CN112577756A - Method and device for acquiring minimum turning radius of vehicle - Google Patents
Method and device for acquiring minimum turning radius of vehicle Download PDFInfo
- Publication number
- CN112577756A CN112577756A CN201910935709.3A CN201910935709A CN112577756A CN 112577756 A CN112577756 A CN 112577756A CN 201910935709 A CN201910935709 A CN 201910935709A CN 112577756 A CN112577756 A CN 112577756A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- minimum turning
- radius
- turning radius
- acquiring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/10—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring diameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a method and a device for acquiring the minimum turning radius of a vehicle, wherein the method comprises the following steps: controlling a vehicle to perform a minimum turning test, and acquiring a positioning signal of the vehicle in the minimum turning test process through a positioning module on the vehicle; drawing a running track circle of the vehicle according to the positioning signal of the vehicle; and acquiring the radius of the running track circle, and acquiring the minimum turning radius of the vehicle according to the radius of the running track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheelbase of the front wheels of the vehicle. According to the method provided by the embodiment of the invention, the requirement on a test environment is reduced, the measurement precision is high, the vehicle is not required to be greatly modified, the test can be realized by the positioning module on the vehicle, the operation is simple, the operation of a tester outside the vehicle is not required, the manpower and material resources are saved, and the working experience of the tester is greatly improved.
Description
Technical Field
The present invention relates to the field of vehicle minimum turning radius technologies, and in particular, to a method for obtaining a vehicle minimum turning radius, an apparatus for obtaining a vehicle minimum turning radius, an electronic device, and a computer-readable storage medium.
Background
The minimum turning radius refers to the radius of the trajectory circle that the center of the outside steerable wheel rolls over on the support plane when the vehicle is steered to travel at the lowest stable vehicle speed with the steering wheel turned to the extreme position, and it largely characterizes the vehicle's ability to pass through narrow curved terrain or around non-traversable obstacles, and thus is an important performance indicator of the vehicle.
At present, the measurement of the minimum turning radius is generally realized by a water spraying device, water is sprayed on wheels when a vehicle turns, so that the wheels form a wheel movement track on the ground when the vehicle turns, and then a measuring tool is used for measuring the wheel movement track to obtain the minimum turning radius.
However, the measurement of the minimum turning radius using this measuring device requires that at least the following conditions are satisfied simultaneously: (1) the test site has no precipitation, and the test ground is dry; (2) the testing process is rapid; (3) requiring the test person to work outside the vehicle.
Therefore, if the test site is rainy and/or the ground is wet and/or the test process is slow, the wheel movement track may be blurred or even disappear, the minimum turning radius cannot be measured, and adverse reactions such as heatstroke and the like may be caused to cause discomfort to the operation of the tester if the tester operates outside the vehicle in severe environments such as high temperature and the like.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above.
Therefore, an object of the present invention is to provide a method for obtaining a minimum turning radius of a vehicle, which reduces the requirement for a test environment, has high measurement accuracy, and can implement a test by means of a positioning module on the vehicle without greatly modifying the vehicle. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved.
A second object of the present invention is to provide an apparatus for obtaining a minimum turning radius of a vehicle.
A third object of the invention is to propose an electronic device.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for obtaining a minimum turning radius of a vehicle, including the steps of: controlling a vehicle to perform a minimum turning test, and acquiring a positioning signal of the vehicle in the minimum turning test process through a positioning module on the vehicle; drawing a running track circle of the vehicle according to the positioning signal of the vehicle; and acquiring the radius of the running track circle, and acquiring the minimum turning radius of the vehicle according to the radius of the running track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheelbase of the front wheels of the vehicle.
According to the method for acquiring the minimum turning radius of the vehicle, the vehicle is controlled to perform the minimum turning test, the positioning signal of the vehicle in the minimum turning test process is acquired through the positioning module on the vehicle, then the driving track circle of the vehicle is drawn according to the positioning signal of the vehicle, then the radius of the driving track circle is acquired, and finally the minimum turning radius of the vehicle is acquired according to the radius of the driving track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheelbase of the front wheels of the vehicle. Therefore, the method reduces the requirement on the test environment, has high measurement precision, does not need to greatly transform the vehicle, and can realize the test by depending on the positioning module on the vehicle. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved.
