733 results about "Turning radius" patented technology

A teleoperations system may be used to generate virtual paths of travel for an autonomous vehicle based upon teleoperations system-provided suggestions, and virtual path suggestion constraints, e.g., based upon physical constraints associated with an autonomous vehicle such as minimum turning radius, trailer sweep, and the like, may be used assist in guiding a teleoperations system operator during generation of virtual path suggestions.

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 self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

The invention provides a method and a system for predicting idle parking spaces of a parking lot. The method comprises the steps that ramp curvature parameters extracted from topological structure data of the special-shaped parking lot and historical vehicle turning radius data are fused, and a spatial-temporal topological graph of the special-shaped parking lot is generated; aggregating the parking space occupancy state data of all the special-shaped parking lots and the special-shaped parking lot space-time topological graph through a federal transfer learning framework to obtain target feature extraction model parameters; combining the time change characteristics of the channel flow of the special-shaped parking lot in the spatial-temporal topological graph of all the special-shaped parking lots and the target characteristic extraction model parameters, and generating a dynamic parking space distribution strategy; and mapping the dynamic parking space distribution strategy to a real-time navigation path of the special-shaped parking lot space-time topological graph, so that the to-be-parked vehicle arrives at the idle parking space through the real-time navigation path. According to the invention, the dynamic parking space distribution strategy is generated by fusing the topological structure and historical data of the special-shaped parking lot and real-time navigation is carried out, so that the parking space utilization rate and the parking efficiency are optimized.

The invention relates to the technical field of auxiliary driving, in particular to a parking path generation method and device, equipment and a storage medium, which can improve the search efficiency of child nodes, shorten the time for path planning and improve the planning efficiency. The method comprises the following steps: acquiring a starting pose and a target pose of a vehicle; executing at least one cycle process based on the initial pose and the target pose of the vehicle to generate a parking path: according to the current node, performing expansion to obtain a plurality of child nodes; generating an estimated path according to a target sub-node in the plurality of sub-nodes; the first track is used for indicating the vehicle to start from the child node, travel according to the minimum turning radius, pass through two sections of arcs and a section of straight line and move to the shortest path of the target pose; under the condition that the estimated path passes the collision detection, splicing the estimated path and the first path to obtain a parking path; and under the condition that the estimated path does not pass the collision detection, taking the target child node as the current node, and executing the circulation process again.

The invention discloses an excavation roadway turning construction method and a roadway construction method. According to the method, the turning track is accurately controlled through geological parameter pre-research and surveying and setting-out, and the problems of relaxation and damage caused by track deviation and long surrounding rock exposure time of a traditional turning section are effectively solved in combination with pilot tunnel advanced excavation and dynamic collaborative supporting. Pilot tunnel advanced excavation reserves a space for subsequent expanded excavation, a cutting head of the integrated equipment can horizontally rotate to adapt to curve excavation, and supporting force is dynamically adjusted in cooperation with real-time scanning of surrounding rock deformation data, so that the surrounding rock exposure time in turning section construction is shortened to 5-8 minutes from 40-60 minutes of a traditional process, and the construction efficiency is improved. The wall caving and roof caving risks caused by long-time support-free exposure of the surrounding rock in the turning area are remarkably reduced, meanwhile, it is ensured that the turning radius and the turning angle are matched with the design height through a parameter correction program, and the accuracy and safety of turning section construction are improved.

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 discloses a high-efficiency automatic parking system and method based on turning radius optimization, and the system comprises a sensor group which is used for obtaining the state information of a vehicle; the ECU is used for carrying out path planning operation based on a variable radius according to the vehicle state information and carrying out path tracking control operation based on preview distance self-adaption according to a planned path; the actuator is used for responding to the control operation of the ECU; according to the method, multiple parking strategies can be fused, rapid and accurate parking is achieved, and based on the R-S curve algorithm with the variable radius, garage rubbing or parking failure caused by the fixed radius is avoided; search is accelerated based on a simulated annealing algorithm, and a pure tracking algorithm is improved, so that the preview distance is adaptive according to the vehicle speed, the tracking precision and the parking stability are improved, and the automatic parking experience is optimized in all directions.

