel. The positioning data, attitude angle data, vehicle size data, vehicle front wheel steering angle information and planned route data are input into a vehicle kinematics model, and target steering angle information of the vehicle front wheels is obtained output from the model. Among them, the target steering angle information of the vehicle front wheels includes angle information and direction information of the vehicle front wheels to be rotated at the next time.

[0029] In S140, target control information is generated based on the target steering angle information, and the target control information is transmitted to the electric steering wheel so that the electric steering wheel turns based on the target control information.

[0030] The target steering angle information is angle information for controlling the steering wheel to rotate the vehicle front wheels. The target control information can be generated according to the target steering angle information. In the embodiment of this aspect, preferably, generating the target control information based on the target steering angle information includes steps A1 to A2.

[0031] In step A1, a preset functional relationship between the steering wheel turning angle and the vehicle front wheel turning angle is obtained.

[0032] The rotation of the front wheels of the vehicle can be controlled by rotating the electric steering wheel. There is a certain functional relationship between the angle at which the electric steering wheel rotates and the angle at which the front wheels rotate, and this functional relationship can be obtained through the calibration process for the electric steering wheel described above. If the rotation angle of the electric steering wheel is known, the angle at which the front wheels of the vehicle rotate can be obtained, and if the angle at which the front wheels of the vehicle rotate is known, the rotation angle of the electric steering wheel can be obtained.

[0033] In step A2, a target steering wheel rotation angle corresponding to the target steering angle information is determined based on the functional relationship, and target control information is generated based on the target steering wheel rotation angle.

[0034] The target steering angle information includes angle information about the angle at which the vehicle front wheels should turn and direction information about the direction at which the vehicle front wheels should turn. The target steering wheel turning angle is the angle at which the electric steering wheel should turn. As described in step A1, after the angle information about the angle at which the vehicle front wheels should turn is known, the turning angle of the electric steering wheel, i.e., the target steering wheel turning angle, can be obtained based on a pre-set functional relationship. Wherein, the target control information includes the target steering wheel turning angle. After the target steering wheel turning angle is obtained, the target control information is generated, and the electric steering wheel is controlled to turn based on the target control information.

[0035] In the above steps, the electric steering wheel is rotated based on the target control information, so that the vehicle can be precisely and quickly controlled to travel according to the route planning information, thereby realizing automatic driving of the vehicle.

[0036] The technical aspect of this embodiment is to obtain positioning data output from a global navigation satellite system GNSS module and IMU data output from an inertial measurement unit IMU module, obtain attitude angle data based on the positioning data and the IMU data, obtain vehicle front wheel steering angle information based on the IMU data, the motor position encoder data of the electric steering wheel and vehicle size data, obtain target steering angle information of the electric steering wheel based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and the planned route data, generate target control information based on the target steering angle information, and send the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information. The technical aspects of the present embodiment can obtain GNSS positioning data accurate to the centimeter level, set vehicle parameters by a mobile terminal, calibrate and design route planning data, and after the settings are complete, the terminal can be detached to perform automatic driving of the vehicle, and the control of a fixed navigation line and the on / off of the automatic driving function can be realized by a button on the steering wheel, which is easy to install and maintain, greatly reduces the cost of consumption, reduces the damage rate of the hardware of the automatic driving system, and can quickly and stably control the driving state of the vehicle. The embodiment of the present application can obtain very accurate and reliable navigation position and attitude information, and can quickly and stably control the driving state of the vehicle when the road surface conditions in the environment are complex. There is no need to use a conventional display and angle sensor, and the installation and maintenance of the hardware facilities are easy, and the cost of consumption is greatly reduced.

[0037] Example 2 4 is a flow chart of a vehicle control method according to a second embodiment of the present invention, which is a subdivision of the method for obtaining vehicle front wheel steering angle information based on the above embodiment. As shown in FIG. 4, the method of the present embodiment includes the following:

[0038] In S210, motor position encoder data of the electric steering wheel, vehicle speed information, and a vehicle body angular velocity and a vehicle body wheelbase determined according to IMU data are acquired.

