3110 results about "Steering control" patented technology

The invention discloses an automobile steering controller fault detection method and system, and relates to the technical field of automobile electronic control. The surface image acquisition module captures an image through a visual sensor, the quality is improved through the image preprocessing module, the convolutional neural network accurately recognizes appearance defects, and the three-dimensional contour detection and thermal imaging module is triggered to be linked to re-check an abnormal area; the three-dimensional contour module confirms patch offset or tombstone standing abnormity by using a laser scanning technology; the thermal imaging analysis module is matched with a machine learning technology to analyze welding spot temperature abnormity; the predictive fault diagnosis module predicts a defect risk by using deep learning and performs early warning in advance; and the collaborative decision optimization module integrates a multi-module data dynamic optimization detection strategy. Through integration of defect detection, re-checking and prediction, the quality detection precision, coverage and efficiency of the automobile steering controller are greatly improved, the high-quality standard and production stability of products are ensured, and the requirement of the automobile industry for efficient detection is met.

The electric luggage case comprises a case body, a steering device and a pedal device, the steering device comprises a T-shaped steering support, handles are arranged on the left side and the right side of the steering support respectively, first inclined parts with downward inclined faces are formed at the left end and the right end of the steering support respectively, and second inclined parts are formed at the upper ends of the handles. The second inclined part is attached to the first inclined part; the pedal device comprises a pedal fixing seat, a pedal body is arranged in the pedal fixing seat in a penetrating mode, the pedal body is in sliding fit with the pedal fixing seat, a pedal limiting mechanism is arranged at the bottom of the pedal fixing seat, and pedal keys are arranged at the top of the pedal body. The handle is convenient to store and stretch, and steering control and walking control are easy to achieve.

The invention provides a steering control method and equipment for a four-wheel independent driving and steering electric automobile, and belongs to the field of automobile steering. When the fault detector detects that the steering actuator breaks down, the fault state at the moment is quantified and transmitted to the self-adaptive fault-tolerant controller in real time, and the fault-tolerant controller calculates the needed additional yawing moment according to the current residual state of the steering actuator and the driving state of the vehicle; and then the vehicle steering function is jointly completed through hub motor differential drive and a residual steering actuator, and if the vehicle cannot be kept in a stable area after the steering actuator breaks down, steering degradation and parking processing are conducted. According to different failure types of the steer-by-wire system, vehicle steering can be completed through differential drive of the four-wheel hub motor and the residual steering actuator, and the cost is reduced while it is guaranteed that the vehicle has the steering function.

An autonomous vehicle control system includes one or more sensors configured for coupling with an agricultural vehicle, the one or more sensors configured to determine kinematics of the agricultural vehicle relative to a crop row. The system includes a guidance control module configured to coordinate steering of one or more steering mechanisms of the agricultural vehicle. The guidance control module includes a sensor input configured to receive kinematics of the agricultural vehicle, a vehicle kinematics comparator configured to determine one or more error values using the received vehicle kinematics, a crop curvature generator configured to determine crop row curvature using the one or more error values, and a steering interface configured to provide instructions to a vehicle steering controller to guide the agricultural vehicle using the crop row curvature.

The invention provides a vehicle trajectory tracking control method and system, an unmanned vehicle and a readable medium, and belongs to the field of automatic driving. The vehicle trajectory tracking control method comprises the steps that the longitudinal speed, the steering state and the reference trajectory of a vehicle are obtained; constructing an error model of the vehicle relative to the reference trajectory, wherein the error model at least represents a transverse error and a course error of the vehicle relative to the reference trajectory; performing nonlinear optimization on the error model by using an iterative linear quadratic regulator algorithm, and generating a control input sequence for vehicle transverse control in a prediction time domain; and mapping the control input sequence into a steering control signal of the vehicle, so that the vehicle adjusts a driving track based on the steering control signal. According to the vehicle trajectory tracking control method and system, the unmanned vehicle and the readable medium provided by the invention, the dependence on kinetic parameters difficult to identify can be weakened, the nonlinear precision and the vehicle-mounted real-time performance are considered, and the trajectory tracking precision and convergence are improved.