The invention provides an unmanned aerial vehicle flight path tracking control method, system and device and a storage medium. The method comprises the steps that the turning radius of an unmanned aerial vehicle is obtained according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration; acquiring a route included angle between the known flight route and the target flight route through the route information, obtaining an advanced turning distance according to the turning radius and the route included angle, and constructing an inscribed circular arc path according to the turning radius and the circle center; the unmanned aerial vehicle is switched to the target flight route according to the relation between the to-be-flied distance and the advanced turning distance, and route updating is completed; a flight path tracking control mathematical model is established based on the relative position relation between the unmanned aerial vehicle and the arc path, a lateral acceleration instruction is obtained according to an improved variable gain guidance method and converted into a roll angle instruction, and the unmanned aerial vehicle is controlled to roll according to the roll angle instruction. According to the invention, accurate flight path tracking control can be realized, and the flight path tracking control capability and the anti-interference capability of the unmanned aerial vehicle during turning are enhanced.

A bulldozer includes a control unit for controlling left and right steering clutches and left and right steering brakes, thereby executing a turning control of the vehicle. The control unit switches between a clutch control and a brake control on the basis of a differential between an actual turning radius and a target turning radius.

A method and apparatus for planning a vehicle driving path, and an intelligent vehicle and a storage medium, which relate to the field of autonomous driving. The method comprises operations such as acquiring a first pre-planned path, generating a first path on the basis of the first pre-planned path and the turning capability of a vehicle, and controlling the vehicle to travel along the first path, wherein the first pre-planned path is a pre-planned path between a road entrance and a road exit in a target intersection, the first path is a travelling path between the road entrance and the road exit, the first path comprises at least two arc-shaped road sections, and the distance between the road entrance and the road exit is less than twice the turning radius of the vehicle. Therefore, a vehicle can complete a one-time U-turn operation along a first path, thereby achieving the effect of improving the capability of autonomous driving in terms of U-turn scenarios at intersections.

The utility model discloses an automobile suspension system. Comprising an angle module mounting plate, an upper control arm, a lower control arm, an air spring and electronic damper CDC assembly, a steering module and a steering knuckle. The top of the steering knuckle is directly connected with a steering module, the upper portion and the lower portion of the steering knuckle are connected with an angle module mounting plate through an upper control arm and a lower control arm respectively, an air spring and an electronic damper CDC assembly are further connected between the lower control arm and the angle module mounting plate, and the steering knuckle is fixedly mounted on a hub structure. And a tire rim and a brake are mounted on the hub structure. The suspension system supports four-wheel independent driving and four-wheel independent steering, is used for achieving the functions of in-situ steering, horizontal transverse moving and the like of the whole vehicle, and achieves ultra-small turning radius, large turning angle, reliable structure and performance and high expansibility during turning.

The invention discloses a steering control method and system based on motor driving assistance and a vehicle, and belongs to the technical field of vehicle steering control. The method comprises the steps that the vehicle speed, the front wheel turning angle and design parameters of a vehicle are obtained, and the side slip angle speed is calculated according to the vehicle speed and the design parameters of the vehicle; according to the side slip angle speed and design parameters of the vehicle, the yaw velocity is calculated; calculating a stability factor according to the yaw acceleration, the vehicle speed and the design parameters of the vehicle; determining a steering state of the vehicle based on a comparison result of the stability factor and a preset threshold; determining a motor torque distribution strategy according to the steering state; wherein according to the motor torque distribution strategy, torque difference distribution of inner and outer wheels is carried out in combination with the yawing torque requirement, and the torque of the corresponding driving motor is determined so as to adjust the turning radius. The driving safety can be improved, and the problem that correction of insufficient steering and excessive steering is difficult to conduct only through an automobile steering system in the prior art is solved.

An embodiment locking apparatus for a seat includes a side frame rotatably coupled to a rear end of a cushion part and having an arc-shaped slot hole disposed thereon along a turning radius of the cushion part, a locking protrusion disposed on the cushion part, fitted into the slot hole, and configured to move along the slot hole in a state in which the cushion part is rotated to be changed to a seating mode or a tip-up mode, and a latch rotatably coupled to the side frame and configured to be locked and fixed by the locking protrusion in a state in which the cushion part is in the seating mode or the tip-up mode.

