CN106828187B - A kind of motor compensating control method applied to pilotless automobile - Google Patents
A kind of motor compensating control method applied to pilotless automobile Download PDFInfo
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- CN106828187B CN106828187B CN201710035272.9A CN201710035272A CN106828187B CN 106828187 B CN106828187 B CN 106828187B CN 201710035272 A CN201710035272 A CN 201710035272A CN 106828187 B CN106828187 B CN 106828187B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of motor compensating control method applied to pilotless automobile, method is as follows, and controller obtains the next go to action parameter of automobile, including steering angle u and deadline t according to planning path；Controller is to vehicle condition database request motor status and transmission system state at this time；Controller determines motor compensating coefficient a to vehicle condition database request according to motor status；Transmission system penalty coefficient b is determined to vehicle condition database request according to transmission system state；Wherein vehicle condition database includes overhaul data library and factory data library, motor compensating coefficient a1 and transmission system penalty coefficient b1 in overhaul data library are updated according to a newest record of examination, calibration before the corresponding relationship factory of motor compensating system A1 and transmission system penalty coefficient B1 and running time in factory data library；The present invention is by improving steering motor control method, to compensate to the steering angle deviation in automatic Pilot, to reach better automatic Pilot effect.
Description
Technical field
The invention belongs to Motor Control Fields, particularly belong to the control field of pilotless automobile motor.
Background technique
Pilotless automobile in order to substituting pilot steering completely, it is desirable to be able to it is travelled according to desired trajectory, it is special
It is not that can carry out turning driving according to certain curve.The usually used motor control wheel steering in pilotless automobile,
But since pilotless automobile is after travelling the long period, motor and transmission system have certain abrasion, make it difficult to reach
It accurately turns to, i.e., steering angle is different from target rotation angle.Although the compensation of angle can be carried out by angle-position encoder, this
It is one of solution, if there is exception simultaneously in angle-position encoder, the control that just can not be correctly turned to.Unmanned vapour
Vehicle is different from general-utility car, very high to reliability requirement, therefore is badly in need of a kind of technology that can be compensated to steering.And
And all there is the mode that a possibility that abnormal signal so compensates with sensor signal merely in any sensor, and
It is not able to satisfy the requirement of pilotless automobile reliability.Simultaneously as the sensing system of unmanned vehicle can obtain magnanimity sensor
Data, system can be occupied compared with large resource by handling these data, high requirement be proposed to the computing capability of system, so if again
Additionally increase some other sensors, it will the occupancy for aggravating system resource causes system real-time responsiveness to be deteriorated.In addition, general
It is open to the traffic and is usually overhauled by the time buying, but such setting is obviously and inaccurate for unmanned vehicle, if used
It in frequent, but does not overhaul in time, causes to wear larger, can greatly influence the precision of control.If gone using sensor
It knows whether to need to overhaul, then will appear again, the sensor signal is unreliable and system resource occupies larger problem, because
This is also badly in need of a kind of method for accurately and easily prompting user maintenance.
Summary of the invention
For the safety and reliability for promoting pilotless automobile, the present invention is proposed.But the invention solves technology ask
Inscribe without being limited thereto, the technical issues of hereinafter mentioning equally is the technical issues of present invention can solve, especially in embodiment
Many technical problems, be to realize optimum efficiency technical problem to be solved of the present invention.
The technical solution of proposed adoption of the invention is as follows:
A kind of motor compensating control method applied to pilotless automobile, method are as follows: controller is according to planning road
Diameter obtains the next go to action parameter of automobile, including steering angle u and deadline t；Controller is to vehicle condition database request
Motor status and transmission system state at this time；Controller determines motor compensating coefficient to vehicle condition database request according to motor status
a；Transmission system penalty coefficient b is determined to vehicle condition database request according to transmission system state；Wherein vehicle condition database includes inspection
Database and factory data library are repaired, the motor compensating coefficient a1 and transmission system penalty coefficient b1 in overhaul data library are according to newest
One time record of examination updates, the motor compensating system A1's and transmission system penalty coefficient B1 and running time in factory data library
Calibration before corresponding relationship factory；Data in overhaul data library, factory data library are compared with traveling number of days, selection is wherein
The motor compensating coefficient and transmission system penalty coefficient of one database purchase；Controller according to the motor compensating coefficient of selection and
Transmission system penalty coefficient sends driving signal, which is set as (w+a) × b for the rotating speed of target of motor, and wherein w is
The original object revolving speed that control system is set to motor when motor is normal；W=u/t/k, wherein k is gearing factor；Due to motor
And transmission system abrasion cause control system set to motor revolving speed as (w+a) × b when, motor drive transmission system front end turn
The actual speed for making transmission system rear end when dynamic is w × k, so that wheel can complete steering angle u within the t time；
Wherein t≤0.5s.