A steering device 1 accepts steering operations by a driver and comprises: an annular rim 20; a hub 23 located on the inner side of the rim 20; spokes 25L, 25R which extend radially from the hub 23 and which are connected to a rim inner circumference 21 of the rim 20; electrode devices 55L, 55R provided in the spokes 25L, 25R, respectively; and a steering control device 4 that detects a change in the electrostatic capacitance between the electrode devices 55L, 55R and a ground connection. The electrode device 55L comprises a first electrode 56L having flat parts 561L, 562L, 563L directed toward the rim 20 and the electrode device 55R comprises a first electrode 56R having flat parts 561R, 562R, 563R directed toward the rim inner circumference 21.

The invention belongs to the field of active steering of electric vehicles, and relates to an active four-wheel steering path tracking control method based on Nash game, which comprises the following steps: S1, establishing a two-degree-of-freedom transverse dynamic model of a vehicle; s2, designing a tire cornering stiffness correction coefficient by adopting a magic formula to correct the cornering stiffness in the prediction model in real time; s3, the Nash game is introduced into four-wheel steering control, the control target of front wheel steering is tracking precision, and the control target of rear wheel steering is transverse stability; and solving the optimal control quantity of each gamer through a distributed model prediction architecture.

The invention relates to an aircraft-trailer system coordination control method fused with reinforcement learning, and the method comprises the steps: constructing an aircraft-trailer system mathematical model, and determining the coupling relation between control variables and state variables, the control variables including trailer movement control variables and system steering control variables; aiming at trailer movement control variables, designing a model-based self-adaptive controller; aiming at the steering control variable of the system, designing an attitude compensation controller based on reinforcement learning; the self-adaptive controller and the attitude compensation controller are fused, corresponding control signals are output to the aircraft and the trailer, and motion control over the aircraft and the trailer is completed. Compared with the prior art, the self-adaptive control law based on the virtual variable is designed through the decoupling kinematics model; and aiming at system parameters and external uncertainty, designing a compensation method based on reinforcement learning. A series of simulation is carried out under different conditions, and results show that the method can ensure coordinated movement of the aircraft and the trailer under different conditions.

The invention discloses a cooperative steering control method considering man-machine mutual reliability, and aims to solve the problem of man-machine conflict in an existing man-machine co-driving system. The invention relates to the field of intelligent driving. The system specifically comprises an expected path module, a man-machine steering conflict evaluation module, a driver experience evaluation module, a weight distribution module, a non-cooperative game module and a man-machine co-driving vehicle. The expected path module generates an expected path between the driver and the controller; the man-machine steering conflict evaluation module outputs the trust degree of the driver to the controller based on the steering action of the driver, the vehicle state and the expected path of the driver and the controller; the driver experience evaluation module outputs the driver trust degree of the controller based on the vehicle state; the weight distribution module is used for outputting a driver control weight; and the non-cooperative game module outputs an optimal turning angle in combination with the expected path of the driver and the controller and the control weight of the driver, and controls the man-machine co-driving vehicle to complete the cooperative steering action.

The invention discloses a fusion preview PID transverse control method and system for port and mine automatic driving, and belongs to the technical field of automatic driving, and the method specifically comprises the steps: obtaining a reference trajectory point and vehicle pose data, and calculating a nearest point of a vehicle relative to a reference trajectory and the curvature of the nearest point; switching a straight line control mode and a turning control mode through a dynamic smooth transition factor; calculating a preview distance according to the curvature, the vehicle speed and the wheelbase, and obtaining the pose of the preview point; transverse and course errors are calculated, and PID control is carried out to obtain feedback output; combining feedforward control output, and obtaining a final steering control command according to weight fusion; and vehicle pose and track changes are monitored in real time, and adjustment and control are performed. According to the method, stable automatic driving control of the vehicle under different road conditions is realized, and the driving safety and comfort are improved.

