1776 results about "Steering control" patented technology

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.

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 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.

A system for collaborative steering in steer-by-wire (SBW) vehicles includes sensors, a rack motor altering a position of the vehicle's steerable road wheels and an emulator altering a torque and position of a vehicle hand wheel. A collaborative steering system application (CSSA) obtains, static and dynamic information about the vehicle and the vehicle's environment, and generates a rack torque and / or angle command to the rack motor and an emulator torque and / or angle command to the emulator. The CSSA adjusts between ADAS and manual steering ratios and automatically transitions control between ADAS SBW control and manual control. The CSSA smooths transitions between ADAS SBW control and manual steering control and adjusts hand wheel stiffness by altering the emulator torque command, and causes the rack motor and emulator to operate according to a kinematic model while adapting road wheel response and vehicle operator steering feel based on scenarios and features currently enabled.

The invention belongs to the technical field of photovoltaic power generation, and discloses a photovoltaic tracking method and a photovoltaic tracking controller, and the method comprises the steps: collecting three-dimensional illumination distribution data through a multispectral imaging sensor and a grid irradiation sensor, and constructing a real-time sun position model in combination with an MEMS inertial measurement unit; predicting a local shadow moving path by adopting a generative adversarial network, and processing irradiance time sequence data based on a time sequence convolution module to generate a pre-compensation tracking instruction; based on the deployed deep reinforcement learning model, taking a weighting function of real-time generated power and a mechanical loss coefficient as a reward mechanism, and dynamically optimizing the rotating speed and the steering control quantity of the double-shaft motor; when the wind speed is larger than a preset threshold value, fluid mechanics simulation is started to calculate the non-horizontal wind-resistant posture, and the support is locked. According to the invention, through multi-modal sensor data fusion and deep reinforcement learning, high-precision and adaptive all-weather sun tracking is realized, and a digital twinborn model is introduced to carry out predictive maintenance.

The invention discloses a casting defect infiltration type detection system, and relates to the technical field of casting defect detection. A permeation control mechanism is arranged on a permeation station, the permeation control mechanism comprises a walking power assembly arranged on a guide rail in a sliding mode, two sets of steering guide grooves are formed in the inner wall of a steering control cylinder in an annular array mode, a pipe body casting part is clamped and fixed between rotary clamping parts, and a steering guide part is arranged between the two steering guide grooves in a sliding mode; the steering control cylinder is sleeved with the casting clamping assembly, the steering guide piece slides along the steering guide groove to achieve 90-degree rotation of the pipe casting, and a penetrant output part is arranged on the inner side of the penetrant storage box and used for conveying a penetrant in the penetrant storage box into the pipe casting. The penetration station, the washing station, the drying station, the spraying station and the detection station are sequentially arranged in the direction of the guide rail, and the penetration control mechanism is arranged on the penetration station, so that the defects of the inner wall of the pipe body casting part can be automatically detected.

The invention discloses an under-actuated unmanned surface vehicle safe formation tracking control method based on robust obstacle control. The method comprises the following steps: establishing a multi-unmanned ship group and performing real-time communication, and enabling each follower to follow a leader according to a formation configuration and to avoid an obstacle; a safe formation tracking control framework of the underactuated unmanned surface vehicle is established, during formation tracking, followers input state information into the control framework, processing is carried out according to a reference trajectory of a leader and real-time information of a current follower and an obstacle, and forward and steering control torque instructions are output to control the current follower. Obstacles are avoided and formation configuration is restored to continue following the leader. According to the method, the underactuation characteristic problem of the unmanned surface vehicle is solved, the worst case error generated when the neural network approaches the unknown dynamic state can be effectively compensated, it is ensured that the unmanned surface vehicle can strictly avoid collision with the obstacle in the complex environment, and meanwhile the formation tracking performance is optimally kept.