The invention discloses a long-distance maneuvering path planning method and system fused with DOP information, and belongs to the technical field of path planning and navigation. The method comprises the following steps: collecting special vehicle information, GNSS DOP information, geographic information and traffic information; based on the DOP value and the traffic condition, the roads are preliminarily screened, and the gradient, the slope direction, the height limit, the load bearing, the turning radius and DOP information are integrated; road condition information is converted into constraint conditions, and DOP information serves as an optimization target and is fused into a heuristic cost function of an improved algorithm; a path with the best navigation effect is obtained through path searching, visual display is carried out on a geographic information system map, and DOP information changes of all key points on the path are displayed in real time. According to the method, a GNSS signal blind area can be effectively avoided, the feasibility and navigation precision of path planning are improved in combination with vehicle dynamics constraints, and the method is suitable for long-distance maneuvering tasks of special vehicles.

The utility model discloses a 16-wheel desert drilling machine integral moving and transporting system capable of steering independently, which comprises a plurality of groups of moving and transporting modules uniformly distributed along the periphery of a drilling machine base, each group of moving and transporting modules comprises a gooseneck frame with a heavy frame structure, the front end of each gooseneck frame is hinged with the end part of the drilling machine base through a pin shaft, and the tail end of each gooseneck frame is hinged with an axle system through a pin shaft; the axle system comprises a middle longitudinal beam which is located in the center of the sub-moving module and arranged in the longitudinal direction, the front end and the rear end of the middle longitudinal beam are each provided with a set of axle steering frames, and steering driving columns penetrating through the middle longitudinal beam are connected to the middles of the axle steering frames in a welded mode; the bottoms of the two ends of the axle bogie are connected with the parallel loading axle through hoops and end plates, and rims and tires are assembled at the two ends of the parallel loading axle. By controlling the steering hydraulic cylinder, the included angle of the tires can be adjusted, and then the turning radius of the moving and transporting system can be accurately controlled to adapt to different road condition requirements.

The invention provides a steering control method and a control unit for a vehicle. The method includes determining a target driving torque based on a driving torque requested by a driver of the vehicle and a target braking torque in response to a function activation signal or a function exit signal of a steering assist function of the vehicle, such that during activation or exit of the steering assist function, the target driving torque is activated by the driver of the vehicle; the vehicle speed change is smaller than the vehicle speed change threshold value or the acceleration change is smaller than the acceleration change threshold value, so that the smoothness of the vehicle reaches the level that a driver does not sense activation or quit of the steering auxiliary function; wherein the target braking torque is generated by the steering assistance function and is used for assisting the vehicle in achieving the target turning radius and / or the target steering angle.

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 utility model relates to the technical field of wheelchairs, and provides a front wheel driving type stair climbing chair which comprises a chair frame, and a seat plate and a backrest are arranged on the chair frame. Two groups of obliquely arranged track frames are fixedly mounted at the side rear part of the chair frame; a track is mounted on the track frame; the chair frame is further provided with a stair climbing motor used for driving the two crawler belts to rotate synchronously. Two front wheels are mounted at the front end of the chair frame; a rotating shaft is arranged on the chair frame; the two ends of the rotating shaft are fixedly connected with rear wheel legs respectively, and rear wheels are installed on the rear wheel legs. The front wheel is a driving wheel; and the rear wheel is a driven wheel. Therefore, the front wheels are arranged to be the driving wheels, the wheel tread width is small, and then the turning radius is reduced. The structure of the rear wheels is simplified, spacing is reduced, and access to the door frame is facilitated. When the stair climbing chair steers in a narrow space, one front wheel serves as a turning fulcrum, the back and the side faces of the stair climbing chair have enough space, steering operation is convenient and fast, and safety is good. The front wheel is a driving wheel, so that the risk that the stair climbing chair turns backwards during sudden acceleration is also avoided.