In addition, the method for obtaining the minimum turning radius of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
in an embodiment of the present invention, the drawing a circle of a driving trajectory of the vehicle according to the positioning signal of the vehicle includes: and taking one of the positioning signals as a reference signal, acquiring the offset between the rest positioning signals and the reference signal, and drawing the driving track circle by using the offset.
In an embodiment of the present invention, the obtaining the radius of the circle of the driving trajectory includes: connecting any two points in the driving track circle, and determining the circle center position of the driving track circle based on any two connecting lines; and acquiring the distance between the circle center position and any point of the driving track circle as the radius of the driving track circle.
In one embodiment of the present invention, the method for obtaining the minimum turning radius of the vehicle further comprises: respectively acquiring a first minimum turning radius when the vehicle turns left and a second minimum turning radius when the vehicle turns right; and comparing the first minimum turning radius with the second minimum turning radius, and determining the maximum value of the first minimum turning radius and the second minimum turning radius as the minimum turning radius of the vehicle.
In one embodiment of the invention, the positioning module is arranged on a longitudinal axis of the vehicle.
In one embodiment of the invention, the controlling the vehicle to perform the minimum turn test includes: controlling a steering wheel limit position of the vehicle; and controlling the vehicle to be kept at the lowest forward gear, and carrying out the minimum turning test under the condition that the vehicle speed is less than the preset vehicle speed.
In one embodiment of the present invention, acquiring the minimum turning radius of the vehicle based on the radius of the travel track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle, and the wheelbase of the front wheels of the vehicle includes:
wherein R is the minimum turning radius; the r is the radius of the driving track circle; l is the wheelbase of the vehicle; the A is the distance between the installation position of the positioning module and the front axle of the vehicle; and B is the wheel track of the front wheel of the vehicle.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides an apparatus for obtaining a minimum turning radius of a vehicle, including: the signal position acquisition module is used for controlling a vehicle to carry out a minimum turning test and acquiring a positioning signal of the vehicle in the minimum turning test process through a positioning module on the vehicle; the drawing module is used for drawing a driving track circle of the vehicle according to the positioning signal of the vehicle; and the radius acquisition module is used for acquiring the radius of the running track circle and acquiring the minimum turning radius of the vehicle according to the radius of the running track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheelbase of the front wheels of the vehicle.
The device for acquiring the minimum turning radius of the vehicle comprises a signal position acquisition module, a drawing module, a radius acquisition module and a radius acquisition module, wherein the signal position acquisition module is used for controlling the vehicle to perform minimum turning test, the positioning module on the vehicle is used for acquiring a positioning signal of the vehicle in the minimum turning test process, the drawing module is used for drawing a driving track circle of the vehicle according to the positioning signal of the vehicle, the radius acquisition module is used for acquiring the radius of the driving track circle, and finally the radius acquisition module is used for acquiring the minimum turning radius of the vehicle according to the radius of the driving track circle, the axle distance of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheel. From this, the device has reduced the requirement to test environment, and measurement accuracy is high, need not to reform transform the vehicle by a wide margin, relies on the orientation module on the vehicle just can realize the test. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved.
In addition, the device for obtaining the minimum turning radius of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
in an embodiment of the present invention, the drawing module is specifically configured to: and taking one of the positioning signals as a reference signal, acquiring the offset between the rest positioning signals and the reference signal, and drawing the driving track circle by using the offset.
In an embodiment of the present invention, the radius obtaining module is specifically configured to: connecting any two points in the driving track circle, and determining the circle center position of the driving track circle based on any two connecting lines; and acquiring the distance between the circle center position and any point of the driving track circle as the radius of the driving track circle.
In an embodiment of the present invention, the radius obtaining module is further configured to: respectively acquiring a first minimum turning radius when the vehicle turns left and a second minimum turning radius when the vehicle turns right; and comparing the first minimum turning radius with the second minimum turning radius, and determining the maximum value of the first minimum turning radius and the second minimum turning radius as the minimum turning radius of the vehicle.
In one embodiment of the invention, the positioning module is arranged on a longitudinal axis of the vehicle.