The invention discloses an AGV navigation system used in a storage dynamic environment, relates to the technical field of storage robot control, and is used for solving the problem of poor stable navigation in dynamic storage. According to the method, a closed-loop navigation link of state convergence, confidence evaluation, corridors, setting generation and cooperative gating is constructed, state frames are packaged in unified time, and positioning confidence and availability marks are generated based on the consistency of pose predictive quantity and pose observed quantity, so that credible hierarchical control is realized in shielding, light reflection and personnel forklift passing scenes, and the positioning accuracy is improved. A time sequence occupation constraint set is formed through obstacle tracking, a forbidden area mark is fused, a passable corridor boundary is generated, a speed set value sequence and a curvature set value sequence are generated in a corridor, acceleration change rate constraint and steering change rate constraint are applied, and stable driving control and steering control instructions are output. And the way-giving sequence and the recovery sequence are matched, and the execution state and the occupation state are written back, so that the navigation safety, the stability and the operation continuity are improved.

The application provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: redundancy design is performed for a steer-by-wire system of a vehicle, in the case that it is determined that the steer-by-wire system fails, a fault handling mechanism is triggered immediately, a fault condition is located first, then the fault is classified into a fault level based on the fault condition, and then the steering control strategy of the steer-by-wire system for the vehicle is adjusted according to the fault level and the vehicle is speed-limited according to the fault level, so that when the steer-by-wire system fails, the steer-by-wire system executes the steering control strategy corresponding to the fault level, the user can still control the vehicle, the situation that the vehicle is out of control is avoided, the controllability, safety and reliability of the steer-by-wire system in the case of failure are improved, and the driving experience, driving confidence and trust of the user for the steer-by-wire system are improved.

A vehicle steering control method and apparatus, a system, a vehicle, and a storage medium. The method comprises: when a crab steering function is activated, controlling two rear wheels of the vehicle to steer in the same direction as front wheels, and performing differential torque control on the two rear wheels of the vehicle, so as to enable the vehicle to perform crab movement.

The invention relates to a vehicle control method, a control terminal, a related device and a vehicle, and the method comprises the steps: controlling the vehicle to steer through a steering control strategy corresponding to driving information based on the driving information of the vehicle when the vehicle is in a target driving state. According to the method, the driving information is sensed in real time, and the optimal steering control strategy is intelligently matched, so that more accurate steering control is realized under different driving working conditions, the controllability and safety of the vehicle are enhanced, and the control effect of the vehicle is improved.

The invention discloses a pivot steering control system and method based on a four-wheel steering driving automobile and the automobile, and belongs to the technical field of automobiles. The in-situ steering control system obtains the state information of a vehicle through the state observation module, and the algorithm decision-making module receives the state information sent by the state observation module and then carries out decision-making calculation output processing according to the state information. And a pivot steering control decision containing a wheel steering angle adjusting instruction and a wheel output torque adjusting instruction is obtained, so that the four wheels are controlled to deflect by specific directions and angles through the control execution module, driving is conducted according to the deflection angles of the vehicles in the specific directions, and pivot steering control over the vehicles is achieved. The in-situ steering control system can dynamically adjust steering angles and torque distribution of the four wheels according to actual driving working conditions, the accuracy and response speed of in-situ steering control are improved, and the vehicle can accurately achieve in-situ steering according to an expected posture.

A vehicle control method includes the following steps. When a vehicle is in an autonomous driving mode, a first steering signal is received from a steering column of the vehicle. The first steering signal includes a first torque signal and / or a first steering angle signal. The holding information of a steering wheel of the vehicle is obtained, and the holding information indicates whether the steering wheel is held. Based on the first steering signal and the holding information, the vehicle is controlled to maintain or exit the autonomous driving mode.

