400 results about "Speedometer" patented technology

The invention provides a quad-rotor unmanned aerial vehicle trajectory tracking control method and device, equipment and a storage medium, and belongs to the technical field of unmanned aerial vehicle control, and the method comprises the steps: determining a translation system state variable and an attitude system state variable of an unmanned aerial vehicle based on the real-time trajectory data of the quad-rotor unmanned aerial vehicle; calculating a translation disturbance estimated value based on the translation system state variable, the disturbance observer constant and the expected speed; thrust data is determined based on the translation system state variable, the translation disturbance estimated value, the expected speed, the expected position and outer ring controller parameters of the unmanned aerial vehicle; determining a desired attitude angle based on the thrust data and the desired yaw angle; calculating a control moment based on the expected attitude angle, the attitude system state variable and an inner ring controller parameter of the unmanned aerial vehicle; and based on the thrust data, the control torque and the physical parameters of the unmanned aerial vehicle, calculating to obtain a rotor expected rotating speed, and controlling the unmanned aerial vehicle based on the rotor expected rotating speed. The accuracy of flight control of the unmanned aerial vehicle can be improved.

The invention relates to a non-inductive FOC open-loop to closed-loop switching method and device for an electronic water pump and a vehicle. The method comprises the steps that a rotor is pre-positioned; starting an open loop I-F; switching condition judgment; estimating the rotor speed based on an observer, calculating a normalization factor, and obtaining a mixed scale factor through cubic polynomial operation; acquiring an open-loop current instruction of a q axis and a closed-loop current instruction output by a closed-loop speed PI regulator; performing weighted synthesis on the two paths of current instructions according to the mixing scale factor to obtain a temporary target current instruction, and applying a change rate limit to obtain a final current instruction output in the current period; the original angle error of the observer estimation angle and the open-loop slope angle is calculated and normalized, the allowable adjustment step length and direction of the round are dynamically determined, and the angle correction amount of the round is generated and superposed to the open-loop slope angle to update the rotor angle reference value; and closed-loop switching is completed. According to the invention, the problems of electromagnetic torque impact and rotating speed fluctuation caused by instruction step change are solved.

The embodiment of the invention provides a traffic signal-based vehicle path planning method and related equipment, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring traffic light data of each intersection of a target driving path; according to the green light time interval of the traffic light data, time constraint calculation of multi-intersection continuous passing is carried out, and a time constraint of continuous green wave passing is obtained; performing speed calculation on each road section according to the time constraint to obtain a speed interval of each road section; performing quadratic programming on the speed interval by taking the energy consumption and the driving time as optimization objectives to obtain a global speed sequence; and performing multi-dimensional constraint and multi-target optimization on a speed controller of the vehicle according to the global speed sequence so as to control the vehicle to run on the target running path. According to the embodiment of the invention, the vehicle can be guided to realize continuous green light passing, and the driving efficiency and the driving comfort are improved while the driving energy consumption of the vehicle is reduced.

The invention relates to a safety constraint vehicle formation distributed sliding mode control method based on a preset performance function. Compared with the prior art, the defect that vehicle formation control is difficult to meet safety constraint, preset performance and distributed cooperative control at the same time is overcome. The method comprises the following steps: establishing a vehicle formation three-order state space model; generating a following vehicle smooth reference trajectory; a preset performance constraint of the following vehicle is designed; calculating the expected speed of the following vehicle; calculating the expected torque of the following vehicle; a following vehicle driving system is controlled; and formation cooperative control is realized. According to the invention, through a reference generation mechanism of constraint perception, a preset performance function with a self-adaptive boundary and a topological structured reaching law, high-performance tracking of the track of the pilot vehicle is realized on the premise of ensuring that all following vehicles meet the time-varying safety boundary.

The invention relates to an unmanned surface vehicle formation control method and device, and belongs to the technical field of unmanned surface vehicle automatic driving, and the unmanned surface vehicle formation control method comprises the steps: building a mathematical model of each unmanned surface vehicle in an unmanned surface vehicle formation based on the initial position and initial speed of each unmanned surface vehicle in the unmanned surface vehicle formation; estimating the real-time speed and disturbance of each unmanned ship in the unmanned ship formation based on the mathematical model and a preset extended state observer; based on a preset relative threshold event triggering mechanism, calculating a measurement error between the unmanned ships in combination with the initial position information and the real-time speed of each unmanned ship in the unmanned ship formation; and calculating a generalized dynamic error of the unmanned ship formation based on the measurement error between the unmanned ships, and calculating control input of the unmanned ship formation by adopting a preset sliding mode algorithm based on the generalized dynamic error. According to the invention, the unmanned ship formation can be accurately and stably controlled.