The method for updating motor compensating coefficient a and transmission system penalty coefficient b in overhaul data library includes: to travel
Pilotless automobile is overhauled after y days；Determine that motor angle-position encoder is qualified；Motor target rotation angle is set as P0, is completed
Time is L；Controller sends driving signal to motor, and the rotating speed of target of motor is set as R0；Utilize motor angle-position encoder
Read the motor corner P1 after the L time；To a1=(P0-P1)/L；
Laser scanning angular instrument is installed on pilotless automobile, and laser scanning angular instrument is directed at tire；Set tire
Target diversion angle is Q0=P0 × k, deadline L；Controller sends driving signal to motor, by the rotating speed of target of motor
It is set as R1=R0+a1；Passing through L time tire actual rotational angle using the measurement of laser scanning angular instrument is Q1；To b1=Q0/
Q1；A1, b1 are temporarily stored in the buffer area in overhaul data library.
Update motor compensating coefficient a and transmission system penalty coefficient b method include: before factory, to sampling automobile into
Row repeatedly measurement, obtains the motor compensating coefficient A1 and transmission system penalty coefficient B1 of Y days pilotless automobiles of traveling, establishes
Number of days and motor compensating coefficient A1, transmission system penalty coefficient B1 mapping table are travelled, factory data library is established.
Overhaul data library newest renewal time is inquired, if it is less than being equal to m days, then inquires the motor in overhaul data library
Penalty coefficient a1 and transmission system penalty coefficient b1, controller send driving signal to motor according to a1, b1；If it is greater than m days,
Running time Y1 days after then inquiring the factory for obtaining automobile, according to factory data library, inquire corresponding motor compensating coefficient A1
With transmission system penalty coefficient B1, controller sends driving signal to motor according to A1, B1.
The last time maintenance has been carried out after having travelled y1 days, obtain motor compensating coefficient a1 in overhaul data library with
Transmission system penalty coefficient b1；It is greater than and in inquiry factory database closest to the Y1 value of y1, obtains corresponding motor compensating system
Number A1 and transmission system penalty coefficient B1；If | A1-a1 |/A1 > 10% or | B1-b1 |/B1 > 1% reminds user that nobody drives
Sail automobile and need to update overhaul data library, if | A1-a1 |/A1 > 20% or | B1-b1 |/B1 > 5%, alerting user, nobody drives
Overhaul data library must be updated by sailing automobile, if | A1-a1 |/A1 > 30% or | B1-b1 |/B1 > 10% limits unmanned
Automobile is with the use of non-driver state.
Pilotless automobile is limited with non-driver state in use, notifying the control of user's adapter tube pilotless automobile at once
System power, and alarm to remote control center.
If finding no the control of user's adapter tube pilotless automobile at the appointed time, remote control center is connect
The control of pipe pilotless automobile, and taper off driving status.
Vehicle condition database root obtains motor status and transmission system state according to running time and sensor signal.
Motor status and transmission system state include motor fret situation, legacy system abrasion condition.
Update the method for motor compensating coefficient a and transmission system penalty coefficient b further include: set and advise to pilotless automobile
Fixed line reads motor compensating coefficient a and transmission system penalty coefficient b in the buffer area in overhaul data library, compensation control nothing
People's driving measures the registration of actual travel track and fixed course along the route running, and registration is greater than 95%, will examine
It repairs in the motor compensating coefficient a and transmission system penalty coefficient b deposit overhaul data library in the buffer area of database.
Inventive point of the invention is as follows:
(1) influence of motor and transmission system abrasion to motor control accuracy is considered；Even and if proposing corner coding
Device is abnormal, can also be controlled using the compensation that factory data library and overhaul data library are accurately turned to.
(2) a kind of method that the signal feedback independent of additional sensors carries out motor control compensation, the party are proposed
Method is easy, accurate, improves the reliability of system.
(3) while compensating control, when unmanned vehicle is needed factory's maintenance is sent to provide quick accurate judgment basis,
User can be reminded to overhaul vehicle in time, greatly improve the security reliability of vehicle.
(4) the pilotless automobile safety standard based on motor compensating control parameter is proposed, since the parameter is for nobody
Vehicle actual use, thus it is more accurate, and can obtain in real time, it being capable of timely learning unmanned vehicle operating status.
(5) steering of pilotless automobile is cut into section with the time, can be accurately mended within each minor time slice
It repays；It is more scientific than according to distance or angle segmentation that segmentation is carried out with the deadline simultaneously, so that control is more convenient accurate.
(6) in the measurement for compensating coefficient, measurement sensor is installed on vehicle, with pilotless automobile on road
On the state that formally travels carry out, rather than carried out between test, the data obtained is more in line with actual conditions.
(7) it is compared by the compensating parameter in the overhaul data library that differently obtains, factory data library,
Compensating parameter the most accurate at that time is selected, the risk for relying on a kind of penalty coefficient is greatly lowered, guarantees that unmanned vehicle safely may be used
It leans on.