The invention relates to the technical field of automobiles, in particular to a four-wheel steering vehicle track control method based on model predictive control. Firstly, a rear wheel proportionality coefficient changing along with the longitudinal speed of the vehicle is constructed; expressing a rear wheel steering angle as a function of a front wheel steering angle based on the proportionality coefficient, and substituting the function into a traditional three-degree-of-freedom four-wheel steering model to construct a simplified three-degree-of-freedom dynamic model with lower control dimension; performing linearization and discretization processing on the simplified model, and constructing an MPC prediction model; constructing a control objective function and related constraint conditions; and performing rolling optimization solution on the control target function to obtain an output rotation angle control instruction. According to the method, the complexity of a control problem is effectively reduced through model simplification, and the real-time performance and stability of a control system can be remarkably improved while the vehicle trajectory tracking precision is ensured.

The invention relates to the technical field of vehicle chassis control, and discloses a vehicle wheel edge steering angle control method, a vehicle and a controller. The method is applied to a wheel side steering control system and comprises the steps that in a preset communication period, a steering controller receives an angle request generated by at least one of an intelligent driving controller and a steering mechanism; the steering controller confirms a target angle request in the received angle requests based on a preset rule, and generates a corresponding wheel edge angle control instruction and / or a steering wheel control instruction according to the target angle request; the wheel edge angle control instruction is distributed to the at least two wheel edge steering controllers; and the wheel edge steering controller performs steering control on the wheels connected with the wheel edge steering controller based on the received wheel edge angle control instruction. According to the method, independent control over the steering angle of each wheel edge is achieved, and the flexibility requirement and high-response control over vehicle chassis control are improved.

A coordinated control method and apparatus for the lateral stability of an electric vehicle and a storage medium. The method comprises: acquiring the current yaw velocity, the current sideslip angle, the current longitudinal velocity and a steering angle input by a driver; on the basis of the current yaw velocity, the current sideslip angle, the current longitudinal velocity and the steering angle, using a preset hybrid control rule to determine an additional yaw moment and an additional front wheel steering angle; sending the additional yaw moment to a DYC system, so that the DYC system allocates the additional yaw moment on the basis of a preset allocation rule, so as to obtain respective longitudinal braking forces of four hubs; and sending the additional front wheel steering angle to an AFWS system, so that the AFWS system allocates the additional front wheel steering angle on the basis of a preset steering control rule, so as to obtain respective steering angles of the four hubs. The present application avoids a lack of driving comfort and stability during single-system yaw control, ultimately remarkably improving the lateral control stability of vehicles.

A power equipment machine with operator selectable autonomous mode and manual mode is provided. By way of example, the power equipment device can provide user-assisted semi-autonomous steering along user-defined paths of a geographic area. Manual steering controls and autonomous guidance controls can be positioned on one or more movable armrests to enhance comfort and minimize operator fatigue. The manual steering controls can include a jog wheel and encoder mechanism located on a first armrest, eliminating conventional mechanical shaft and wheel steering devices and dual lap bar steering devices. Guidance and computer settings can be accessed through a touchscreen display mounted in front of an operator position on the power equipment device.

The invention discloses a self-adaptive steering control method and system for a heavy electric transmission tracked vehicle, and the method is realized through cooperation of two core modules: firstly, a motor load inertia identification module adopts an improved recursive least square method; a dual-mode covariance matrix updating mechanism is dynamically triggered based on state parameters such as vehicle yaw velocity and load inertia difference, system changes are sensed in real time, and load inertia identification convergence is accelerated; and secondly, the driving motor control module automatically adjusts proportional integral parameters according to an identification result and generates a self-adaptive inner and outer side steering torque instruction, so that the steering trajectory tracking precision is remarkably improved. Traditional parameter debugging limitation is broken through, the steering response speed is increased under the complex working condition, the manual debugging cost is reduced, meanwhile, driving safety is guaranteed through a fault degradation mechanism, and various transmission frameworks such as pure electric / hybrid power are compatible.