The invention provides a vehicle travel calculation method and device, electronic equipment and a storage medium, and the method comprises the steps: marking a travel starting point and setting an activation state if a vehicle enters a travel starting stage; if the vehicle in the activated state is in a static state, determining idling duration based on time information of an idling starting point corresponding to a static moment and time information of a target track point corresponding to an idling judgment moment; if the idle speed lasting time meets the preset time condition, a track point between the idle speed starting point and a target track point serves as an idle speed track point, and whether the vehicle enters a travel ending stage or not is determined based on the actual driving speed at each speed calculation moment and the current state of the travel state; and if yes, marking the track point at the travel ending moment as a travel ending point, setting the travel state as an inactive state, and determining a vehicle travel result based on the travel starting point, the idle speed track point and the travel ending point. According to the invention, the accuracy of stroke calculation is improved.

The application discloses a road condition early warning method and system based on a driving recorder, relates to the technical field of road condition early warning, and comprises the following steps: starting a vehicle, recording a driving road condition by using a driving recorder, collecting a vehicle driving speed, and detecting and identifying road condition obstacles from video data; calculating actual distances and speeds of the obstacles based on the identified road condition obstacles, predicting motion trajectories of the obstacles, and calculating a dynamic TTC by combining the predicted motion trajectories of the obstacles with the vehicle driving speed. The application can accurately determine future positions and relative trends of the obstacles by constructing a motion state vector of the obstacles and predicting the trajectories by combining an attention mechanism and an LSTM model, and can calculate a dynamic TTC value, so that early identification and graded early warning of potential collision risks are realized, and the accuracy of road condition early warning is effectively improved.

Various implementations include audio systems and related approaches for providing road noise cancelation (RNC). Certain implementations include a method of training a machine learning (ML) based road noise cancelation (RNC) system for a vehicle, the method including: providing inputs to the ML based RNC system, the inputs obtained from: a set of ear-mounted microphones on a user of the vehicle, at least one transducer, an accelerometer, a set of cabin microphones in the vehicle, and a controller area network (CAN) bus, wherein the inputs from the set of ear-mounted microphones on the user approximate detected road noise by the user; adapting a set of parameters defining noise cancelation signals in the ML based RNC system based on the inputs; and generating noise cancelation signals for output by the at least one transducer based on the adapted set of parameters.

The invention discloses a dynamic pressure-based carrier rocket grid rudder control method, which comprises the following steps of: according to a pre-launch binding wind field and the speed of a carrier rocket at the current moment, calculating to obtain the relative airflow speed of the carrier rocket at the current moment; according to the current relative airflow velocity of the carrier rocket, calculating to obtain a current dynamic pressure estimated value; according to the dynamic pressure estimation value at the current moment, solving a control law parameter in the grid rudder online variable gain control law to obtain an optimal control law parameter at the current moment; according to the optimal control law parameters at the current moment, a grid rudder swing angle control instruction at the current moment is obtained through calculation, and real-time control over the grid rudder of the carrier rocket is completed. The method can effectively adapt to the rapid change pneumatic environment of the reentry flight section, remarkably reduces the flight deviation, is suitable for various carrier rocket reentry recovery scenes, and has the advantages of being high in engineering practicability, high in control efficiency and the like.

A vehicle employs a method of towing a trailer. A speedometer measures a current velocity of the vehicle. A hitch length sensor obtains a current trailer length of the trailer. A steering angle sensor measures a steering wheel angle of a steering wheel of the vehicle. A processor determines a velocity difference between the current velocity of the vehicle and a nominal velocity of the vehicle, determines a length difference between the current trailer length and a nominal trailer length, calculates a dynamic steering ratio based on the length difference and the velocity difference, determines a road wheel angle for the vehicle from the steering wheel angle and the dynamic steering ratio, and controls a road wheel actuator to obtain the road wheel angle to steer the vehicle.