[0039] The motor position encoder data of the electric steering wheel includes data such as a current rotation position, a rotation angle, and a rotation speed of the electric steering wheel. The vehicle speed information includes information on the current speed and direction of the vehicle. The motor position encoder data of the electric steering wheel can be obtained by a motor position encoder. After the vehicle is started, the vehicle speed information can be determined by data output from the GNSS module in real time. In S110, IMU data can be acquired, and the IMU data includes a vehicle body rotation angular velocity. When the vehicle speed increases and reaches a preset threshold, the forward and reverse states of the vehicle can be determined using average information of the historical IMU data, and when the average information is positive, the vehicle is in a forward state, and when the average information is negative, the vehicle is in a reverse state. In S120, vehicle size data can be acquired, and the vehicle size data includes a vehicle body wheelbase.

[0040] In S220, the front wheel observation angle is determined based on the vehicle speed information, the vehicle angular velocity and the vehicle wheelbase.

[0041] In the embodiment of this aspect, preferably, the determination of the front wheel observation angle in response to the vehicle speed information, the vehicle body angular velocity, and the vehicle body wheelbase may be by the following formula:

number

number

number

number

number

[0042] The front wheel observation angle can be calculated based on vehicle speed information, vehicle angular velocity, and vehicle wheelbase. The calculation method is simple, the data required for the calculation is easy to obtain, and the accuracy of the vehicle's automatic driving data can be improved.

[0043] At S230, vehicle front wheel steering angle information is obtained based on the motor position encoder data and the front wheel observed angle.

[0044] After calculating the front wheel observed angle, obtain vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observed angle. In the embodiment of this aspect, preferably, obtaining vehicle front wheel steering angle information includes steps B1 to B2.

[0045] In step B1, the vehicle front wheel angular velocity is determined based on the motor position encoder data.

[0046] In an embodiment of this aspect, determining the vehicle front wheel angular velocity based on the motor position encoder data preferably includes steps B11 to B13.

[0047] In step B11, a deadband correction is made to the motor position encoder data based on the introduced deadband value.

[0048] The motor position encoder data includes data such as the current rotation position, rotation angle, and rotation speed of the electric steering wheel. In the process of generating the above data, the motor position encoder generates a dead band of the control signal. The dead band value can be used to modify the motor position encoder data. The dead band value can be obtained by introducing a terminal device, such as a mobile phone, a tablet, a laptop, etc. The dead band value can be adjusted to modify the motor position encoder data.

[0049] In step B12, a position increment of the electric steering wheel is determined in accordance with the corrected motor position encoder data, and an angular velocity of the electric steering wheel is determined in accordance with the position increment and the sampling period.

[0050] The position increment of the electric steering wheel is the amount of position movement of the electric steering wheel at the current time relative to the previous time. The motor position encoder samples the steering angle of the electric steering wheel according to a certain frequency, and the sampling period is the interval between sampling times. The angular velocity of the electric steering wheel can be determined according to the position increment and the sampling period. For example, if the position increment of the electric steering wheel is S and the sampling period is t, the angular velocity = S / t.

[0051] In step B13, the angular velocity of the vehicle front wheels is determined according to the angular velocity of the electric steering wheel and a preset functional relationship between the steering wheel turning angle and the vehicle front wheel turning angle.

[0052] The method for determining the vehicle front wheel angular velocity in the above steps is applicable to determining the front wheel angular velocity of a wheel steering tractor so as to meet the working needs of the wheel steering tractor.

[0053] As described in S140, a target vehicle front wheel turning angle can be determined by utilizing a preset functional relationship between the electric steering wheel turning angle and the vehicle front wheel turning angle. A vehicle front wheel angular velocity can be determined according to the electric steering wheel angular velocity and the functional relationship.

[0054] In step B2, a filter model is adopted to obtain vehicle front wheel steering angle information according to the vehicle front wheel angular velocity and the front wheel observation angle.

[0055] The filter model may be Kalman filtering. Kalman filtering may be an algorithm that uses a linear system state equation to optimally estimate the system state based on input and output of observed data of the system. In an embodiment of this aspect, a Kalman filter model can be constructed according to an angle tracking algorithm. The vehicle front wheel angular velocity and the front wheel observed angle are input to the Kalman filtering model, and the vehicle front wheel steering angle information is output in real time by performing a Kalman filter calculation.

[0056] By determining the vehicle front wheel steering angle information in the above steps and establishing a Kalman filtering model, accurate vehicle front wheel steering angle information can be output in real time.

