358 results about "Turning angle" patented technology

A vehicle control method for improving a driving stability of a vehicle includes: obtaining road information and determining a friction coefficient of road surface according to the road information; obtaining first vehicle parameters and a first yaw rate of the vehicle, the first vehicle parameters including a turning angle of steering wheel, and a longitudinal speed, and a lateral speed; determining a second yaw rate of the vehicle according to the first vehicle parameters, the first yaw rate, and the friction coefficient of road surface; determining a yaw moment of the vehicle according to a difference value between the first yaw rate and the second yaw rate; and distributing the yaw moment to a four-wheel driver, the four-wheel driver including four independent drivers for driving wheels. A computing device and a non-transitory storage medium are also provided.

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 relates to a vehicle steering control method and device, vehicle-mounted equipment, a vehicle, a medium and a product. The method comprises the following steps: acquiring an ideal Ackerman corner of each wheel in a vehicle in a current driving state; according to the ideal Ackerman rotation angle of each wheel and the current driving state, estimating the side slip angle of each wheel to obtain an estimated side slip angle of each wheel; determining whether the vehicle is in a high-speed steering state according to the current driving state; determining a target steering angle according to whether the vehicle is in a high-speed steering state, the estimated slip angle of each wheel and the ideal Ackerman steering angle of each wheel; and controlling each wheel of the vehicle according to the target steering angle. By adopting the method, the deviation of the ideal Ackerman angle in the steering process can be compensated by estimating the slip angle, so that the handling stability and the steering precision of the vehicle can be improved, and the stability and the safety of the vehicle in the running process are further improved.

The invention discloses a distributed steering control method, and belongs to the technical field of vehicle steering. The control method comprises the following steps: acquiring real-time driving data of a vehicle, wherein the real-time driving data comprises a steering wheel angle, a vehicle speed, a road adhesion coefficient and a side slip angle; determining a target Ackerman rate according to the real-time driving data; and controlling the wheels of the vehicle according to the target Ackerman rate and the real-time driving data. According to the real-time driving data of the vehicle, the Ackerman rate is determined, the vehicle turning angle control value is determined according to the Ackerman rate determined in real time and the real-time driving data, and then vehicle wheels are controlled according to the vehicle turning angle control value. Namely, the Ackerman rate of the vehicle in the driving process can adapt to different real-time driving data of the vehicle, the real-time driving data of the vehicle is fully considered, the control stability of the vehicle in key scenes such as high speed, low attachment and low speed is effectively improved, the driving burden of a driver is relieved, and the risk that the vehicle is unstable or even out of control is reduced.

The invention belongs to the field of wind power equipment transportation, and provides a wind power large piece transportation path intelligent planning system and method based on deep learning, and the method comprises the steps: obtaining terrain DEM data in a wind power plant range, and converting the terrain DEM data into three-dimensional vector data and three-dimensional vertex coordinates; receiving the three-dimensional vertex coordinates, constructing a road network topological structure representation based on a homotopy theory, extracting microscopic local features and a macroscopic global structure of a road network through a multi-level graph neural network, and realizing dynamic representation and updating of the road network based on manifold learning; receiving the road network topological structure representation and the road network features, and generating a vehicle dynamics constraint condition and a road section geometric difficulty coefficient by comprehensively considering the maximum climbing angle, the maximum turning angle, the maximum speed and the braking distance of the vehicle; and receiving the road network dynamic representation, the vehicle dynamics constraint condition and the road section geometric difficulty coefficient, and generating an optimal transportation path with balanced safety, time efficiency and transportation cost by adopting a multi-target reinforcement learning algorithm.

An excavator includes a lower traveling body; an upper turning body turnably mounted to the lower traveling body; an acquisition device mounted to the upper turning body and configured to acquire information including a status around the excavator; and a control device configured to recognize a reference object that is in a stopped state or at a fixed position around the excavator based on the information acquired by the acquisition device, and to estimate a turning angle of the upper turning body based on a change in a position of the reference object as viewed from the upper turning body.