The invention discloses an improved M method for improving the speed measurement precision of a servo motor, and the method comprises the steps: storing the information of each collected position through the application of an array, calculating the maximum length of the array according to the maximum speed and the resolution of a position encoder, and finally calculating the speed measurement precision of the servo motor under the condition that the speed calculation frequency is not changed by using the latest updated position value and the next to-be-updated position value of the array. Meanwhile, compared with a traditional M method, the method provided by the invention has the advantages that the modification is small, and the implementation of various main control chips is facilitated.

The embodiment of the invention provides a vehicle control method, electronic equipment and a vehicle. The method comprises the following steps: acquiring driving state information of a vehicle and unit slip rates and unit speeds corresponding to a plurality of driving units in the vehicle; based on the unit slip rate, the unit speed and the judgment threshold condition, slip judgment is conducted on the vehicle, and a judgment result is obtained; if the judgment result shows that the target driving unit in the plurality of driving units slips, determining a target slip rate according to the current driving mode and a road adhesion coefficient; calculating a request torque of the target driving unit based on the target slip rate and the unit speed; according to the vehicle speed and the slip type of the target driving unit, the request torque is distributed, and torque transfer information is obtained; and according to the torque transfer information, performing torque control on the driving motors corresponding to the plurality of driving units. The technical problem of how to realize effective anti-skid control so as to improve the driving safety of the vehicle under the slipping condition is solved.

The invention discloses a gearbox fault diagnosis method based on a speed fluctuation periodic ring diagram, and the method comprises the following steps: 1, collecting a motor current signal, a motor instruction rotation speed signal and a motor rotation angle signal through an RV gearbox fault simulation experiment table, and enabling the fault type to be a sun gear single tooth crack wear fault; 2, setting a window parameter set in a certain range; 3, at a fixed moment, carrying out high-order multiple compression transformation on the fault motor current signal, and further extracting an actual current instantaneous frequency; 4, converting the actual current instantaneous frequency into an actual motor speed; 5, calculating speed fluctuation; 6, setting a speed fluctuation threshold value, and traversing all moments to obtain an optimal window parameter set; 7, self-adaptive high-order multiple compression transformation is carried out, and motor speed fluctuation is calculated in a self-adaptive mode in the complete work period; and 8, drawing a speed fluctuation periodic loop graph based on the motor rotation angle signal. According to the method, the gear box fault is visually displayed by detecting the abnormal speed fluctuation synchronous with the fault tooth meshing period, the problems that the resolution of traditional time-frequency analysis is low, distortion is caused by fixed window parameters, and the spectral analysis result is unreliable are solved, and the gear box fault can be more visually and accurately diagnosed.

The invention belongs to the technical field of intelligent traffic safety and risk prediction, and particularly relates to a traffic conflict risk spatio-temporal evolution prediction method based on a vehicle interaction relationship, and the method comprises the steps: taking a target vehicle as a main vehicle, and extracting the positions and speeds of the main vehicle and surrounding vehicles in a unified coordinate system through multi-source data; the method comprises the following steps: calculating a relative position and a relative speed, forming interaction relationship representation data, constructing a vehicle risk potential field on a space-time continuous domain on the basis, mapping a discrete interaction state into continuous and differentiable risk intensity distribution, further forming a sequence by the risk potential fields at each moment, introducing a space-time coding module based on Transform, and coding the vehicle risk potential fields at each moment by using a time-space coding module based on the Transform. And combining position coding, self-attention and graph attention to represent time sequence dependence and multi-vehicle risk propagation coupling, and outputting future risk field evolution distribution. According to the method, the problems of information loss and insufficient spatio-temporal expression of a traditional single time interval index and fixed time window method are solved, conflict risk dynamic prediction is realized, and a reliable basis is provided for traffic safety management and active intervention.