The technical effect that the present invention reaches is as follows:
(1) under normal conditions, art technology has such understanding: can pass through sensing for the control of unmanned vehicle motor
Device signal carries out feedback control.By the effect of sensor judgement control, feedback control is carried out.Therefore as this field exists
Technology prejudice: the feedback control of sensor signal is most reliable control mode.But feedback of the present invention independent of sensor
Signal directly compensates motor control, prevents the abnormal bring motor control error due to sensor, improves nobody
The safety and reliability of vehicle；And due to there is no sensor signal, reduces system processes sensor signal bring resource and account for
With and time overhead, improve unmanned vehicle turn to response speed, further increase reliability.
(2) under normal conditions, control and detection are the different component parts of system, need respectively individually device completion phase
Answer function.Therefore those skilled in the art have such technology prejudice: control of the control system for motor, and detection system
For the detection of vehicle-state, the parameter of control system is not used to detection system.And the present invention controlled in motor compensating it is same
When, directly can judge whether unmanned vehicle needs that factory is sent to overhaul using compensation control parameter, no longer need to additionally to be arranged sensor or
Other devices are judged, the parameter for being used to compensate control is dexterously applied to vehicle detection, and system resource has been saved in simplification,
Overcome the above-mentioned technology prejudice of those skilled in the art.
(3) pass through many experiments, obtain the unmanned vehicle safety standard based on control compensating parameter, and since the parameter is
Unmanned vehicle actual use, therefore more accurate, and can obtain in real time, can timely learning unmanned vehicle operating status, it is perfect
Industry new safety standard.
(4) steering of pilotless automobile is cut into minor time slice with the time, it can be accurate within each minor time slice
It compensates；Simultaneously with the deadline carry out segmentation than according to distance or angle be segmented it is more scientific so that control it is more convenient
Accurately.
(5) in the measurement for compensating coefficient, measurement sensor is installed on vehicle, with pilotless automobile on road
On the state that formally travels carry out, rather than carried out between test, the data obtained is more in line with actual conditions.
(6) unmanned vehicle abnormality can be judged in time, and guarantees nothing by various ways such as manually adapter tube, long-range adapter tubes
People's vehicle driving safety, improves the reliability of unmanned vehicle.
(7) although there are some compensation methodes in the prior art, complexity is calculated, it is vehicle-mounted for the unmanned vehicle of resource anxiety
It realizes that difficulty is larger for computing system, and will affect the real-time of system response.The present invention fully takes into account the complicated journey of calculating
Degree and compensation accuracy, carry out equilibrium between these two factors, have reached preferable practical effect.
(8) compensating parameter in (overhaul data library, the factory data library) obtained by two kinds of systems is mutually assisted,
It can accurately determine compensating parameter, the risk for relying on a kind of penalty coefficient is greatly lowered, guarantee that unmanned vehicle is safe and reliable.
(9) motor and transmission system abrasion bring control inaccuracy after unmanned vehicle dispatches from the factory are fully taken into account, guarantees nobody
Vehicle driving path is accurate.
The technical effect that the present invention realizes is without being limited thereto, the technical effect mentioned in above and below (such as in inventive point
Mention) equally the present invention may be implemented, many technical effects especially in embodiment, are preferred embodiments
The technical effect reached.
Detailed description of the invention
Fig. 1 is electric machine control system schematic diagram.
Compensating parameter acquisition device schematic diagram when Fig. 2 is maintenance.
Fig. 3 is the unmanned vehicle driving trace schematic diagram using motor compensating control method of the invention.
1 is vehicle condition database, and 2 be factory data library, and 3 be overhaul data library, and 4 be controller, and 5 be driving device, and 6 be to turn
To motor, 7 be transmission system, and 8 be wheel, and 9 be laser scanning angular instrument, and 10 be pilotless automobile, and 11 be bracket
Specific embodiment
Embodiment is described in detail with reference to the accompanying drawing:
Since pilotless automobile (abbreviation unmanned vehicle) is very high to safety and reliability requirement, in unmanned state
Lower needs are accurately travelled along the track of setting, just can guarantee the safety of driving in this way.Straight-line travelling is generally remained more to hold
Easily, it when but encountering turn, lane change, more needs to accurately control steering.Sensor detection is generallyd use in the prior art to turn
Angle guarantees the accuracy turned to using the method for sensor signal feedback control motor.However it is needed in this way to sensor accuracy
And reliability dependence with higher, but sensor inevitably breaks down, this is in general-utility car can be by
Driver makes up, and too big problem will not occur, but will lead to the inaccuracy of steering in unmanned vehicle, to cause traffic thing
Therefore.Meanwhile above-mentioned existing technology needs to carry out sensor signal complicated processing, this is equally in general-utility car can be with
It realizes.And in unmanned vehicle, it is handled certainly due to needing to give processor using laser radar scanning surrounding enviroment data
Plan, data volume are very big (such as interior initial data that can be passed to upper G in several seconds).That is, vehicle computing
Workload is very big, processor heavy load.At this moment if the problem of directional compensation is still handled by processor, it will increase system
Resource overhead, or even cause to be controlled in real time.Meanwhile orthodox car hardly needs and considers automotive power abrasion
Influence for control system, because these small variations can be perceived by driver, and the adjustment control strategy of adaptability
(such as steering wheel rotation amplitude is larger, or brake step on it is heavier), but the control system of unmanned vehicle is then by component
The larger impact of abrasion causes to turn to accuracy decline.There are also solutions in response to the above problems at present, but are all based on
The design and transformation that orthodox car carries out, there is no carry out the characteristics of being directed to unmanned vehicle.In orthodox car, due to different driving
The driving habit of member, causes the frequency of use at each position of automobile and the degree of wear to differ larger.And applicant creatively sends out
Existing: unmanned vehicle is then mainly actively completed by controller 4 from beginning to end, is less subject to user and is accustomed to influencing, the abrasion of each section
Degree is similar, i.e. component wear and running time is closely related, and this relationship showed between each vehicle it is more consistent.?