The invention belongs to the technical field of distributed electric drive modular transport vehicle planning and control, and particularly relates to a distributed electric drive modular transport vehicle obstacle avoidance planning control method and device. The specific process of the method comprises the steps that two front shafts and two rear shafts which are close to each other are equivalent to two equivalent shafts respectively, two e-SPMT units are used for equivalence, and a monorail dynamic model is established; determining a collision boundary and establishing a collision constraint condition design, establishing a cost function including a swept area, a distance to an obstacle and path smoothness, and optimizing the cost function to obtain an expected path meeting the collision constraint condition; on the basis of the expected path and kinematic constraints, an expected speed and a yaw velocity corresponding to each path point in the expected path are generated; taking the expected speed and the yaw velocity as state quantities, and generating a dynamics control quantity according to the monorail dynamics model; the dynamic control quantity is distributed to each wheel longitudinal force and turn angle.

The invention belongs to the field of vehicle trajectory tracking control, and discloses an intelligent vehicle trajectory tracking control method and system based on differential programming, and the method comprises the steps: constructing a vehicle dynamics model; a reference trajectory time-varying curvature is introduced, delay of a steering execution mechanism is expressed as pure delay plus a first-order inertia link, and construction of a road tracking model is completed; assuming that the system is in a steady state, calculating reference values of a state quantity and a control quantity; constructing an MPC optimization problem, converting the MPC optimization problem into a QP problem, and calculating to obtain an MPC loss value; constructing a differential programming training calculation network diagram; a hypercube is used for sampling the state quantity of a vehicle, the driving speed and the time-varying reference items of a road, and construction of a network training initial state data set is completed; carrying out MPC trajectory tracking task integration, and constructing a physical model in network training; using a full-link layer network, adding tire slip angle soft constraints, completing the construction of a strategy network, carrying out end-to-end network training, and completing the control of a turning angle instruction. According to the method, the MPC online solving optimization problem can be avoided.

The embodiment of the invention provides a wheel turning angle adjusting method of a vehicle, the vehicle and a storage medium, and relates to the technical field of vehicles. The method comprises the steps that in response to the condition that state information of a vehicle meets a preset condition, a rear wheel steering system auxiliary control function of the vehicle is started; when the auxiliary control function of the rear wheel steering system is in the starting state, the first weight of the rear wheel steering system, the second weight of the electronic stability control system and an operation strategy are determined based on the yaw velocity deviation of the vehicle; a rear wheel steering system and an electronic stability control system are operated according to the operation strategy, and in the operation process, the target rear wheel steering angle of the vehicle is determined based on the wheel slip rate and the first weight of the vehicle; a rear wheel steering angle of the vehicle is adjusted to the target rear wheel steering angle based on the execution constraint. The technical problems that in the prior art, braking intervention only depends on ESC, the yaw moment compensation capacity is limited, and energy loss is high are solved.

The invention belongs to the technical field of commercial vehicle automatic driving, and discloses a multi-axle commercial vehicle reconfigurable automatic driving trajectory tracking fault-tolerant motion control method, which specifically comprises the following steps: establishing a vehicle reconfigurable dynamic tracking error prediction model based on a small corner hypothesis and a vectorization modeling method; augmenting a state quantity for a delay phenomenon of a vehicle steering system; traversing different vehicle steering failure configurations offline to generate a steady state reference and a control reference; system feedback is obtained online in real time; an MPC problem with equality constraints is converted into a quadratic programming problem for solving and calculation simplification; performing matrix multiplication on the optimal control law obtained by looking up the table according to the time-varying parameters and state feedback to obtain a steering wheel angle control quantity; and sending the turning angle instruction to a steering wheel of the multi-axle vehicle. According to the invention, the compatibility and real-time performance of the automatic driving motion controller of the multi-axle commercial vehicle can be improved, and the precision of the trajectory tracking process can be improved.