The invention provides a lane keeping control method and device for a low-adhesion road surface, and the method comprises the steps: calculating a wheel slip rate according to a wheel angular velocity and a vehicle driving speed, and judging whether the road surface is the low-adhesion road surface or not according to the wheel slip rate; when it is judged that the road surface is the low-adhesion road surface, a preset gravity center adjustment coefficient is corrected according to the road surface friction coefficient, and meanwhile a peak lateral force value in a tire model corresponding to the target wheel is corrected; according to the real-time steering state of the vehicle and the corrected preset gravity center adjustment coefficient, the vehicle body height and the vehicle gravity center position are adjusted, and meanwhile the distribution condition of the wheel braking force is adjusted to optimize the road holding force of the target wheel; after the road holding force of the target wheel is optimized, the tire lateral force is calculated according to the corrected peak lateral force value, the compensation torque is calculated according to the tire lateral force and a pre-built yawing torque balance equation, and the vehicle system state is controlled to converge along the preset sliding mode surface through the compensation torque. According to the invention, the lane keeping effect is improved, and the driving safety is improved.

In the present invention, a sensor control unit 201 uses a Doppler sensor to receive emitted microwaves and waves reflected from a moving body in a hitting area. A generation control unit 202 generates distribution data indicating the distribution of signal strength at each speed at the time of reception. An accumulation control unit 203 starts accumulation of the distribution data generated over time. A reverse reproduction control unit 204 reproduces the distribution data accumulated over time in reverse time toward the past from the time of the distribution data at which the signal strength dropped below an analysis start threshold. A BS calculation control unit 205 specifies, as a ball peak, a prescribed peak among peaks of the signal strength of the distribution data reproduced in reverse time, and calculates the speed of a golf ball. An HS calculation control unit 206: specifies, from among the distribution data reproduced in reverse time, distribution data of a time at which the ball peak disappeared; and calculates the speed of a golf club head on the basis of a prescribed head peak from among the peaks of the signal strength of the specified distribution data.

This invention discloses a method and system for acquiring pantograph contactor images, belonging to the field of railway power supply contact network detection technology. It uses a photoelectric sensor signal as a trigger. When the photoelectric sensor module detects an approaching train, it controls the pantograph imaging module to take a picture based on a system-preset speed and the radar's measured speed. After the train passes, the image's stretching / compression ratio is calculated based on the radar's final detected speed and the system-preset speed. The identified pantograph contactor image is then stretched, compressed, and segmented to obtain the final pantograph contactor image. By introducing a photoelectric sensor, both the sensor and radar can identify approaching trains. Furthermore, by combining the imaging process based on real-time radar speed measurement and a system-preset speed, even if a train is missed by the radar, the entire image acquisition process can be completed based on the photoelectric sensor's identification and the system-preset speed, avoiding the problem of missed trains by the radar.

The invention provides a simulation system of train vehicle equipment and vehicle-mounted controller interface equipment, which can realize simulation of the train vehicle equipment and the vehicle-mounted controller interface equipment through a simulation control module, and a speed sensor simulation module realizes calculation of a speed sensor signal simulation value and generates a corresponding speed sensor signal. The PWM signal acquisition module is used for acquiring train traction / braking force output by a vehicle-mounted controller in a PWM signal form, the accelerometer simulation module is used for generating accelerometer signals, and the train line signal simulation module is used for driving / acquiring train line signals; the signal conditioning module realizes conversion and adaptation between output / input signals of the multiple functional modules and input / output signals of the vehicle-mounted controller module, can reduce coupling among the functional modules, improves real-time performance of simulation data calculation, reduces calculation load of simulation data calculation, and improves simulation data calculation efficiency. The accuracy of simulation data and the verisimilitude of changes are improved, and the sufficiency and effectiveness of injection faults can also be improved.

The application discloses a kind of control methods of multiple vehicles into CAV special lane under network environment, comprising:1, calculate influence interval and judge whether the headway of adjacent target CAV car of second lane is less than influence interval;2, obtain the speed of adjacent target CAV car at initial time, calculate the speed of adjacent target CAV car at lane-changing stable time;3, calculate the speed index of CAV car into special lane;4, calculate the headway of adjacent target CAV car and its preceding vehicle at initial time and lane-changing stable time respectively;5, calculate the safety index of CAV car into special lane;6, calculate the comprehensive index of CAV car into special lane;7, take the maximum comprehensive index strategy, output lane-changing decision.The application can provide optimal merging decision through information interaction between network vehicles and network vehicles under network environment when multiple adjacent CAV cars simultaneously issue merging demand into special lane, thereby improving the efficiency of CAV car merging into special lane and improving road traffic capacity.