Following control compensation methods are proposed on the basis of this creative understanding.
Motor compensating control method:
User inputs destination-address, and controller 4 enters a destination into map, calculates the macroscopical road arrived at the destination
Diameter, starting unmanned vehicle start to exercise.During enforcement, crossing, barrier, vehicle, pedestrian etc. can be encountered, at this time controller 4
The path in current microscopic pathways, such as 5 meters of front can be planned on the basis of macroscopical path according to control strategy, that is,
Say what entire macroscopical path was made of numerous microscopic pathways.Controller 4 needs to control unmanned vehicle along the microscopic pathways of setting
Traveling.
After planning a microscopic pathways, controller 4 to be carried out next according to corresponding routing algorithm acquisition unmanned vehicle
A go to action, the movement is by two parameter characterizations, including steering angle u and deadline t.Although the prior art is usually all
Be using steering angle as action parameter, but it is found by the applicant that for implementing control of the invention, it is accurate complete course changing control and
Speech completes go to action, realizes the deadline t no less important of steering angle, this is also that the present invention creatively proposes, is
One of inventive point.Controller 4 requests the state of steering motor 6 and transmission system 7 at this time to vehicle condition database 1.The state includes
" not wearing " " mild wear ", " abrasion ", " being seriously worn ", " damage ".Vehicle condition database 1 is believed according to running time and sensor
Number obtain motor status and 7 state of transmission system.Such as running time and the degree of wear can be just made into one before factory
Corresponding inquiry table is stored in vehicle condition database 1；Motor or transmission system can also be perceived according to mounted in a vehicle sensor
7 motion states, and be compared with target state；It is particularly preferred that the nothing can also be requested to remote control center
The state of wear of people's vehicle, the various parameters and record of examination of each unmanned vehicle traveling are uploaded to remote control center storage,
And remote control center can also collect other unmanned vehicles identical with the unmanned vehicle zone of action driving parameters and
Record of examination, collects driving parameters and record of examination with the unmanned vehicle with other unmanned vehicles of model, and remote control center is comprehensive
It closes and states the degree of wear that unmanned vehicle can be calculated in much information.It can use that remote control center is powerful, net in this way
The data collection and computing capability of network, more accurately know the degree of wear of unmanned vehicle component, and this realization rate is also
It is not present in the prior art, is one of inventive point of the invention.
Typically at least in appearance " abrasion " and more serious state, controller 4 controls according to original plan and turns to electricity at this time
Machine 6 has been unable to reach final control target.Such as original plan wheel 8 rotates 2 °, then needs to control the rotation of steering motor 6
720 °, controller 4 sends corresponding pwm pulse signal to driving device 5 at this time, but since motor and transmission system 7 are worn, should
Signal can only make steering motor 6 rotate 680 °, and transmit by transmission system 7, and wheel 8 can only finally rotate 1 ° 40 ', in this way
Unmanned vehicle just cannot achieve scheduled steering target, cause traveling dangerous.Therefore, controller 4 obtains stores in vehicle condition database 1
" abrasion " and more serious state when, continue into vehicle condition database 13 library of overhaul data request motor compensating coefficient a and
7 penalty coefficient b of transmission system, a, b coefficient in the database are updated according to a newest record of examination, extended meeting after specific method
It is discussed in detail.Meanwhile the factory data library 2 into vehicle condition database 1 requests motor compensating system A and transmission system 7 to compensate system
It is demarcated before the corresponding relationship factory of number B, A, B coefficient and running time, extended meeting is discussed in detail after specific method.