A lamplight control method, comprising: when a headlamp of a vehicle is turned on, determining a turning radius of the vehicle in response to a steering operation of a steering wheel of the vehicle; on the basis of the turning radius, determining an offset distance by which lamplight irradiated by the headlamp is transversely moved; and controlling the lamplight to move in a target direction by the offset distance, wherein the target direction corresponds to a rotation direction of the steering wheel. Further provided are a lamplight control apparatus, a vehicle capable of executing the lamplight control method, and a computer-readable storage medium capable of implementing the lamplight control method. By means of the lamplight control method, a field-of-view blind area of a driver can be eliminated during turning of a vehicle, thereby ensuring safe traveling of the vehicle.

The invention discloses an automatic road planning method considering road slope change, and belongs to the technical field of wind power construction. In the road planning process, the road gradient and the turning radius of the special vehicle are used as constraints, and excavation and filling are fused for calculation; comprising the following steps: S1, automatically planning a road; the road gradient and the turning radius of the special vehicle are restrained; s2, road excavation and fill calculation, wherein an excavation and fill calculation method based on graphics is adopted; according to the method, wind power construction road planning is carried out by integrating road automatic planning, road gradient, excavation and filling and special vehicle turning radius, various actual conditions are fully considered, and the method is well suitable for wind power plant construction.

The invention discloses an AGV chassis steering wheel motion control method and system, a medium and a product, and relates to the field of intelligent control systems G05B. By implementing the application, the control system establishes the AGV body coordinate system, determines the transition motion type that the AGV chassis needs to experience from one motion state (initial motion type) to another motion state (final motion type), and updates the real-time motion speed of the AGV chassis in real time based on the preset AGV acceleration and deceleration parameters. Therefore, whether the AGV chassis reaches the final motion type or not can be determined according to the real-time motion speed, and accurate control over the motion state of the AGV chassis is achieved. When the AGV chassis reaches the final motion type, the control result of each steering wheel of the AGV chassis is determined by calculating the turning radius variable quantity and the rudder angle variable quantity of each steering wheel and combining the layout parameters of the AGV chassis and calculating the motion direction of each steering wheel, and the accuracy and the efficiency of AGV chassis motion control are improved.

A steering model controller in a chassis dynamometer of the disclosure executes a turning determination process of determining whether a driving state of a vehicle is a steering / turning state or a driving straight state based on comparison results between a turning radius for determination and turning radii for comparison calculated based on left steering angle information and right steering angle information. Then, the steering model controller executes a turning control process as a roller control process to be executed in determining that the vehicle is in the steering / turning state. The turning control process is a process of outputting, to a roller driving mechanism, four roller driving commands at which four rollers adapt to the steering / turning state of the vehicle and are rotationally driven.

A local path planning method for a pure electric automatic driving commercial vehicle in a park logistics scene is characterized by comprising the following steps: step 1, constructing a load-centroid migration model of the commercial vehicle; 2, calculating the transverse and longitudinal acceleration and turning radius limit of the commercial vehicle under the current load according to the vehicle kinematic model; 3, converting the Cartesian coordinate system of the vehicle and the obstacle on the global reference path into a Frenet coordinate system; 4, performing transverse and longitudinal dynamic sampling on the global reference path; 5, according to the sampling state, L (s) and s (t) planning functions are generated, and then a local path trajectory is generated; 6, performing feasibility evaluation on the local path trajectory, and taking the local path trajectory meeting the vehicle dynamics requirement as a feasible trajectory; 7, performing cost evaluation on the feasible trajectory by using a multi-target cost function to obtain an optimal trajectory; 8, the optimal track is issued to a control module to control the commercial vehicle to run. The method has the effect that the optimal local path planning is realized.

The invention discloses a four-wheel steering mining dump truck. The four-wheel steering mining dump truck comprises a steering mechanism, a steering hydraulic system, a driving wheel assembly and a frame, the frame is provided with a front axle and a rear axle, the front axle and the rear axle are respectively provided with two driving wheel assemblies, the two driving wheel assemblies of the front axle are connected and mounted on a steering mechanism of the front axle, the two driving wheel assemblies of the rear axle are connected and mounted on a steering mechanism of the rear axle, and a steering wheel of each driving wheel assembly participates in steering; the front axle and the rear axle are respectively provided with an axle support, the frame is provided with a frame support, and the steering mechanism comprises a steering crank, a steering pull rod, a steering arm, a steering cylinder and a steering support; the steering hydraulic system is used for providing pressure oil for the steering cylinder and pushing the telescopic rod to stretch out or retract back. The invention further discloses a steering method of the four-wheel steering mining dump truck. The four-wheel steering electric vehicle has a four-wheel steering function, so that the turning radius of the whole vehicle is smaller, and the vehicle can adapt to a narrower road environment.