The invention provides a vehicle steering wheel and road wheel steering synchronous self-adaptive control method and system, and relates to the technical field of vehicle control. Comprising the following steps: calculating a first steering torque by adopting a feedforward control mode based on an obtained rotating angle and rotating speed of a vehicle steering wheel; performing steering control on the road wheels according to the first steering torque to obtain actual steering angle data of the road wheels; second steering torque is calculated through a PID control closed loop based on the angle deviation between the rotation angle of the vehicle steering wheel and the actual rotation angle of the road wheel; and carrying out dynamic weighting calculation on the first steering torque and the second steering torque to obtain a synthetic motor torque, and carrying out steering control on the vehicle according to the synthetic motor torque. The steering angle of the steering wheel and the steering angle of the road wheel are controlled to achieve rapid, accurate and stable synchronous steering, and the driving safety and comfort are greatly improved.

The invention relates to the technical field of aircraft control, in particular to a control-surface-free aircraft control system based on synthetic jet and a momentum wheel, which comprises a lift force and attitude control subsystem, a steering control subsystem, a propulsion subsystem, a cooperative control unit and an attitude and navigation sensor. The lift force and attitude control subsystem independently controls different areas to generate local lift force difference through a synthetic jet generator matrix integrated on the surface, and rolling and pitching control is achieved. And the steering control subsystem changes the angular momentum direction of a flywheel through a control moment gyroscope arranged in the steering control subsystem, and generates reaction moment to control yawing. The propulsion subsystem provides a primary forward thrust. The cooperative control unit receives a sensor signal, generates an instruction according to a preset strategy, coordinates the subsystems to work cooperatively, and achieves whole-airspace flight control without an exposed control surface.

The invention provides a reinforcement learning steering control method and system based on a safety barrier, electronic equipment and a storage medium, and relates to the field of automatic driving safety control. The method comprises the following steps: sensing current states of each participating object and a vehicle in an environment; respectively performing state estimation and future moment position prediction on the participating objects and the vehicle by applying Kalman filtering to obtain relative position probability distribution of each participating object and the vehicle in a plurality of steps in the future; calculating the collision probability of the vehicle and each participating object, and determining the overall collision risk according to the probability; the total collision risk is compared with a preset collision safety barrier threshold value, when the total collision risk is larger than the collision safety barrier threshold value, a safety barrier is triggered, candidate wheel turning angles are projected into an action set meeting safety constraints based on minimum change projection, and the projected wheel turning angles are issued and executed; if not, triggering is not conducted, and a reinforcement learning decision maker is adopted to output candidate wheel rotation angles and issue for execution.

The invention discloses a posture adjustment driving mechanism and a hinged type all-terrain vehicle, the posture adjustment driving mechanism is connected with a frame, and longitudinal driving axles are arranged on the left side and the right side of the frame. The posture adjusting driving mechanism is provided with a side bridge adjusting mechanism. A lifting driving mechanism is arranged at the rear end of the side bridge adjusting mechanism and can drive the single-side longitudinal driving axle to swing up and down; a differential mechanism linkage system is arranged at the front end and comprises a differential mechanism connected with the frame, half shafts at the two ends of the differential mechanism are connected with the longitudinal drive axle through a multi-connecting-rod mechanism, the differential mechanism is provided with a decoupling mechanism, and connection between the half shaft on the single side and a differential mechanism shell can be removed. A power mechanism and a gearbox are fixed to the frame and provide walking power for the longitudinal drive axle. The longitudinal drive axle is composed of a middle axle frame, a hollow swing arm and the like, power transmission, steering control and independent height adjustment can be achieved, and the passing adaptability of complex terrains is effectively improved.

A traction and steering control system and method for a small- or zero-radius-turning maintenance vehicle. The traction and steering control system may determine operator intended speed and direction by monitoring positions of speed and directional control members and one or more operational parameters of the vehicle. The vehicle may then generate drive wheel speed commands that achieve the intended speed and direction by determining how best to manipulate the left and right drive wheels. In some instances, the drive wheel speed commands are disproportionately related to the positions of the speed and directional control members.