According to the penalty coefficient of above-mentioned acquisition, compensated on the basis of original plan control strategy.Such as original plan vehicle
Wheel 8 needs to rotate u=2 °, and the time of completion is t=0.5s.Need to control steering motor 6 at this time according to control strategy in t=
7200 ° of rotation in 0.5s, controller 4 is sent completely the corresponding pwm pulse signal of above-mentioned movement to driving device 5 at this time, so that
The revolving speed of motor 6 reaches w=7200 °/0.5s=80 π radian/per second, i.e., 720 ° of motor rotation, transmission in the guarantee 0.5s time
720 ° of corner is converted u=2 ° of tyre rotation by system 7, this vehicle gearing factor k=2/720=1/360 ≈ 0.0028.However
Due to the abrasion of motor and transmission system, if PWM drive signal only makes motor speed reach w=7200 °/0.5s, show
So final wheel can not achieve u=2 ° of corner, and can only rotate 1 ° 40 '.It must be carried out at this time according to above-mentioned penalty coefficient
Motor control compensation, so that motor actual speed reaches w1=(w+a) × b, rotation time 0.5s, such controller 4 is set again
Determine pwm signal, so that motor speed is w1=(w+a) × b, rotation time 0.5s, wheel steering angle is u1=w1 × t × k at this time,
Wherein k is the gearing factor of the intrinsic transmission system of vehicle, and a is identical as the unit of w, is radian per second.
Controller 4 inquires the newest renewal time of overhaul data library 3 simultaneously, if it is less than being equal to 60 days, then using inquiry
The motor compensating coefficient a1 stored at this time and transmission system penalty coefficient b1 in overhaul data library 3, as motor compensating coefficient
With the a1=1.133, b1=1.0134 updated after transmission system penalty coefficient, such as last time maintenance.At this time w1=(80 π+
1.133) × 1.0134, as long as controller 4 can accurately realize turning for wheel 8 to the pwm signal that motor 6 sends the corresponding speed
To control.
If it is greater than 60 days, controller 4 then inquired the running time after the factory for obtaining automobile, then inquired factory database
2, according to the relation table of running time and motor compensating coefficient A, transmission system penalty coefficient B, find corresponding data.Such as it should
The partial content of relation table is as shown in table 1 below:
Table 1
Such as travelled at this time 600 days, table look-up corresponding motor compensating coefficient A=1.131, transmission system penalty coefficient B
=1.0131.W1=(80 π+1.131) × 1.0131 at this time, as long as controller 4 sends the PWM letter of the corresponding speed to motor 6
It number can accurately realize the course changing control of wheel 8.
Such as travelled y1 days, one column Y1 of number of days is not directly equal with y1 in look-up table 1 at this time, then looking at this time
Look in table 1 with the immediate Y1 value of y1, corresponding to penalty coefficient be required motor compensating coefficient, transmission system compensation
Coefficient.For example, having travelled at this time 650 days, in table 1 and parameter corresponding with the number of days is not present, then look-up table 1 at this time
In the number of days 660 closest with the number of days, use this day corresponding penalty coefficient, i.e. A1=1.138, A2=1.0143.
In order to accurately control, need to be finely divided path, this field is drawn generally according to length or radian
Point, but in this way for controller 4 rises, need more complicated calculating that could finally be converted into the control letter for needing to send
Number.The present embodiment realizes that the microscopic pathways that is, in special time period belong to by the period for the division of microscopic pathways
The unit path of the every secondary control of controller 4.Such as path unit is divided with 0.5s in above-mentioned example.Can certainly 0.1s,
0.2s is divided, but divides the meticulous great burden that can bring control system, was divided slightly certainly and be will lead to the inaccurate of control,
Therefore pass through many experiments, it is found by the applicant that overhead and control essence can be taken into account using t≤0.5s as the basis divided
Degree, can reach best Actual Control Effect of Strong, reach unexpected technical effect.
It is furthermore preferred that this is that unmanned vehicle network must since unmanned vehicle usually has inter-vehicle communication system, i.e. V2V system
Must.When carrying out inter-vehicle communication, mutual position data can be shared between multiple unmanned vehicles.Therefore, a time is completed
After the compensation control of segment (such as 0.5s), perceived by other unmanned vehicles that inter-vehicle communication network obtains this unmanned vehicle periphery
The driving path is compared, if registration by the driving path of this unmanned vehicle arrived with this unmanned vehicle target travel path
Think that compensation controls successfully higher than 95%, continues to compensate control according to the penalty coefficient.If registration is lower than 95%,
It then notifies user's adapter tube unmanned vehicle control, and is carried out according to pipe-connecting mode hereinafter.This method is sufficiently using existing workshop
The transmitting data of communication system do not increase additional sensors data burden, and can carry out to the control method of compensation further
Monitoring, increase more one layers of protections for unmanned vehicle, this is also one of the inventive point that the present invention proposes to solve safety.