The invention belongs to the technical field of aircraft assembly, and discloses an aircraft front wheel turning angle monitoring device and method, and the device comprises a mechanical sensing module, a signal processing module and a signal receiving device. The mechanical sensing module is detachably mounted on a shock strut of a nose landing gear of an aircraft, and the rotary motion of the shock strut is converted into a linear displacement signal through a gear transmission mechanism in the mechanical sensing module; the signal processing module analyzes the displacement signal into a front wheel turning angle electric signal; and the signal receiving device receives and displays the angle value. The invention further discloses a corresponding monitoring method. The device adopts a modular and non-invasive design, solves the problems that the turning angle of the front wheel cannot be monitored in real time and the over-limit risk exists in the aircraft traction process, has the advantages of being convenient and fast to install, accurate in measurement and wide in applicability, and remarkably improves the safety and the working efficiency of flight guarantee.

The invention discloses a steering control method, device and system and a vehicle, relates to the technical field of vehicle control, and aims to realize small-radius steering of the vehicle. The method comprises the steps that after it is determined that the vehicle enters a low-speed steering scene according to the vehicle speed and the steering wheel rotating angle of the vehicle, at least one shaft of the vehicle is controlled to output first differential torque, an outer wheel of the at least one shaft outputs positive torque, and an inner wheel of the at least one shaft outputs negative torque according to the steering wheel rotating angle and steering wheel hand force of the vehicle; the difference between the negative torque and the positive torque is equal to the first differential torque. When the vehicle enters the low-speed steering scene, at least one shaft of the vehicle is automatically controlled to output the differential torque, small-radius steering and even in-situ turning of the vehicle can be achieved, and the turning angle of the vehicle is effectively reduced. In addition, the steering wheel angle and the steering wheel hand power are parameters related to the steering intention of the driver, the vehicle is controlled to achieve differential steering based on the parameters, the actual steering of the vehicle can meet the subjective requirement of the driver, and the steering experience of the driver is improved.

The invention relates to the field of vehicle parking, in particular to a parking-out method during tire steering limitation and a storage medium. The parking-out method during tire steering limitation comprises the steps that when a parking-out instruction is received, based on a planned parking path, a vehicle tire is controlled to steer towards a target turning angle, and after preset time, if the turning angle of the tire does not reach the target turning angle, based on the current turning angle of the tire, the distance between the vehicle and front and back obstacles and / or the target turning angle, the vehicle tire is controlled to steer towards the target turning angle. And controlling the vehicle to drive out. According to the parking-out method for the limited tire steering and the storage medium, the vehicle can be smoothly parked out of the parking space when the vehicle tire steering is limited.

The utility model relates to the technical field of turnover equipment for plate processing, in particular to turnover equipment for flame-retardant plate processing. The turnover equipment for flame-retardant plate processing comprises a supporting frame, the left side and the right side of the inner side wall of the supporting frame are each provided with a set of clamps, the left side and the right side of the supporting frame are each provided with a set of installation grooves, and the left side and the right side of the inner side wall of the supporting frame are each provided with a set of through holes; after the turning angle of the flame-retardant plate is determined, the hand wheel is pushed backwards to be stored in the storage groove of the supporting frame, so that the situation that the turning angle of the flame-retardant plate is changed due to the fact that a worker mistakenly touches the hand wheel in the later period is prevented, and the machining precision of the flame-retardant plate is guaranteed; when the hand wheel is stored in the storage groove of the supporting frame, the magnetic block can be magnetically attracted and fixed in the square groove, so that the position of the hand wheel is fixed, the use reliability of the device is guaranteed, the hand wheel can be conveniently pulled forwards to be separated from the storage groove of the supporting frame through the easy-to-pull groove, and the use convenience of the device is guaranteed.

A kind of welding reversing positioning tool, including two bottom plates, several clamping components, electric telescopic rod is fixedly installed on the top surface of bottom plate, the moving end top of two electric telescopic rods is fixedly installed rotating motor on opposite surface respectively, the output shaft opposite end of two rotating motors is fixedly installed turntable respectively, two turntables are fixedly connected by frame, clamping component can be detachably installed on frame, during welding process, rotating motor can drive turntable to rotate, adjust the turning angle of frame, drive workpiece to rotate, weld another side of workpiece, carry out all-around welding operation to workpiece.