The invention discloses an energy-saving stage lamp moving and steering control adjusting device and a using method, and relates to the technical field of wastewater treatment.The energy-saving stage lamp moving and steering control adjusting device comprises a mounting base, a rotating base is arranged at the top of the mounting base, a lamp is arranged in the rotating base, and a rotating rod is fixedly connected to the bottom of the rotating base; according to the scheme, the memory metal wire can be lengthened along with the change of the temperature, so that the amplitude of rotation of the insulation cover driven by the traction piece is changed along with the change of the temperature; therefore, when the temperature is higher, the exposed area of a through groove formed in the outer side of the insulating cover and a groove formed in the inner side of the fixing ring is larger, the magnetic force borne by the first magnetic plate is larger, then the amount of liquid sprayed by the lubricating assembly is larger, and automatic adaptive adjustment is carried out.

The invention provides a distributed electric drive vehicle four-wheel differential torque enhanced steering control method and system, and belongs to the technical field of artificial intelligence risk prediction. The vehicle is provided with an upper-layer torque decision module, a lower-layer torque cooperation module and a vehicle-mounted sensor; selecting a pivot steering auxiliary strategy according to an actual driving scene, and pressing a function key to enter a working condition; vehicle dynamic information is obtained through a vehicle-mounted sensor, whether a vehicle is in an in-situ steering state or a small-radius steering state is judged by combining vehicle body static data, and when a selected function key is in an in-situ steering state or a small-radius steering state, the vehicle dynamic information is obtained in real time, and fuzzy reasoning and a neural network algorithm are combined. The ground attachment coefficient and the target yaw angle speed are intelligently judged, and therefore accurate control over the steering torque is achieved; or a double-controller structure is adopted, the torque of each wheel can be effectively distributed and adjusted under complex working conditions, and flexible control and stable running of the vehicle in a narrow space are ensured.

A work vehicle capable of automatic steering driving includes a positioning system to perform positioning of the work vehicle, and a controller including a non-volatile memory. The controller is configured or programmed to estimate an orientation of the work vehicle based on a change over time of a position of the work vehicle measured by the positioning system, perform automatic steering control of the work vehicle based on the position and the orientation of the work vehicle and a set target route, store the orientation of the work vehicle in the non-volatile memory in response to a key-off operation of the work vehicle, and after a key-on operation of the work vehicle is performed, initiate the automatic steering control using the orientation stored in the non-volatile memory as an initial orientation of the work vehicle.

The invention relates to the technical field of automobile electric control, in particular to a new energy automobile electric control steering control method and system, and the method comprises the steps: obtaining and preprocessing a four-wheel vibration data sequence, carrying out the segmentation and consistency evaluation of the vibration data sequence of each wheel, and selecting a current data sequence in an optimal segment to calculate a road condition influence coefficient. And matching the current data sequence with the historical vibration data sequence, calculating the similarity to determine the influence weight, adjusting the influence coefficient in combination with the steering angle change rate of the historical vibration data sequence, inputting the adjusted pavement condition influence coefficient into the ECU, dynamically adjusting the steering auxiliary torque, and realizing accurate steering control. According to the method, the optimal segment is selected through segment processing and consistency evaluation to accurately reflect the current road condition, the steering auxiliary torque is dynamically adjusted in combination with historical vibration data sequence matching and the steering angle change rate, and the driving safety and comfort are improved.

The self-growing robot comprises a base, the front end of the base is connected with the rear end of a main body, the main body is a cylinder, and the front end of the main body is connected with a load mechanism; the inner side of the main body is wound and stored in the base through a growth motor, and a flexible guide rail, multiple sections of stay wires and a steering motor group are arranged on the inner side surface; one end of the stay wire is fixed on the inner side surface of the main body, and the other end of the stay wire is connected with the steering motor; magnets arranged on the two sides of the motor sleeve are connected with the positive pole and the negative pole of the steering motor respectively. The load mechanism comprises a load, the load is fixed to the front end of a load holder, an adjustable support is fixed in the load holder, the interior of the adjustable support is connected with a steering control unit, a main body outer side material penetrates through the position between the adjustable support and the steering control unit, and a main body inner side material penetrates through the steering control unit to be fixed to a growing motor in a base. According to the invention, multi-angle accurate steering can be realized in the growth process.