Although there are some compensation methodes in the prior art, complexity is calculated, for the vehicle-mounted meter of unmanned vehicle of resource anxiety
It realizes that difficulty is larger for calculation system, and will affect the real-time of system response.The present invention fully takes into account computational complexity
With compensation accuracy, equilibrium is carried out between these two factors, simplifies compensation formula, while having used lesser time slice
Path cutting is carried out, preferable practical effect has been reached.To be calculated according to experiment, system resource overhead reduces 11%, and
Unmanned vehicle Actual path registration is higher than 95%, as shown in Figure 3.
Motor compensating control coefrficient determines method:
It is true first for the pilotless automobile after having travelled y days (such as 1200 days) when unmanned vehicle is checked
Motor angle-position encoder qualification is determined, if unqualified will first replace motor angle-position encoder that is qualified, having demarcated.Set motor
Target rotation angle is P0, deadline L=0.1s；Controller 4 sends driving signal to motor 6, and the rotating speed of target of motor is set
It is set to R0；The actual rotational angle P1 of motor after L=0.1s is read using motor angle-position encoder；Then a=(P0-P1)/L；
Additionally measurement laser scanning angular instrument 9 is demarcated in installation on pilotless automobile, and laser scanning angular instrument 9 is right
Quasi- tire 8；Tire target steering angle is set as Q0=P0 × k, deadline L；Controller 4 sends driving letter to motor 6
Number, so that the rotating speed of target of motor is set as R1=R0+a；It is practical by L time tire using the measurement of laser scanning angular instrument 9
Corner is Q1；To b=Q0/Q1；
The above are the determination methods of penalty coefficient.After demarcating measurement, a, b are first temporarily stored in overhaul data library 3
In buffer area.
Fixed course is set to pilotless automobile again, reads the above-mentioned electricity stored in the buffer area in overhaul data library 3
Machine penalty coefficient a and transmission system penalty coefficient b, compensation control pilotless automobile, makes it along the route running, and measurement is practical
The registration of driving trace and fixed course, registration is greater than 95%, by the motor compensating system in the buffer area in overhaul data library 3
It is spare in number a and transmission system penalty coefficient b deposit overhaul data library 3, as shown in figure 3, motor compensating control according to the present invention
Method processed carries out the control of unmanned vehicle steering, and the path of unmanned vehicle actual travel and planning path be almost within a unit time
It is completely coincident, this also demonstrates the feasibility and validity of compensation method of the present invention.Above-mentioned registration can use Actual path
XY coordinate value is compared with the XY coordinate value of destination path, if on Actual path the XY coordinate value of 95% length paths with
The absolute value of corresponding destination path XY coordinate value difference is within corresponding destination path XY value 5%, then it is assumed that registration is big
In 95%.This is also one of the inventive point of the invention in order to solve safety problem proposition.
In addition, producer can compensate the calibration of coefficient to sample car before factory.It is opened within Y=360 days from traveling the
Begin, the motor compensating coefficient A and power train of Y days pilotless automobiles of traveling are obtained using the determination method of above-mentioned penalty coefficient
Unite penalty coefficient B, establishes traveling number of days and motor compensating coefficient A, transmission system penalty coefficient B mapping table, 1 institute of table as above
Show, to establish factory data library 2.
Guarantee unmanned vehicle driving safety using motor compensating control coefrficient:
Since unmanned vehicle is very high to security requirement, the present invention devises two sets of penalty coefficient systems can be mutual
Confirmation avoids relying on and differs larger inaccurate to cause unmanned vehicle to control with practical in a kind of penalty coefficient that mode obtains
Really.This is also one of inventive point of the invention.Such as recent maintenance has been carried out after having travelled y1=550 days, is obtained
To the motor compensating coefficient a1 (such as a1=1.001) and transmission system penalty coefficient b1 (such as b1=in overhaul data library 3
1.0020)；It is greater than and in inquiry factory database 2 closest to the Y1 value of y1, obtains corresponding motor compensating coefficient A1 and transmission
System balance coefficient B 1, such as A1=1.123, B1=1.0121；If | A1-a1 |/A1 > 10% or | B1-b1 |/B1 > 1%,
Then remind user's pilotless automobile to need to update overhaul data library 3, if | A1-a1 |/A1 > 20% or | B1-b1 |/B1 >
5%, then overhaul data library 3 must be updated by alerting user's pilotless automobile, if | A1-a1 |/A1 > 30% or | B1-b1 |/B1
> 10%, then pilotless automobile is limited with the use of non-driver state.
