2425 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.

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.

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 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 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.

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 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 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.

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.

A quadrotor is proposed than can both fly and roll. The proposed robot employs passively reconfigurable structures to enable the rolling, tightly coupling the attitude of the robot to the rolling cage. The benefits are precise rolling and turning control as well as improved rolling efficiency. The passively reconfigurable structures are enabled by pre-stretched elastic springs to generate a nonlinear restoring torque. The robot leveraged the superior maneuverability in the rolling mode to take photos of the surroundings at different tilting and panning angles to construct a panoramic image. Besides, the results of the power measurements show a significant reduction in the cost of transport brought by at low speed, equating to a 15-fold extension in the operational range.

The invention relates to a robust cooperative control method for yaw stability of a distributed angle module electrically-driven vehicle. The method comprises the following steps: acquiring driving state data of a corner module vehicle; according to the transverse stability constraint condition and the transverse dynamical model, a nominal control model is constructed, the nominal control model is a part related to the determined parameters in the transverse dynamical model, and the target of the transverse stability constraint condition is that the error of the yaw velocity and the error of the lateral velocity tend to zero; constructing an uncertainty control model, wherein the uncertainty control model is a part related to the uncertain parameters in the transverse dynamic model; driving state data are input into the nominal control model and the uncertainty control model, and yaw moment control parameters are determined; and based on the yaw moment control parameter and the rear wheel steering control parameter, performing stability cooperative control on the angle module vehicle. By adopting the method, the yaw stability of the angle module vehicle can be improved.

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.

To provide a uniaxial two-rudder vessel capable of easily carrying out directional control and speed control and capable of carrying out vessel position retention maneuvering with fixed retention capacity at a low speed range.SOLUTION: A biaxial four-rudder vessel includes a maneuvering controller 201 for controlling an action direction of thrust around a stern working on a hull 110 by controlling a direction of a propeller wake flow of propulsion propellers 101a, 101b. The maneuvering controller 201 has parallel movement maneuvering unit 286 for moving the hull 110 in parallel in an arbitrary direction by combining an action direction of thrust of a starboard propulsion system 100a and an action direction of thrust of a stern propulsion system 100b in low speed range maneuvering.SELECTED DRAWING: Figure 2

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 embodiment of the invention provides a vehicle steering control method, a controller, a vehicle, a medium and a program product, and the method comprises the steps: obtaining a steering wheel rotation angle and a vehicle longitudinal speed of the vehicle when the vehicle is controlled to steer; according to the steering wheel angle and the vehicle longitudinal speed, target steering control parameters are determined, and control is conducted according to the target steering control parameters; actual steering control parameters of the vehicle are obtained; according to the target steering control parameter and the actual steering control parameter, fast terminal sliding mode control is carried out, and yawing moment and a rear wheel steering angle are generated; according to the yawing moment and the steering angle of the rear wheels, the two first wheels are controlled, and the control stability of the vehicle can be improved through the embodiment of the invention.

The present application provides a control method, device, vehicle and storage medium for vehicle steering. When the automatic U-turn mode is turned on, the vehicle controller obtains the auxiliary parameters of the vehicle according to the pre-activation signal input by the user, and generates the target direction, rotation angle, feedforward torque, target wheel speed, and then sends a steering instruction to the motor controller. The motor controller responds according to the feedforward torque, obtains a response signal, and sends it to the vehicle controller. Based on the response signal, the vehicle controller obtains the swing angle sensor information and the lateral longitudinal acceleration information to calculate the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering. Automatic U-turn and zero turning radius steering of the vehicle are realized, making the vehicle steering more flexible, accurate and efficient, and reducing the rotation error, achieving millisecond-level drive control.

The invention belongs to the technical field of intelligent driving control, and relates to a man-machine cooperative steering control method considering rain and fog weather characteristics, which comprises the following steps: establishing a driver model and a man-machine co-driving vehicle model considering environmental visibility and road adhesion coefficient change; the driver model dynamically adjusts a long-distance preview point and a steering wheel torque of a driver through a preview weight coefficient determined by a fuzzy control method; a man-machine co-driving vehicle model is utilized, a man-machine cooperative steering control strategy is designed through a model prediction control method, and the man-machine cooperative steering control strategy is used for dynamically adjusting the steering control quantity according to the vehicle state and the environment condition; according to the driving authority distribution strategy, a fuzzy control method is adopted to determine a man-machine cooperation coefficient under a rainy and foggy weather condition, and the man-machine cooperation coefficient is used for dynamically adjusting the man-machine cooperation degree; executing man-machine cooperative driving according to the man-machine cooperative steering control strategy and the driving authority distribution strategy; the stability and safety of the vehicle are improved in rainy and foggy weather.

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.

The invention discloses a 15-degree-of-freedom whole vehicle dynamics modeling method for a steer-by-wire system, and the method comprises the steps: dividing a whole vehicle model into six dynamics modules: a vehicle body model, a nonlinear tire model, a suspension model, a wheel motion model, a motor model, and a steer-by-wire model; in addition, a tire slip angle and slip rate state quantity calculation module and a steer-by-wire control module are adopted, a whole vehicle dynamic model is established and comprises six degrees of freedom of longitudinal, lateral, yawing, pitching, tilting and vertical movement of a vehicle body, two degrees of freedom of rotation and vertical movement of four distributed wheels and one degree of freedom of vehicle steering, and the total number of the degrees of freedom is 15. The method designed by the invention is suitable for common vehicle driving conditions so as to research the control performance, the stability, the safety, the dynamic response and the characteristics of a steer-by-wire system of the vehicle and vehicle performance under different working conditions, and theoretical support is provided for optimization of future vehicle design and control strategies.

A steer-by-wire control system adapted for use with a material handling vehicle such as a forklift includes a controller programmed to receive input indicative of a desired direction of travel of the material handling vehicle and to control an actuator coupled with the steered wheels of the material handling vehicle to change the direction of travel of the vehicle and synchronize the direction of travel with a position of a steering wheel of the material handling vehicle.

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 present invention discloses a four-wheel steering control method for a distributed drive electric vehicle, which relates to the technical field of vehicle control. The front wheel steering angle δ is output by a driver model f , the throttle pedal opening α p , and the throttle pedal opening change rate Δα p . The ideal center-of-mass side slip angle β d and the ideal yaw angular velocity γ d are obtained through the two-degree-of-freedom dynamics equation of the front-wheel-steering vehicle. Then, based on the characteristics of the distributed drive torque vector control method and the rear-wheel active steering control method, and in combination with the actual center-of-mass side slip angle β and the actual yaw angular velocity γ of the vehicle, the vehicle target motion state tracking under different working conditions is carried out, and the additional yaw moment ΔM z and / or the rear wheel steering angle δ r are obtained. Finally, the coordinated control of the vehicle is realized through the four-wheel steering distributed drive vehicle model. While considering the control effect, the present invention takes into account the driving habits and driving needs of the driver to the greatest extent, not only improving the overall performance of the vehicle control system, but also ensuring the sensitivity, maneuverability and stability of the vehicle.