[0057] FIG. 5 is a schematic diagram of obtaining vehicle front wheel steering angle information according to an embodiment of the present application. As shown in FIG. 5, the front wheel observation angle is obtained according to the vehicle wheelbase, vehicle speed information and vehicle angular velocity, the dead zone is corrected for the motor position encoder data, and the vehicle front wheel steering angle information is obtained by a filter model.

[0058] The technical aspect of this embodiment obtains the motor position encoder data of the electric steering wheel, the vehicle speed information, and the vehicle body angular velocity and the vehicle body wheelbase determined according to the IMU data, determines the front wheel observation angle according to the vehicle speed information, the vehicle body angular velocity, and the vehicle body wheelbase, and obtains the vehicle front wheel steering angle information according to the motor position encoder data and the front wheel observation angle. The forward / reverse judgment algorithm is used to distinguish the forward or reverse state of the vehicle, and the method applied to determine the front wheel angular velocity of the wheel steering tractor can meet the working needs of the wheel steering tractor. This makes it easy to popularize and use the technical aspect of this embodiment.

[0059] Example 3 6 is a flow chart of a vehicle control method according to a third embodiment of the present invention, which is a subdivision of the method for acquiring vehicle front wheel steering angle information based on the above-mentioned embodiment. As shown in FIG. 6, the method of the present embodiment includes the following steps:

[0060] In S310, motor position encoder data of the electric steering wheel, vehicle speed information, and a vehicle body angular velocity and a vehicle body wheelbase determined according to IMU data are acquired.

[0061] In S320, the front wheel observation angle is determined based on the vehicle speed information, the vehicle angular velocity and the vehicle wheelbase.

[0062] At S330, vehicle front wheel steering angle information is obtained based on the motor position encoder data and the front wheel observed angle.

[0063] In an embodiment of this aspect, obtaining vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observed angle preferably includes steps C1 to C2.

[0064] In step C1, compensation is performed on the median of the motor position encoder data in accordance with the front wheel observation angle and a preset functional relationship between the steering wheel turning angle and the vehicle front wheel turning angle.

[0065] First, a steering wheel rotation angle corresponding to a front wheel observation angle can be obtained according to a functional relationship between the steering wheel rotation angle and the vehicle front wheel rotation angle, and then the steering wheel rotation angle is used to perform median compensation on the motor position encoder data, and it is detected whether there is a deviation between the median of the motor position encoder data and the steering wheel rotation angle, and if there is a deviation, the median of the motor position encoder data is compensated.

[0066] In step C2, vehicle front wheel steering angle information is obtained according to the compensated motor position encoder data and the preset functional relationship between the steering wheel turning angle and the vehicle front wheel turning angle.

[0067] The vehicle front wheel turning angle is calculated by using a preset functional relationship between the steering wheel turning angle and the vehicle front wheel turning angle, and the vehicle front wheel steering angle information can be obtained, where the vehicle front wheel steering angle information includes the vehicle front wheel turning angle and the vehicle front wheel turning direction.

[0068] The method for determining vehicle front wheel steering angle information in the above steps is applicable to determining front wheel steering angle information of a rice transplanter to meet the work needs of the rice transplanter.

[0069] FIG. 7 is a schematic diagram of obtaining vehicle front wheel steering angle information according to the third embodiment of the present invention. As shown in FIG. 7, the front wheel observation angle is obtained according to the vehicle wheelbase, vehicle speed information and vehicle angular velocity, and median compensation is performed on the motor position encoder data to obtain vehicle front wheel steering angle information.

[0070] The technical aspect of this embodiment obtains the motor position encoder data of the electric steering wheel, the vehicle speed information, and the vehicle body angular velocity and the vehicle body wheelbase determined according to the IMU data, determines the front wheel observation angle based on the vehicle speed information, the vehicle body angular velocity and the vehicle body wheelbase, and obtains the vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observation angle. The method applied to determine the front wheel steering angle information of the rice transplanter meets the work needs of the rice transplanter. This makes it easy to popularize and use the technical aspect of this embodiment.