| A1-a1 |/A1=| 1.123-1.001 |/1.123=10.86% > 10%
| B1-b1 |/B1=| 1.0121-1.0020 |/1.0121=0.998% < 1%
Controller 4 sends signal to user interface at this time, and user is prompted to overhaul away from the last time to pilotless automobile
Past for a long time, needs to carry out new primary maintenance.Unmanned vehicle, which does not need special sensor is additionally arranged, in this way knows vehicle
State, reminds the user that maintenance, can economize on resources.Because the main sensors (such as laser radar) of unmanned vehicle can be to
Controller 4 sends a large amount of sensor signal, and more resource can be occupied by handling these mass datas, if also needing to control at this time
Device 4 handles other additional sensor signals, then can burden, cause processor to generate heat, in addition cause processing be delayed, danger
And safety.The present invention is compared using the penalty coefficient in overhaul data library 3 with the penalty coefficient in factory data library 2, can
Simply accurately to know whether vehicle should send to maintenance, above-mentioned technical problem can solve, reach saving resource, improve peace
The unexpected technical effects such as full property.
Meanwhile | A1-a1 |/A1, and | B1-b1 | the above-mentioned different value range of/B1 is also applicant by a large amount of
The data that experiment obtains can both guarantee whether accurate judgement vehicle needs to overhaul that is, in the case where above-mentioned value range, together
When be unlikely to judge by accident again, cause frequently to harass user.This is by unmanned vehicle using the data that motor compensating coefficient is calculated
The numerical value of practical drive test verifying, itself can regard a kind of safety standard of unmanned vehicle as.
In limitation pilotless automobile with non-driver state in use, notifying user's adapter tube pilotless automobile at once
Control, and alarm to remote control center.Controller 4 notifies to use by the modes such as light flash, voice prompting on steering wheel
Family adapter tube control as early as possible.Optimal, controller 4 passes through in the terminal (such as mobile phone, bracelet) that communication module is worn to user
Signal is sent, guarantee user can receive signal in time in this way.Controller 4 starts to start timer after sending alarm to user,
The control of user's whether adapter tube unmanned vehicle is detected, and is alarmed to remote control center.Remote control center is carried out at this time
The preparation of adapter tube unmanned vehicle control, and start the running data for receiving unmanned vehicle in advance, such as the point cloud data of laser radar
With the image data of camera, in this way can when needing remote control center to take over moment take over, without wait sensor
The step of data and starting receive program, guarantees unmanned vehicle safety, this is also that the present invention is to solve unmanned vehicle safety problem
One of inventive point of proposition.If timer expired (such as 5 seconds), automatically switches to remote control center adapter tube unmanned vehicle
Control, remote control center select optimal strategy as early as possible by nobody according to unmanned vehicle sensing data, real-time road situation
Vehicle stops to the position of safety.The mode of user's adapter tube unmanned vehicle includes user's touch direction disk, and user tramples throttle or brake,
When this event occurs, the control of 4 user of notification controller adapter tube unmanned vehicle.Optimal, user connects according to terminal
The adapter tube received is reminded, and is directly operated on mobile phone, such as the order of pulling over observing is sent to unmanned vehicle, and controller 4 connects
Optimal route pulling over observing as early as possible is selected after receiving the order, accordingly even when user not on operating seat, can also use up
Fast adapter tube unmanned vehicle control, guarantees unmanned vehicle driving safety.This is also that the present invention is proposed to solve unmanned vehicle safety problem
One of inventive point.
Embodiment of above does not constitute the restriction to claims, the same or similar with present inventive concept
Embodiment is within the protection scope of the present invention.
Claims (10)
1. a kind of motor compensating control method applied to pilotless automobile, which is characterized in that controller is according to planning path
Obtain the next go to action parameter of automobile, including steering angle u and deadline t；Controller to vehicle condition database request this
When motor status and transmission system state；Controller determines motor compensating coefficient a to vehicle condition database request according to motor status；
Transmission system penalty coefficient b is determined to vehicle condition database request according to transmission system state；Wherein vehicle condition database includes maintenance
Database and factory data library, the motor compensating coefficient a1 and transmission system penalty coefficient b1 in overhaul data library are according to newest one
Secondary record of examination updates, pair of motor compensating system A1 and transmission system penalty coefficient B1 and running time in factory data library
It is demarcated before should being related to factory；Data in overhaul data library, factory data library are compared with traveling number of days, selection wherein one
The motor compensating coefficient and transmission system penalty coefficient of a database purchase；Controller is according to the motor compensating coefficient and biography of selection
Dynamic system balance coefficient sends driving signal, which is set as (w+a) × b for the rotating speed of target of motor, and wherein w is electricity
The original object revolving speed that control system is set to motor when machine is normal, a is identical as the unit of w, is radian per second；W=u/t/k,
Wherein k is gearing factor；The revolving speed for causing control system to set to motor due to motor and transmission system abrasion is (w+a) × b
When, motor, which drives, makes the actual speed of transmission system rear end be w × k when the rotation of transmission system front end, so that wheel energy
It is enough that steering angle u is completed within the t time；Wherein t≤0.5s.