A drive-by-wire system can include pair of inputs and a controller configured to process signals from the inputs in a first mode and process the same signals differently in a second mode. The controller can be configured to, in the first mode, drive a first motor at a speed and direction that corresponds to the position of the first input and drive a second motor at a speed and direction that corresponds to the position of the second input and, in the second mode, drive the first motor and the second motor in the same direction and at the same speed using the first drive signal when the controller receives a second neutral signal from the second input, and drive the first motor and the second motor at different speeds and / or directions when the controller receives the first drive signal and the second drive signal.

The invention relates to the technical field of railway locomotive lighting, in particular to an automatic steering LED headlamp for a railway locomotive, and can solve the problem that a curve view blind area is caused by fixed installation of an existing headlamp to a certain extent. According to the headlamp, a rotating platform and a stepping motor are additionally arranged at the bottom of the LED headlamp, a control device collects the line turning radius and speed information of a train LKJ device in real time, a steering control instruction is generated through an intelligent algorithm, a motor driver receives the instruction and drives the stepping motor to drive the rotating platform to rotate, and the headlamp is driven to conduct steering adjustment of 0-360 degrees. The system is provided with a zero reset function, the initial irradiation angle is automatically recovered after turning is finished, the view blind area of the curve can be effectively eliminated, the driving safety is improved, meanwhile, the installation and debugging difficulty is reduced, and the system is suitable for the complex mountain railway working condition.

The invention provides a garage self-adaptive dragging chassis which comprises a garage, a lifting supporting plate and a chassis body, the chassis body is of a foldable and twistable three-section structure composed of a main chassis frame and side chassis frames symmetrically and rotationally connected to the two ends of the main chassis frame, and a front air cylinder set and a rear air cylinder set are symmetrically arranged in the chassis body along the transverse central axis; each air cylinder set is symmetrically provided with two parallel telescopic air cylinders along the longitudinal central axis of the chassis, the tail ends of cylinder bodies are rotationally connected with the middle of the main chassis frame through rotating shafts, the ends of piston rods of the cylinder bodies are rotationally connected with the two ends of the front axle and the two ends of the rear axle respectively, and the garage is installed on the lifting supporting plate and detachably connected with the chassis through a plurality of supporting discs. A counterweight adjusting module is further arranged on the longitudinal central axis of the chassis; the dynamic control method comprises the steps of tail swinging suppression control, turning radius self-adaptive adjustment and folding mode control. The problems that a garage hauling chassis is poor in structural flexibility, insufficient in dynamic adjusting capacity and poor in driving stability are solved.

This invention provides a vehicle maneuverability assessment method and system for off-road maneuvers, comprising: Step S1: identifying obstacles in an off-road environment and interpreting off-road geomechanical parameters; Step S2: inverting off-road geomechanical parameters for a coupled vehicle; Step S3: modeling vehicle dynamics based on vehicle-ground interaction; and Step S4: assessing vehicle maneuverability in an off-road environment using multivariate analysis and predicting maneuverability speed based on vehicle performance parameters and a dynamic model. This invention provides a more accurate assessment of vehicle maneuverability in off-road environments, comprehensively considering the vehicle's geometric and dynamic properties, such as turning radius, height, width, and weight.

The present disclosure relates to a vehicle control method, a vehicle control device, and a vehicle control system including same. Specifically, a vehicle control device according to the present disclosure includes: a vehicle travel route estimation unit which estimates a first travel route of a vehicle on the basis of the turn radius and traveled distance of the vehicle, when the speed of the vehicle is equal to or less than a preset speed; a target travel route predicter which confirms a target from periphery detection information about the periphery of the vehicle, and predicts a second travel route of the target; a collision determiner which determines whether there is a possibility of a collision between the vehicle and the target; and a vehicle control unit which controls to perform at least one among an alert control, a brake control, and an avoidance control, when there is a possibility of a collision between the vehicle and the target.