The invention relates to the technical field of steering control, in particular to a steering control method and system for auxiliary driving of a new energy automobile. The method comprises the following steps: acquiring a vehicle minimum turning radius parameter and road environment data; determining a road boundary, an obstacle position and a curve hardening area according to the road environment data; determining a minimum occupied area mechanism based on the minimum turning radius of the vehicle, the road boundary, the obstacle position and the curve hardening area; and planning a steering path according to a minimum occupied area mechanism. Original data are converted into operable boundary and risk information, and input is provided for a minimum occupied area mechanism, so that the safety and compliance of a steering path are improved. The problem of sweeping area accumulation is solved, the occupation in the steering process is minimized, and safety and high efficiency are achieved. The steering path is planned according to the minimum occupied area mechanism, efficient, safe and compliant borrowing steering operation is achieved, and the intelligent level of auxiliary driving is remarkably improved.

The application discloses a cooperative steering control method considering human-machine trust degree, and aims at solving the human-machine conflict problem in the existing human-machine co-driving system. The application relates to the field of intelligent driving. Specifically, the application comprises an expected path module, a human-machine steering conflict evaluation module, a driver experience evaluation module, a weight distribution module, a non-cooperative game module and a human-machine co-driving vehicle. The expected path module generates the expected paths of the driver and the controller; the human-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 paths of the driver and the controller; the driver experience evaluation module outputs the trust degree of the controller to the driver based on the vehicle state; the weight distribution module is used for outputting the driver control weight; and the non-cooperative game module combines the expected paths of the driver and the controller and the driver control weight to output the optimal steering angle, so as to control the human-machine co-driving vehicle to complete the cooperative steering action.

The application provides a robot for detecting a cable of a cable-stayed bridge, comprising a robot body, a guide wheel mechanism arranged on an inner wall of the robot body, two steering control mechanisms arranged symmetrically on an outer wall of the robot body, and a ducted fan connected to the steering control mechanisms and used for controlling a thrust direction of the ducted fan.

A vehicle auxiliary steering control method, which is applied to a vehicle having a controller, and comprises: in response to the vehicle satisfying a preset auxiliary steering condition, controlling the vehicle to execute an auxiliary steering operation, wherein the auxiliary steering operation comprises adjusting the braking force of an inner front wheel and controlling two rear wheels to slip.

The embodiment of the invention provides a vehicle steering control method and device, electronic equipment and a vehicle. The method comprises the steps that under the condition that the yaw velocity deviation of a vehicle is larger than a set threshold value, vehicle driving state parameters, the road curvature of a current lane where the vehicle is located, the distance between the vehicle and a boundary line of the current lane, the steering angle of a steering wheel and vehicle steering parameters are obtained; and determining whether to trigger a lane keeping assist system of the vehicle at a predicted time based on the vehicle driving state parameter, the road curvature, the spacing, the steering wheel angle, and the vehicle steering parameter. According to the method, the specific time when the lane keeping auxiliary system should be triggered can be more accurately judged, the problem that the normal driving operation of a driver is affected due to frequent false triggering of the lane keeping auxiliary system in the returning process after the driver actively steers is avoided, and the vehicle safety is improved.

The invention provides a steering control device and a vehicle steering assembly. The steering control device comprises an inner rotor motor, a steering wheel, a display panel, a transmission shaft and a connecting bearing. The inner rotor motor comprises a motor rotating shaft, a central rotor and a stator, the central rotor sleeves the motor rotating shaft and is in transmission connection with the motor rotating shaft, and the stator sleeves the central rotor. And the transmission shaft is in transmission connection with the motor rotating shaft. The display panel is connected to the upper end of the motor rotating shaft through a connecting bearing, the steering wheel is in transmission connection with the center rotor, and the rotor and the steering wheel form a rotating assembly rotating relative to the stator. According to the technical scheme, it can be ensured that the display panel keeps the fixed orientation in the rotating process of the steering wheel, so that information readability and operation safety are improved.