A kind of airplane nose landing gear turning performance test bench and test method contain nose landing gear test piece, rigid support frame and jacking device, the body of nose landing gear test piece is fixed on rigid support frame, wheel is supported on jacking device, turning mechanism drives the top plate of jacking device top by fixed shaft along with wheel rotation, the fixed shaft is connected with a loading actuator, the telescopic end of loading actuator is hinged with one end of fixed shaft, the other end of loading actuator is hinged on support frame by connecting seat, the loading actuator is controlled by torque loading controller, when carrying out turning performance test, nose inner cylinder and wheel are compressed using jacking device, so that wheel is in turnable state;According to the turning angle of wheel, predetermined torque is applied to fixed shaft using torque loading actuator.

The present application relates to the technical field of low-altitude aircraft, in particular to a pre-turning flight ball car control method and a pre-turning flight ball car, wherein the pre-turning flight ball car control method comprises the following steps: S1, obtaining a pre-turning direction and a current direction; S2, calculating a pre-turning angle and a pre-turning adjustment direction based on the pre-turning direction and the current direction; S3, controlling the pre-turning device to drive the flight driving device or the combination of the flight driving device and the cabin to turn relative to the landing gear to face the pre-turning direction according to the pre-turning angle and the pre-turning direction. In this way, the problems of the existing golf cart, such as limitation, and the traditional aircraft, such as increased flight distance and poor passenger experience caused by adjusting the flight direction after take-off, are solved.

The embodiment of the invention provides a lane centering control method and device, a vehicle and a medium, and is applied to the technical field of vehicle automatic driving. The method comprises the steps that the current transverse deviation and the current course angle deviation of the vehicle relative to the current road track are acquired; according to the current transverse deviation and the current course angle deviation, a target steering wheel turning angle is determined, and lane centering control is conducted on the vehicle according to the target steering wheel turning angle. According to the embodiment of the invention, the target steering wheel turning angle is determined according to the current lateral deviation and the current course angle deviation, and then lane centering control is performed on the vehicle according to the target steering wheel turning angle, so that the problems that lane centering control is too complex, not fast enough, not accurate enough and poor in stability are solved, the complexity of lane centering control is reduced, and the lane centering control efficiency is improved. And the response speed, accuracy and stability are improved.

The invention discloses a guide roller system suitable for a cold rolling continuous processing line, and relates to the technical field of cold rolling equipment, three small guide rollers are arranged to replace a thick guide roller in the prior art, the steering angles of the three guide rollers are the same, and the three guide rollers jointly act to share pressure from strip steel; the technical effects that the occupied space of the guide roller system is relatively small, the service life is relatively long, disassembly and assembly are convenient and fast, and strip steel is not prone to plastic deformation are achieved.

The application discloses a self-learning compensation method and system for zero drift of a steering system torque, and specifically comprises the following steps: controlling a target vehicle to keep straight driving on a flat road, recording a steering wheel steering torsion bar torque, and calculating a second zero drift value according to the steering wheel steering torsion bar torque; controlling the target vehicle to drive on the flat road with the steering wheel being turned, recording the steering wheel steering torsion bar torque, screening the steering wheel steering torsion bar torque according to a steering wheel turning angle, calculating a third zero drift value according to the screened steering wheel steering torque, and performing weighted summation on the third zero drift value and a zero drift value written in an auxiliary driving function controller. The application writes the weighted zero drift value into the auxiliary driving function controller, so that short-term changes of the zero drift value caused by short-term changes of a certain steering system can be avoided, and the problem that the zero drift value directly written into the auxiliary driving intelligent controller has single working condition and weak applicability can be solved.