In order to achieve improvement in reliability of a speed calculation device included in a railway vehicle while reducing cost increase due to redundancy of a device, a vehicle speed calculation device includes at least two shaft speed sensors, a non-contact speed sensor, a sensor receiving unit that receives at least two first detection values detected by the shaft speed sensor and a second detection value detected by the non-contact speed sensor, an estimated speed calculation unit that calculates an estimated speed at present time of the railway vehicle from a latest vehicle speed and acceleration of the railway vehicle, and a speed determination unit that determines a vehicle speed based on at least two of the first detection values, the second detection value, and the estimated speed. The speed determination unit determines the vehicle speed by selecting a required speed from at least two first speeds calculated from at least two of the first detection values, a second speed calculated from the second detection value, and the estimated speed based on an adhesive or non-adhesive state of a wheel including the shaft speed sensor.

This invention provides an advanced driver assistance system (ADAS) automatic lane changing method and system, relating to the field of vehicle control technology. The method includes: when a vehicle is preparing to change lanes from its current lane to a target lane, selecting an optimal lane gap from among target vehicles in the target lane; calculating a first passable speed based on the traffic flow speed of the target lane; and, in response to the first passable speed, the target distance required for the vehicle to cross the lane's dashed line when entering the optimal lane gap, and the target distance between target vehicles after entering the optimal lane gap all satisfying preset lane change activation conditions, initiating a lane change time counter; and, in response to the lane change time counter exceeding a counting threshold, generating a vehicle lane change request for the vehicle to change lanes from the optimal lane gap to the target lane; and, in response to the vehicle lane change request, controlling the vehicle to enter the optimal lane gap to complete the lane change. This invention addresses the problems of overly rule-based lane change decisions and a lack of monitoring for real-time risks and changes in lane change conditions during advanced driver assistance systems (ADAS) automatic lane changing.

A device positionable in a passenger compartment of a vehicle can include a processor, an accelerometer, and a wireless transmitter. The processor can receive, while in a hibernation mode, an interrupt signal from the accelerometer based on the accelerometer detecting an acceleration of the vehicle that exceeds a predefined acceleration threshold. In response to receiving the interrupt signal from the accelerometer, the processor can switch from the hibernation mode to a sleep mode. While in the sleep mode, the processor can detect a trip start event based on one or more accelerometer values from the accelerometer. In response to detecting the trip start event, the processor can then switch from the sleep mode to an active mode. While in the active mode, the processor can receive additional accelerometer values from the accelerometer and store them for subsequent transmission to a remote server system using the wireless transmitter.

The invention discloses a method for predicting the temperature of an unsteady-state tread brake wheel shoe on a long and large ramp of a railway wagon. The method comprises the following steps: constructing a transient heat transfer finite element model of the wheel shoe; writing a train speed and thermal boundary condition calculation subprogram based on an electric-pneumatic hybrid braking model of the freight train, and integrating the subprogram into a finite element model to realize coupling of train speed calculation and wheel tile transient heat transfer calculation; temperature monitoring points are arranged on wheels and brake shoes respectively, temperature signals are transmitted to the subprograms, and a wheel shoe temperature monitoring module is constructed; the judgment results of the train speed and the wheel tile temperature are associated with tread braking and electric braking parameters through subprograms, and a train braking control module based on feedback control is constructed; inputting train marshalling, brake control, line information and environment information parameters, and calculating temperatures of wheels and brake shoes; according to the method, the problems of wheel tile temperature checking and braking strategy design of freight train long and large ramp tread braking are solved.

The embodiment of the application provides a hydraulic control method and device of a single-cylinder bolt type telescopic arm and engineering machinery. The method comprises the following steps: determining the working state of the single-cylinder bolt type telescopic arm; obtaining the first pressure of the center channel based on the pressure sensor; obtaining the working speed of the telescopic cylinder in the case that the first pressure is not within the pressure threshold range corresponding to the working state; calculating the preset parameter corresponding to the working state by using the working speed in the case that the working speed is less than or equal to the speed threshold corresponding to the working state; repeatedly adjusting the current of the main valve, and calculating the real-time flow of the main valve according to the adjusted current after each adjustment until the preset parameter meets the preset condition corresponding to the working state based on the real-time flow of the main valve. The process obtains the first pressure of the center channel, adjusts the speed or current of the single-cylinder bolt type telescopic arm to make the first pressure of the center channel within the pressure threshold range, and guarantees the reliability and safety of the operation.