The invention discloses a shear forklift steering control method and system based on central point dynamic differential, and the method comprises the following steps: S1, sensor module calibration: collecting the angle values of the right limit and the left limit of a shear forklift steering mechanism, calculating the difference value between the right limit and the left limit, converting the difference value into an actual degree, and carrying out the calibration of a sensor module; calibrating a scale factor and a straight-going intermediate value; s2, real-time steering angle calculation: reading a current measured value of an angle sensor, judging whether a left wheel is an inner side wheel or an outer side wheel, and calculating a current steering angle alpha in combination with a scale factor; s3, dynamic differential ratio calculation: based on the steering angle alpha in the step S2, calculating a central point turning radius R through a central point steering geometric model, and deriving an inner and outer wheel differential ratio K; and S4, adjusting and outputting the target rotating speeds of the inner wheel and the outer wheel according to the differential ratio K to realize dynamic differential control. By dynamically adjusting the rotating speed of the motor, the load difference of the motor can be reduced, the service life is prolonged, and the steering stability is improved.

A vehicle control device includes a processor. The processor is configured to: detect a mobile body located in a region that is not a host vehicle lane in which a host vehicle is traveling, out of regions that are adjacent to an adjacent lane that is adjacent to the host vehicle lane; detect entry operation of the mobile body to enter the adjacent lane; and when the processor detects the entry operation, perform steering control for the host vehicle such that a travel position of the host vehicle within the host vehicle lane in a width direction of the host vehicle lane is moved in a direction away from the adjacent lane before the entry operation is completed.

The invention discloses a road interference detection and compensation control method for a steering system, and belongs to the technical field of vehicle steering systems. The method specifically comprises the steps of road bumping detection and steering system road interference compensation control, the road bumping detection is that a detection signal is obtained through a time window integration method by utilizing the amplitude difference of the high-frequency interference torque of the steering system, and the road bumping is detected by adopting a dynamic threshold value in combination with various signals such as the steering torque and the vehicle speed; the method can adapt to different vehicle speed scenes and realize accurate identification. According to the road surface interference compensation control method, a steering system kinetic model containing interference torque is established, an expansion state observer is innovatively designed, the system state and the total disturbance quantity are actively estimated, state information which cannot be obtained by a traditional sensor is obtained, and the steering system dynamic model is obtained through a feed-forward control and compensation control method. Effective disturbance torque compensation control is achieved, and the robustness of a steering control system under the working condition of a bumpy road surface is enhanced.

This technical disclosure presents a novel and versatile designed to enhance convenience and functionality for shoppers, beachgoers and outdoor enthusiasts transporting heavy items, groceries, tools, equipment etc. The “Remote Controlled Collapsible and Non-Collapsible Utility Wagon & Beach Wagon” integrates advanced features, including a motor, remote control capabilities, rechargeable battery, collapsibility options, and robust utility. The wagon is equipped with a remote control system, allowing users to maneuver it effortlessly across various terrains, such as asphalt, sand, gravel or grass, sidewalks with precision and ease. The remote control offers forward and backward motion, steering control, and variable speed settings, ensuring smooth transportation of beach gear and other essentials. Additionally, the wagon offers collapsibility features for easy storage and transport. Users can fold it down quickly, reducing its size for convenient storage in vehicles or compact spaces. When expanded, it provides a spacious and sturdy cargo area, capable of accommodating groceries, various items, beach chairs, umbrellas, coolers, and more. Constructed from durable materials, this utility beach wagon ensures longevity and reliability even in harsh beach environments. It's rugged wheels, reinforced frame, and corrosion-resistant components make it suitable for extended outdoor use. The Remote Controlled Collapsible and Non-Collapsible Utility Beach Wagon represents a significant advancement in transporting heavy items and equipment due to it being equipped with a motor, rechargeable battery and remote control offering unparalleled convenience and mobility for shoppers, outdoor enthusiasts, making shopping, moving short distances and beach outings more enjoyable and hassle-free.