The invention relates to the technical field of electrostatic chuck machining, in particular to an automatic overturning circular truncated cone grinding machine for an electrostatic chuck, which comprises a rack, a double-shaft stepping motor fixedly mounted in the rack, a suspension arm carrier mounted on a positioning frame, an overturning angle adjusting mechanism arranged on the side of the positioning frame, a mounting suspension arm mounted on the outer side of the suspension arm carrier, and a grinding wheel carrier mounted on the mounting suspension arm. A first grinding wheel is arranged outside the grinding wheel carrier; a first rotating shaft is rotationally mounted in the platen, a bearing plate is mounted at the top end of the first rotating shaft, and a first grinding wheel finely grinds the upper and lower outer edges of the electrostatic chuck; a grinding tool mechanism is installed on the machine frame and can accurately grind the peripheral face of the electrostatic chuck. Continuous fine grinding machining operation can be achieved, and the machining efficiency is greatly improved; the turning angle adjusting system can ensure that the symmetry degree of fillets on the two sides of the electrostatic chuck is consistent, meanwhile, collision damage caused by manual carrying can be effectively eradicated, and the production efficiency and the product yield of the electrostatic chuck are greatly improved.

The present disclosure provides a vehicle narrow road meeting control method and system based on multi-source data linkage, relates to the technical field of automobile auxiliary driving, and comprises the following steps: acquiring image information of a driving road condition of a vehicle in a narrow road meeting mode, analyzing whether the front is a narrow road or a narrow road meeting, if yes, controlling a display screen to display a narrow road meeting mode information interface; acquiring distances of the vehicle from all around, the bottom, and the vehicle from both sides or from obstacles in real time, transmitting the distances to a vehicle controller for processing, and displaying the distances in the form of a vehicle model and data; acquiring an angle of a steering wheel turned by a driver in a meeting process and angle information of wheel rotation, and displaying the angle information in the form of a steering wheel model and data; when a steering wheel model and a vehicle model are synchronously turned by the same angle, the angle data is kept to control the vehicle to complete passing, and the synchronously turned angle data is displayed at the same time. The present disclosure is not dependent on automatic driving, is safer and more reliable, and the function is easier to be mounted on a vehicle.

Aerolift systems and methods using one or more air ducts and one or more lifting bodies. The duct may have a turn angle from the inlet to the outlet. The duct may have a variable cross-sectional area, such as increasing from inlet to outlet. The lifting body may be an airfoil. A propulsion unit, such as an electric motor and rotating blades, moves air through the duct and to the lifting body. The flow of air against and / or over the lifting body creates an aerodynamic lifting force. The flow of air downward may provide lift. The total lifting force may be used to move a moveable component. The aerolift system may be used in various applications, including aircraft and industrial systems. An aircraft may include the lifting body, or multiple lifting body segments, defining an annular shape, such as rounded or polygonal.

The application relates to the technical field of joint modules, in particular to a position control method of a joint module, a mechanical arm and a body robot, which comprises the following steps: when a zero position setting instruction is received at any time, collecting a current reference output shaft angle of an output shaft of a transmission mechanism through a first angle sensor and collecting a current reference motor shaft single-turn angle through a second angle sensor; storing the reference output shaft angle and the reference motor shaft single-turn angle as zero position parameters corresponding to a target logical zero point; after the joint module is powered off and restarted, acquiring current position parameters of the joint module; determining a relative position of the joint module relative to the target logical zero point according to the current position parameters and the zero position parameters; and performing position control on the joint module according to the relative position. Therefore, the problem of zero position fixation is solved, the logical zero point can be set by a user at any time, accurate position control after power-off and restart is ensured, and the flexibility and precision of the joint module are improved.

The invention belongs to the technical field of automatic driving testing, and particularly relates to a four-wheel steering vehicle stability analysis and lateral force saturation working condition compensation method. The method comprises the following steps: firstly, developing a solving method of the Lyapunov index of the four-wheel steering vehicle; by setting different driving conditions and system initial states, the influence of the longitudinal vehicle speed, the road adhesion coefficient, the front wheel turning angle and the rear wheel turning angle on the Lyapunov index is explored; and according to the analysis result and the property of the Lyapunov index, summarizing the change rule of the stability boundary under different working conditions, and constructing a stability index fst capable of reflecting the stability degree of the current vehicle. An equivalent cornering stiffness identification algorithm based on a recursive least square method is developed; and a variable forgetting factor recursive least square method is developed according to the solved vehicle stable state, so that the precision degree of a vehicle model under the working condition is improved, and the problem of linear model mismatch under the large lateral force acceleration is solved.