[0071] Example 4 FIG. 8 is a structural schematic diagram of an integrated controller according to a fourth embodiment of the present invention. As shown in FIG. 8, the integrated controller includes: The system comprises a mobile communication signal receiver configured to receive differential information transmitted from a base station or a server and transmit the differential information to a GNSS module; a GNSS module configured to acquire positioning data based on the differential information; an IMU module configured to acquire IMU data; and a central processing unit configured to acquire attitude angle data based on the positioning data and the IMU data, acquire vehicle front wheel steering angle information based on the IMU data, a motor position encoder data of an electric steering wheel and vehicle size data, acquire target steering angle information of the vehicle front wheels based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and planned route data, generate target control information based on the target steering angle information, and transmit the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information.

[0072] Preferably, the central processing unit comprises: The vehicle front wheel steering angle information is obtained based on the IMU data, the motor position encoder data of the electric steering wheel, and the vehicle size data in the following manner: electric steering wheel motor position encoder data, vehicle speed information, and a vehicle body angular velocity and a vehicle wheel base determined according to the IMU data; a front wheel observation angle is determined based on the vehicle speed information, the vehicle body angular velocity, and the vehicle wheel base; and vehicle front wheel steering angle information is obtained based on the motor position encoder data and the front wheel observation angle.

[0073] The central processing unit includes: The vehicle front wheel steering angle information is obtained based on the motor position encoder data and the front wheel observation angle in a manner of determining a vehicle front wheel angular velocity based on the motor position encoder data, and employing a filter model to obtain vehicle front wheel steering angle information according to the vehicle front wheel angular velocity and the front wheel observation angle.

[0074] The central processing unit includes: The vehicle front wheel angular velocity is determined based on the motor position encoder data in the following manner: a dead band is corrected for the motor position encoder data based on the introduced dead band value, a position increment of the electric steering wheel is determined based on the corrected motor position encoder data, an angular velocity of the electric steering wheel is determined based on the position increment and a sampling period, and a vehicle front wheel angular velocity is determined based on the angular velocity of the electric steering wheel and a preset functional relationship between a steering wheel rotation angle and a vehicle front wheel rotation angle.

[0075] Preferably, the central processing unit comprises: The vehicle front wheel steering angle information is obtained based on the motor position encoder data and the front wheel observation angle in a manner of: compensating a median of the motor position encoder data according to the front wheel observation angle and a predetermined functional relationship between the steering wheel rotation angle and the vehicle front wheel rotation angle; and obtaining vehicle front wheel steering angle information based on the compensated motor position encoder data and the predetermined functional relationship between the steering wheel rotation angle and the vehicle front wheel rotation angle.

[0076] The central processing unit further comprises:

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[0077] The integrated controller can be externally equipped with an independent GNSS antenna to realize two-antenna pointing attitude measurement, where the two antennas can be two antennas of the GNSS module, and the two antennas are on one line, and the pointing attitude detection includes heading angle and pitch angle.

[0078] Example 5 FIG. 9 is a structural schematic diagram of an automatic driving system for agricultural machinery according to a fifth embodiment of the present application. As shown in FIG. 9, the system includes an integrated controller, a steering wheel, and an electric steering wheel.

[0079] The steering wheel is configured to turn on and off an autonomous driving state based on a user's operation and / or to transmit planned route data set by a user to a central processing unit of the integrated controller, and the electric steering wheel is configured to receive target control information transmitted from the central processing unit and rotate based on the received target control information to move the vehicle front wheels to rotate. The steering wheel and the electric steering wheel are connected by a controller area network (CAN).

[0080] Preferably, the system comprises: The vehicle further includes a mobile terminal that is communicatively connected to the integrated controller and configured to perform at least one of route planning, vehicle calibration, parameter setting, parameter adjustment, and turning autonomous driving on or off by accessing a web page.

[0081] The mobile terminal may be a device such as a mobile phone, a tablet, or a laptop. Taking a mobile phone as an example, the automatic driving system of the agricultural machinery can set vehicle parameters, perform machine calibration, set navigation lines, and turn on and off automatic driving through application software or web pages on the mobile phone. Wherein, the mobile phone can be connected to the integrated controller through any one of methods such as Bluetooth, WIFI, and mobile network.

[0082] The electric steering wheel includes several parts, including a steering drive motor module, a fixed frame module, a clamp module, a sleeve module and a steering wheel ring module, among which the fixed frame module is mounted at a fixed position at the bottom of the steering drive motor and can be clamped to the steering rod by a set of clamps.