The steering device 1 is equipped with: a steering wheel 2 provided with a rim section 20and spoke sections 25L and 25R; electrode devices 6L, 6R; and a steering control device 4for detecting a change in the capacitance of the electrode devices 6L, 6R. The electrode devices 6L, 6R are respectively equipped with a first electrode section 61L, 61R provided to a spoke connection section 22L, 22R and which constitutes part of an inner-circumferential rim section 21. Radially outermost sections 613L, 613R, which are the sections of the first electrode sections 61L, 61R farthest from the center, are positioned to the outside in the radial direction of arc-shaped imaginary lines L1, L2 which contact the contour line of the inner-circumferential rim section 21 above the spoke sections 25L, 25R and the contour line of the inner-circumferential rim section 21 below the spoke sections 25L, 25R.

To increase steering angle followability of automatic steering, provided is a driving assistance device for executing collision avoidance control of controlling a steering angle of an own vehicle such that the own vehicle travels along a target trajectory which enables the own vehicle to avoid a collision with an obstacle. The driving assistance device includes: a setting unit configured to set a target steering angle, and to set a target steering torque for matching the steering angle with the target steering angle; a cancellation unit configured to set a cancellation torque which cancels a total steering torque obtained by summing a driver steering torque and a steering assist torque set based on the driver steering torque; and a control unit configured to execute steering control of controlling the steering angle based on a torque control amount obtained by adding the target steering torque to the cancellation torque.

The invention provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: carrying out the redundancy design of a steer-by-wire system of the vehicle, immediately triggering a fault processing mechanism under the condition that the steer-by-wire system is judged to have a fault, firstly positioning a fault condition, and carrying out the fault processing mechanism; then, the faults are graded based on the fault conditions to obtain fault grades, then the steering control strategy of the steer-by-wire system for the vehicle is adjusted according to the fault grades, and the speed of the vehicle is limited according to the fault grades; according to the steering-by-wire system, the steering control strategy corresponding to the fault level is executed, so that a user can still control the vehicle, the situation that the vehicle is out of control is avoided, the controllability, safety and reliability of the fault of the steering-by-wire system are improved, and the user experience is improved. And the driving experience and the driving confidence of the user and the credibility of the user for the steer-by-wire system are improved.

A steering control system for a vehicle that detects a magnetic field generated from an electromagnetic induction line and that is capable of autonomous travelling along said electromagnetic induction line, where the steering control system includes: a plurality of induction line detection sensors attached to said vehicle; and a control device that, for every control cycle and on the basis of a deviation of said vehicle from said electromagnetic induction line calculated from detection data acquired by said plurality of induction line detection sensors, generates and outputs a travelling control signal that causes said vehicle to turn so as to cancel the deviation or causes said vehicle to advance straight forward, wherein a deviation detection reference point of said plurality of induction line detection sensors is disposed at a position separated from a pivot serving as the turning center of said vehicle.

The invention discloses a man-machine dynamic cooperative steering control method integrating reinforcement learning and a game theory, and aims to optimize dynamic weight distribution of a driver and a controller so as to guarantee driving safety and path tracking precision of a man-machine co-driving vehicle. The invention relates to the field of intelligent driving. The system comprises an expected path module, a reinforcement learning module, a non-cooperative game module and a man-machine co-driving vehicle module. The expected path module is used for generating an expected path sequence of the driver and the controller and an expected path at the current moment; the reinforcement learning module receives the expected path at the current moment, the vehicle dynamic information and the optimal rotation angle of the driver and the controller, and training is carried out to generate a driver control weight; and the non-cooperative game module combines the driver control weight, the expected path sequence of the driver and the controller and the state information of the vehicle, optimizes the optimal steering angle of the driver and the controller through the non-cooperative game, and realizes the cooperative steering control of the man-machine co-driving vehicle.

The invention relates to the technical field of bearing detection, in particular to bearing detection equipment for bearing production and processing. The speed measurement sensor is arranged on the top surface of one side of the test bench, is matched with the layout of the ball cylinder and is used for monitoring the rotating speed of the inner ring and the outer ring of the bearing; the clamping parts are arranged on the two sides of the partition of the test board respectively and used for fixing the positions of inner and outer rings of the bearing; and the switching parts are symmetrically arranged in the test board and are matched with the rotation of the turntable and are quickly switched so as to push the inner ring or the outer ring of the bearing to rotate for rotating speed test. Through the clamping part and the switching part which are operated together, the movement of the inner clamping plate and the outer clamping plate is controlled by utilizing different rotating directions of the turntable, so that the bearing is accurately clamped and fixed at different ring positions according to the detection condition, and then the turntable rotates to synchronously push the air pipe to change the position, so that the inner and outer ring detection of the bearing can be independently operated; therefore, more comprehensive bearing detection is achieved, and double improvement of simple and convenient operation and detection precision is realized.