Systems, methods, and computer-readable storage media for a dynamic Ackermann geometry control system. The system receives, at a processor aboard a tractor of an articulated vehicle, vehicle information associated with ongoing movement of the articulated vehicle as well as a driver optimization preference. The system then executes an Ackermann control algorithm, with inputs such as the vehicle information and / or at least one feedback item. The outputs of the Ackermann control algorithm can include estimations of tire forces for each tire of the articulated vehicle and estimations of cornering characteristics of the articulated vehicle. The system then calculates, based on the estimations of tire forces and based on the estimations of cornering characteristics, a desired Ackermann geometry for the articulated vehicle. The system then transmits a command to modify a turning angle associated with at least one wheel of the articulated vehicle.

A work vehicle includes a driving force transmission shaft that is disposed with an axis oriented in a front-rear direction and to which driving force of an engine is transmitted, a transmission shaft that is disposed with an axis oriented in a left-right direction and that transmits driving force from the driving force transmission shaft to left and right front wheels, a front axle case that houses the transmission shaft, and a steering cylinder that is capable of changing a turning angle of the front wheels and is provided on the front axle case so as to be positioned above the transmission shaft. (Fig. 1)

The application discloses a stable domain constraint trajectory planning and control method for a modular distributed electric drive heavy load vehicle, comprising the following steps: constructing a nonlinear dynamics model of the modular distributed electric drive heavy load vehicle, fitting a tire lateral force model through a rational polynomial, and establishing a vehicle system state space expression based on the rational polynomial form; adopting a sum of squares planning method to estimate the stable domain of the vehicle under different vehicle speeds, road adhesion coefficients and front, middle and rear wheel turning angles, and analyzing the influence of each state quantity on the shape and boundary of the stable domain; embedding the stable domain constraint into a trajectory planning layer based on a quintic polynomial to generate an obstacle avoidance trajectory meeting the dynamics stability; designing a multi-axle proportional steering strategy based on a steady state assumption, and combining a nonlinear model predictive controller to realize trajectory tracking control, so that the stability and control feasibility of the vehicle in a high-speed dynamic obstacle avoidance process are ensured. Through construction of a high-speed dynamic obstacle avoidance simulation scene, the effectiveness, stability and control feasibility of the stable domain constraint trajectory planning and control framework are verified.

The application discloses an intelligent agent reinforcement learning method for controlling vehicle driving, and aims at training a control intelligent agent for vehicle driving in the field of unmanned driving. The intelligent agent receives image data, radar data, motion data and the like observed in the process of vehicle driving as state input in real time, calculates a steering wheel turning angle, a throttle control strength and a brake control strength as action output, and obtains corresponding reward value feedback according to the motion condition of the vehicle, and the training target is to realize smooth driving of the vehicle under the premise of ensuring driving safety, to maximize the normal speed, and to avoid collision with other vehicles or objects. Driving speed, driving process loss, steering wheel turning angle / throttle / brake operation fitting degree and the like will affect the reward feedback, and the intelligent agent needs to find a suitable strategy to maximize the driving score. The application further discloses a corresponding intelligent agent reinforcement learning device for controlling vehicle driving.

The purpose of the present invention is to cause a work device to operate in a suitable manner during turning of a turning body. In a work device operation start period during turning of a turning body to which a work device is attached so as to be operable, a control command for increasing the operation speed of the work device as the remaining turning angle to a target position for the turning body decreases is outputted. In a work device operation end period during turning of the turning body, a control command with which the operation speed of the work device decreases as the remaining turning angle decreases is outputted.