[0083] FIG. 10 is a workflow diagram of an automatic driving system for agricultural machinery according to Example 5 of the present application. As shown in FIG. 10, positioning data, IMU data, and motor position encoder data output from the GNSS module are acquired, attitude angle data is obtained based on the positioning data and IMU data, calibration correction is performed on the positioning data and attitude angle data based on the mounting deviation calibration data, vehicle front wheel steering angle information is obtained based on the IMU data, vehicle size information, and motor position encoder data, and target control information is generated based on the system identification parameters of the execution mechanism, the corrected positioning data and attitude angle data, vehicle size information, vehicle front wheel steering angle information, and planned route data, thereby realizing automatic driving of the vehicle. Input the corrected positioning data and attitude angle data, vehicle size information, vehicle front wheel steering angle information and planned route data into a vehicle kinematics model, obtain target steering angle information of the vehicle front wheels output from the model, determine a target steering wheel rotation angle according to the target steering angle information and a system identification parameter of an execution mechanism, generate target control information based on the target steering wheel rotation angle, and send the target control information to the electric steering wheel, so that the electric steering wheel rotates according to the target control information. The above product is capable of executing a vehicle control method according to any embodiment of the present application, and has functional modules and effects corresponding to the execution of the method.

[0084] Example 6 FIG. 11 is a structural schematic diagram of a vehicle control device according to a sixth embodiment of the present application. This embodiment is applicable to controlling automatic driving of a vehicle. The device can be realized by adopting a software and / or hardware method. The device can be integrated into any device that provides the function of the vehicle control method. As shown in FIG. 11, the vehicle control device includes: The vehicle front wheel steering angle determination module 620 is configured to acquire vehicle front wheel steering angle information based on the IMU data, motor position encoder data of an electric steering wheel, and vehicle size data. The vehicle front wheel steering angle determination module 630 is configured to acquire target steering angle information of a vehicle front wheel based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information, and planned route data. The vehicle front wheel steering angle determination module 640 is configured to generate target control information based on the target steering angle information, and transmit the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information.

[0085] Preferably, the vehicle front wheel steering angle determination module 620 comprises: The vehicle front wheel steering angle information acquisition unit includes a first determination unit configured to acquire motor position encoder data of an electric steering wheel, vehicle speed information, a vehicle body angular velocity and a vehicle body wheelbase determined according to the IMU data, a second determination unit configured to determine a front wheel observation angle based on the vehicle speed information, the vehicle body angular velocity and the vehicle body wheelbase, and a vehicle front wheel steering angle information acquisition unit configured to acquire vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observation angle.

[0086] Preferably, the vehicle front wheel steering angle information acquisition unit includes: The vehicle front wheel angular velocity subunit is configured to determine a vehicle front wheel angular velocity based on the motor position encoder data, and a first steering angle determination subunit is configured to employ a filter model and obtain vehicle front wheel steering angle information according to the vehicle front wheel angular velocity and the front wheel observation angle.

[0087] Preferably, the vehicle front wheel angular velocity subunit comprises: The system is configured to perform a dead zone correction on the motor position encoder data based on the introduced dead zone value, determine a position increment of the electric steering wheel in accordance with the corrected motor position encoder data, determine an angular velocity of the electric steering wheel in accordance with the position increment and a sampling period, and determine a vehicle front wheel angular velocity in accordance with the angular velocity of the electric steering wheel and a preset functional relationship between a steering wheel rotation angle and a vehicle front wheel rotation angle.

[0088] Preferably, the vehicle front wheel steering angle information acquisition unit includes: The vehicle front wheel steering system further includes a median compensation subunit configured to compensate a median of the motor position encoder data according to the front wheel observation angle and a functional relationship between a preset steering wheel rotation angle and a vehicle front wheel rotation angle, and a second steering angle determination subunit configured to obtain vehicle front wheel steering angle information based on the compensated motor position encoder data and the functional relationship between the preset steering wheel rotation angle and the vehicle front wheel rotation angle.

[0089] Preferably, the second determination unit comprises:

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[0090] Preferably, the steering wheel control module 640 includes: The system is configured to obtain a functional relationship between a preset steering wheel rotation angle and a vehicle front wheel rotation angle, determine a target steering wheel rotation angle corresponding to the target steering angle information based on the functional relationship, and generate target control information based on the target steering wheel rotation angle.