The invention belongs to the technical field of vehicle steering control, and relates to a van semitrailer steering synchronization angle closed-loop test calibration system, which comprises the following steps of: firstly, executing a static steering test on a no-load combined vehicle, and constructing a mapping reference table of a saddle space position and an ideal hinge angle; then multi-working-condition dynamic steering testing is carried out on the load combination vehicle, vehicle frame deformation data are collected in real time, the deformation data are converted into a hinge angle compensation value through a pre-trained deformation mechanical model, selective correction is carried out on the actually-measured hinge angle based on a deformation compensation starting threshold value, a calibration target is generated to reversely analyze the target saddle position, and the target saddle position is corrected; the problem that in the prior art, inevitable elastic structure deformation and real mechanical steering asynchronous faults of the van semitrailer under the actual dynamic load working condition cannot be fully considered and distinguished is effectively solved, and then multi-working-condition driving verification data are collected, deformation mechanical model parameters are iteratively updated, and a compensation threshold value generation strategy is generated. And closed-loop optimization is realized.

The invention provides a vehicle pivot steering control method and device, equipment and a medium. The method comprises the steps that the target rotation angle of vehicle pivot steering and information of a target locking wheel are obtained; an instruction for locking the target locking wheel is sent to a braking system; determining a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is used as a rotating point and the driving wheels rotate according to the target rotating angle; based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel is determined; and sending a driving instruction to a driving motor of each driving wheel, wherein the driving instruction carries the corresponding current driving torque. According to the method, the current driving torque of each driving wheel can be gradually changed along with the deviation between the target wheel center speed and the current actual wheel center speed, smooth steering is facilitated, and therefore the in-situ steering stability of the vehicle can be improved.

The invention is applicable to the technical field of automobile steering control, and provides a steering return control method for objective steering evaluation, which comprises the following steps of: acquiring vehicle state parameters; judging the membership degrees of the driver to the conservative driving style, the normal driving style and the sports driving style, and calculating the values of the coefficient influencing the return speed and the coefficient influencing the lateral acceleration; generating a reference return speed; a reference return speed # imgabs0 # is used as a tracking target, and a smooth return torque is generated through MPC. According to the method, design is conducted with the objective evaluation phenomenon as the guide, a large number of real vehicle site tests do not need to be conducted in the later development stage to calibrate relevant parameters, the method faces objective evaluation and personalized driving experience, a driver decides the emphasis of objective evaluation, and therefore personalized objective evaluation-oriented automobile steering return control is achieved.

The invention provides a racing game implementation method, and relates to the technical field of vehicle-mounted games. According to the method, if it is detected that a target vehicle where the intelligent cockpit system is located enters a preset game mode, an actuator of a steering wheel in a steering system of the target vehicle is controlled to be disconnected with a wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode; according to the input steering control signal of the steering wheel, controlling a target virtual vehicle in the preset racing game, and obtaining advancing state information of the target virtual vehicle; simulation is carried out according to the advancing state information, and steering feedback force simulation signals of the steering wheel are generated; and according to the steering feedback force simulation signal, controlling an actuator of a steering wheel in the steering system to generate a simulation hand feeling of the steering wheel. Therefore, a user can safely and effectively perform a car racing game in the car and can feel the real hand feeling of the steering wheel, and the user experience is improved.

A system and method for stall recovery of mud motors may be implemented in a steering control system. The stall recovery system and method may involve automatic detection of a stall of a mud motor during drilling controlled by the steering control system, and may respond to the stall in a rapid and controlled manner to avoid or minimize damage to the mud motor, such as by immediately reducing mud pressure and stopping rotary drilling, if used, faster than a typical human operator could perform. The stall recovery system and method may further take actions to automatically restart drilling.