2. motor compensating control method as described in claim 1, which is characterized in that update the motor compensating in overhaul data library
The method of coefficient a1 and transmission system penalty coefficient b1 include: to have overhauled after having travelled y days to pilotless automobile；It determines
Motor angle-position encoder is qualified；Motor target rotation angle is set as P0, deadline L；Controller sends driving signal to motor,
The rotating speed of target of motor is set as R0；The motor corner P1 after the L time is read using motor angle-position encoder；To a1
=(P0-P1)/L；Laser scanning angular instrument is installed on pilotless automobile, and laser scanning angular instrument is directed at tire；Setting
Tire target steering angle is Q0=P0 × k, deadline L；Controller sends driving signal to motor, by the target of motor
Revolving speed is set as R1=R0+a1；Passing through L time tire actual rotational angle using the measurement of laser scanning angular instrument is Q1；To b1=
Q0/Q1；A1, b1 are temporarily stored in the buffer area in overhaul data library.
3. motor compensating control method as claimed in claim 1 or 2, which is characterized in that update the motor in factory data library
The method of penalty coefficient A1 and transmission system penalty coefficient B1 include: to take multiple measurements, obtain to sampling automobile before factory
Motor compensating coefficient A1 and transmission system penalty coefficient B1 in the factory data library of Y days pilotless automobiles of traveling, are established
Number of days and motor compensating coefficient A1, transmission system penalty coefficient B1 mapping table in factory data library are travelled, factory is established
Database.
4. motor compensating control method as claimed in claim 3, which is characterized in that when the inquiry newest update in overhaul data library
Between, if it is less than being equal to m days, then the motor compensating coefficient a1 and transmission system penalty coefficient b1 in overhaul data library are inquired, controlled
Device processed sends driving signal to motor according to a1, b1；Running time if it is greater than m days, then after inquiring the factory for obtaining automobile
Y1 days, according to factory data library, inquire the motor compensating coefficient A1 and transmission system penalty coefficient in corresponding factory data library
B1, controller send driving signal to motor according to A1, B1.
5. motor compensating control method as claimed in claim 4, which is characterized in that the last time maintenance is to travel y1 days
It carries out afterwards, obtains the motor compensating coefficient a1 and transmission system penalty coefficient b1 in overhaul data library；Inquiry factory database
In be greater than and closest to the Y1 value of y1, obtain the motor compensating coefficient A1 and transmission system compensation system in corresponding factory data library
Number B1；If | A1-a1 |/A1 > 10% or | B1-b1 |/B1 > 1%, remind user's pilotless automobile need update maintenance number
According to library, if | A1-a1 |/A1 > 20% or | B1-b1 |/B1 > 5%, maintenance number must be updated by alerting user's pilotless automobile
According to library, if | A1-a1 |/A1 > 30% or | B1-b1 |/B1 > 10%, limit pilotless automobile is made with non-driver state
With.
6. motor compensating control method as claimed in claim 5, which is characterized in that limitation pilotless automobile is with non-driver
State in use, notify the control of user's adapter tube pilotless automobile, and alarm to remote control center at once.
7. motor compensating control method as claimed in claim 6, which is characterized in that if finding no use at the appointed time
The control of family adapter tube pilotless automobile, then the control of remote control center adapter tube pilotless automobile, and taper off
Driving status.
8. the motor compensating control method as described in preceding claims 7, which is characterized in that vehicle condition database root is according to running time
And sensor signal obtains motor status and transmission system state.
9. the motor compensating control method as described in preceding claims 8, which is characterized in that motor status and transmission system state
Including motor fret situation, legacy system abrasion condition.
10. the motor compensating control method as described in preceding claims 9, which is characterized in that update the electricity in overhaul data library
The method of machine penalty coefficient a1 and transmission system penalty coefficient b1 further include: set fixed course to pilotless automobile, read
Motor compensating coefficient a1 and transmission system penalty coefficient b1 in the buffer area in overhaul data library, compensation control pilotless automobile
Along the route running, the registration of actual travel track and fixed course is measured, registration is greater than 95%, by overhaul data library
In motor compensating coefficient a1 and transmission system penalty coefficient b1 deposit overhaul data library in buffer area.
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| CN108556683B (en) * | 2018-04-20 | 2021-03-02 | 江铃汽车股份有限公司 | New energy vehicle ride comfort optimization method based on big data |
| CN110853389B (en) * | 2019-11-21 | 2022-03-18 | 白犀牛智达(北京)科技有限公司 | Drive test monitoring system suitable for unmanned commodity circulation car |
| CN110949499B (en) * | 2019-11-26 | 2022-03-22 | 江苏大学 | Unmanned driving corner compensation system of commercial vehicle and control method thereof |
| KR102507888B1 (en) * | 2022-10-25 | 2023-03-08 | 주식회사 긴트 | Method for presetting compensation angle for steering failure and autonomous driving agricultural machinery using the compensation angle |
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