[0091] The above product is capable of executing the vehicle control method according to any embodiment of the present application, and has functional modules and effects corresponding to the execution of the method.

[0092] Example 7 Example 7 of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, realizes a vehicle control method according to the examples of all applications of the present application, including acquiring positioning data output from a global navigation satellite system GNSS module and IMU data output from an inertial measurement unit IMU module, acquiring attitude angle data based on the positioning data and the IMU data, acquiring vehicle front wheel steering angle information based on the IMU data, motor position encoder data of an electric steering wheel and vehicle size data, acquiring target steering angle information of a vehicle front wheel based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and planned route data, generating target control information based on the target steering angle information, and transmitting the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information.

[0093] Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. Examples of computer readable storage media (a non-exhaustive list) include an electrical connection having one or more leads, a portable computer 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. In this document, a computer readable storage medium may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0094] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code carried therein. Such a propagated data signal may take a variety of forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may transmit, propagate, or transport a program for use in or in connection with an instruction execution system, apparatus, or device.

[0095] The program code contained in the computer readable medium may be transmitted over any suitable medium, including, but not limited to, wireless, wire, optical cable, radio frequency (RF), or the like, or any suitable combination of the above.

[0096] Computer program code for carrying out the operations of the present application can be written in one or more program design languages ​​or combinations thereof, including object-oriented program design languages ​​such as Java, Smalltalk, C++, but also including conventional procedural program design languages ​​such as "C" or similar program design languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a single separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (e.g., connected via the Internet using an Internet Service Provider).

Claims

1. Obtaining positioning data output from a global navigation satellite system (GNSS) module and IMU data output from an inertial measurement unit (IMU) module, and obtaining attitude angle data based on the positioning data and the IMU data; Obtaining vehicle front wheel steering angle information based on the IMU data, the motor position encoder data of the electric steering wheel, and the vehicle size data; Obtaining target steering angle information of the vehicle front wheels based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and planned route data; generating target control information based on the target steering angle information, and transmitting the target control information to the electric steering wheel such that the electric steering wheel rotates based on the target control information. A vehicle control method.

2. The above-mentioned, obtaining vehicle front wheel steering angle information based on the IMU data, the motor position encoder data of the electric steering wheel, and the vehicle size data, acquiring motor position encoder data of the electric steering wheel, vehicle speed information, a vehicle body angular velocity determined according to the IMU data, and a vehicle body wheelbase of the vehicle size data; determining a front wheel observation angle based on the vehicle speed information, the vehicle body angular velocity, and the vehicle body wheelbase; and obtaining vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observed angle. The method of claim 1.

3. The step of obtaining vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observation angle includes: determining a vehicle front wheel angular velocity based on the motor position encoder data; and employing a filter model to obtain the vehicle front wheel steering angle information according to the vehicle front wheel angular velocity and the front wheel observation angle. The method of claim 2.

4. Determining the vehicle front wheel angular velocity based on the motor position encoder data includes: performing a deadband correction on the motor position encoder data based on the introduced deadband value; determining a position increment of the electric steering wheel in response to the modified motor position encoder data, and determining an angular velocity of the electric steering wheel in response to the position increment and a sampling period; determining the vehicle front wheel angular velocity according to the angular velocity of the electric steering wheel and a preset functional relationship between a steering wheel turning angle and a vehicle front wheel turning angle; The method according to claim 3.

5. The step of obtaining vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observation angle includes: performing compensation on a median of the motor position encoder data in accordance with the front wheel observation angle and a preset functional relationship between a steering wheel rotation angle and a vehicle front wheel rotation angle; and obtaining the vehicle front wheel steering angle information based on the compensated motor position encoder data and the preset functional relationship between the steering wheel rotation angle and the vehicle front wheel rotation angle. The method of claim 2. 【Request 6】 【Number 6】 The front wheel observation angle is determined by adopting the formula: [0070] is the front wheel observation angle, [0080] is the vehicle body wheel base, [0097] is the vehicle speed information, [0089] is the vehicle angular velocity, The method of claim 2.

7. The above-mentioned generating target control information based on the target steering angle information includes: Obtaining a predetermined functional relationship between a steering wheel rotation angle and a vehicle front wheel rotation angle; determining a target steering wheel rotation angle corresponding to the target steering angle information based on the functional relationship; and generating the target control information based on the target steering wheel rotation angle. The method of claim 1.