1. The name of the design product: speedometer for measuring speed by radar technology. 2. The use of the design product: for measuring the speed of external objects of interest. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: front view. 5. Other circumstances that need to be explained: mobile phone is only used to show the use of speedometer and scene, not required to be protected.

The invention provides a method and a device for calculating the speed of lifting a front wheel during takeoff in consideration of dynamic influence, and belongs to the technical field of aircraft pneumatic and operation stability design. The method comprises the following steps: calculating the speed of lifting the front wheel during takeoff according to the influence of a propulsion system on flow characteristics and pressure distribution outside and inside a runner during takeoff and taxiing of an aircraft; determining an external flow power influence quantity and an internal flow power influence quantity; constructing a pneumatic pitching force and torque expression including the external flow power influence quantity and the internal flow power influence quantity; an aircraft taxiing kinetic equation is constructed based on pitching moment force and moment borne by the aircraft during taxiing and taxiing; a compressed attack angle is obtained based on the compression amount of a main undercarriage strut and tires when a front wheel is lifted during takeoff, and the pneumatic pitching moment of the center of gravity of the aircraft is solved based on the compressed attack angle, a taxiing kinetic equation and the stress condition of the front wheel; based on the pneumatic pitching moment under the gravity center of the aircraft, obtaining the total pneumatic moment acting on the pneumatic reference point, and based on the total pneumatic moment, obtaining the front wheel lifting speed.

A torque control system and method for a vehicle include a control system configured to calculate a driver demand torque based on a speed of the vehicle and a driver torque request, predict a net driver demand torque based on the calculated driver demand torque and an opposing net torque for a road that the vehicle is traversing, estimate a turbine speed based on measured turbine and wheel speeds and a lumped vehicle inertia state space model with an observer correction algorithm, calculate a target actuator torque based on the calculated driver demand torque and the estimated turbine speed, and control at least one of an engine and an electric motor of the propulsion system based on the calculated target actuator torque.

1. Name of the product of this design: Digital dashboard speedometer graphic user interface (Brazilian Honda Twelfth Generation). 2. Use of the product of this design: Dashboard for displaying vehicle information. 3. Design points of the product of this design: In shape. 4. Picture or photo that best indicates the design points: Front view. 5. Use of the graphic user interface: For displaying the operating parameters of the vehicle instrument. 6. Human-computer interaction mode of the graphic user interface: Real-time display of vehicle speed, driving distance, etc. during vehicle operation.

A tire model is combined with linear time-varying model predictive control. An autonomous vehicle includes a system for operating the vehicle. A slip angle sensor measures a slip angle of a wheel of an autonomous vehicle. The accelerometer measures acceleration of the autonomous vehicle. The steering actuator controls a steering angle of the autonomous vehicle. The processor determines a road friction coefficient in a selected prediction step, calculates a normal force of the autonomous vehicle from the acceleration, determines a wheel stiffness of the wheel for the normal force at the slip angle using the road friction coefficient based on a tire model of the wheel, a steering command for the autonomous vehicle is calculated using model predictive control having wheel stiffness as an input, and a steering actuator is controlled using the steering command to steer the autonomous vehicle.

The application discloses a multi-module fusion vehicle state estimation model and a control method thereof, relates to the technical field of vehicle engineering and intelligent vehicle control, and comprises a tire force estimation module, a vehicle pose estimation module, an adhesion coefficient calculation module, a slip rate calculation module, a road surface friction coefficient identification module and a yaw angular acceleration calculation module; the tire force estimation module acquires four-wheel speeds, four-wheel driving torques, four-wheel braking torques, a vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, yaw angular velocity, pitch angular velocity and roll angular velocity, performs tire rotation dynamics calculation and axle load transfer calculation, and obtains longitudinal forces and vertical forces of each wheel. The application adopts a layered module architecture and multi-parameter fusion calculation, realizes accurate estimation of vehicle states, optimizes calculation logic and constraint mechanisms in different scenes through a working condition self-adaptive strategy, and improves overall estimation accuracy, system stability and engineering adaptation capability.