8. a mobile communication signal receiver configured to receive difference information transmitted from a base station or a server and transmit said difference information to a global navigation satellite system (GNSS) module; the GNSS module configured to acquire positioning data based on the differential information; an inertial measurement unit (IMU) module configured to acquire IMU data; and a central processing unit configured to acquire attitude angle data based on the positioning data and the IMU data, acquire vehicle front wheel steering angle information based on the IMU data, motor position encoder data of an electric steering wheel and vehicle size data, acquire target steering angle information of the vehicle front wheels based on the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and planned route data, generate target control information based on the target steering angle information, and send the target control information to the electric steering wheel so that the electric steering wheel rotates based on the target control information. Integrated controller.

9. The central processing unit includes: Acquire motor position encoder data of the electric steering wheel, vehicle speed information, a vehicle body angular velocity determined according to the IMU data, and a vehicle body wheelbase of the vehicle size data; determining a front wheel observation angle based on the vehicle speed information, the vehicle body angular velocity, and the vehicle body wheelbase; and obtaining vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observation angle. and configured to obtain vehicle front wheel steering angle information according to the IMU data, the motor position encoder data of the electric steering wheel, and the vehicle size data. The controller of claim 8.

10. The central processing unit includes: determining a vehicle front wheel angular velocity based on the motor position encoder data; A filter model is used to obtain the vehicle front wheel steering angle information according to the vehicle front wheel angular velocity and the front wheel observation angle, configured to derive vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observed angle. The controller of claim 9.

11. The central processing unit includes: performing a deadband correction on the motor position encoder data based on the introduced deadband value; determining a position increment of the electric steering wheel in response to the modified motor position encoder data; and determining an angular velocity of the electric steering wheel in response to the position increment and a sampling period; and determining a vehicle front wheel angular velocity according to the angular velocity of the electric steering wheel and a function relationship between a preset steering wheel turning angle and a vehicle front wheel turning angle. determining a vehicle front wheel angular velocity based on the motor position encoder data. The controller of claim 10.

12. The central processing unit includes: performing compensation for a median of the motor position encoder data in accordance with the front wheel observation angle and a functional relationship between a preset steering wheel rotation angle and a vehicle front wheel rotation angle; and obtaining the vehicle front wheel steering angle information based on the compensated motor position encoder data and the predetermined functional relationship between the steering wheel rotation angle and the vehicle front wheel rotation angle. configured to derive vehicle front wheel steering angle information based on the motor position encoder data and the front wheel observed angle. The controller of claim 9.

13. The central processing unit includes: [006] The front wheel observation angle is determined by adopting the following formula: [0070] is the front wheel observation angle, [0080] is the vehicle body wheel base, [0097] is the vehicle speed information, [0089] is the vehicle angular velocity, The controller of claim 9.

14. An integrated controller according to any one of claims 8 to 13; A handle configured to at least one of turning on and off an automatic driving state based on a user's operation and transmitting planned route data set by the user to a central processing unit of the integrated controller; an electric steering wheel configured to receive target control information transmitted from the central processing unit, and rotate based on the received target control information to move the front wheels of the vehicle to rotate; Autonomous driving system for agricultural machinery.

15. and a mobile terminal communicatively connected to the integrated controller and configured to perform at least one of route planning, vehicle calibration, parameter setting, and parameter adjustment by accessing a web page. The system of claim 14.

16. a data acquisition module configured to acquire positioning data output from a global navigation satellite system (GNSS) module and inertial measurement unit (IMU) data output from an inertial measurement unit (IMU) module, and acquire attitude angle data according to the positioning data and the IMU data; a vehicle front wheel steering angle determination module configured to obtain vehicle front wheel steering angle information according to the IMU data, the motor position encoder data of the electric steering wheel, and the vehicle size data; a target steering angle determination module configured to obtain target steering angle information of the vehicle front wheels according to the positioning data, the attitude angle data, the vehicle size data, the vehicle front wheel steering angle information and planned route data; a steering wheel control module configured to generate target control information based on the target steering angle information and transmit the target control information to the electric steering wheel such that the electric steering wheel rotates based on the target control information. Vehicle control device.

17. A computer program that, when executed by a processor, realizes the vehicle control method according to any one of claims 1 to 7 is stored. A computer-readable storage medium.

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