In an embodiment of the present invention, the signal bit obtaining module is further configured to: controlling a steering wheel limit position of the vehicle; and controlling the vehicle to be kept at the lowest forward gear, and carrying out the minimum turning test under the condition that the vehicle speed is less than the preset vehicle speed.
In an embodiment of the present invention, the radius obtaining module is specifically configured to obtain the minimum turning radius by using the following formula:
wherein R is the minimum turning radius; the r is the radius of the driving track circle; l is the wheelbase of the vehicle; the A is the distance between the installation position of the positioning module and the front axle of the vehicle; and B is the wheel track of the front wheel of the vehicle.
To achieve the above object, a third embodiment of the present invention provides an electronic device, including a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method for obtaining the minimum turning radius of the vehicle according to the embodiment of the first aspect of the invention.
According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored on the memory, so that the requirement on a test environment is reduced, the measurement precision is high, the vehicle is not required to be greatly modified, and the test can be realized by depending on the positioning module on the vehicle. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved. In order to achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the method for obtaining a minimum turning radius of a vehicle according to the first aspect of the present invention.
The computer-readable storage medium of the embodiment of the invention reduces the requirement on the test environment by storing the computer program and executing the computer program by the processor, has high measurement precision, does not need to greatly reform the vehicle, and can realize the test by depending on the positioning module on the vehicle. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved. Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of obtaining a minimum turning radius for a vehicle according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of obtaining a vehicle travel track circle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of obtaining a minimum turning radius for a vehicle according to an embodiment of the present invention;
FIG. 4 is a block diagram illustrating an apparatus for obtaining a minimum turning radius of a vehicle according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The method for acquiring the minimum turning radius of the vehicle, the device for acquiring the minimum turning radius of the vehicle, the electronic device and the computer-readable storage medium according to the embodiments of the invention are described below with reference to the accompanying drawings.
FIG. 1 is a flow chart of a method of obtaining a minimum turning radius for a vehicle according to one embodiment of the present invention.
As shown in fig. 1, the method for obtaining the minimum turning radius of the vehicle according to the embodiment of the present invention includes the following steps:
and S1, controlling the vehicle to perform the minimum turning test, and acquiring a positioning signal of the vehicle in the minimum turning test process through a positioning module on the vehicle.
The Positioning module may be implemented based on a Positioning System such as a Global Positioning System (GPS), a BeiDou Navigation Satellite System (BDS), and may be a GPS receiver, a BDS receiver, and the like.
Further, if the positioning module is a GPS receiver, the acquired positioning signal is latitude and longitude data of the GPS receiver in the test process.
In one embodiment of the invention, to facilitate calculation of the minimum turning radius, the positioning module may be disposed on a longitudinal axis of the vehicle.
Since the minimum turning radius refers to a radius of a track circle through which the center of the outside steered wheel rolls on the support plane when the vehicle is steered at the lowest stable vehicle speed when the steering wheel is turned to the extreme position, in one embodiment of the present invention, the vehicle is controlled to perform the minimum turning test, including controlling the steering wheel of the vehicle to turn to the extreme position, and performing the minimum turning test in a state where the vehicle is controlled to be kept at the lowest forward gear and the vehicle speed is less than the preset vehicle speed, so as to ensure that the vehicle is tested at the lowest stable vehicle speed. The preset vehicle speed can be calibrated according to actual conditions, and can be preset in a storage space of the vehicle, for example, the preset vehicle speed can be stored in a vehicle control unit.
And S2, drawing a driving track circle of the vehicle according to the positioning signal of the vehicle.
In one embodiment of the invention, during the process that the vehicle runs according to the set test track, the running track is a circle, so that a running track circle can be formed by receiving all positioning signals. Therefore, the embodiment of the invention can draw the driving track circle of the vehicle according to the positioning signal of the vehicle.
As a possible implementation manner, one of the positioning signals is used as a reference signal, the offset between the remaining positioning signals and the reference signal is obtained, and the travel track circle is drawn by using the offset.
For example, if the positioning module in the embodiment of the present invention is a GPS receiver, the vehicle may be controlled to perform a minimum turning test, the GPS receiver disposed on the longitudinal axis of the vehicle is used to obtain longitude and latitude data of the GPS receiver during the test, then one of the longitude and latitude data is used as a reference signal to obtain an offset between the remaining longitude and latitude data and the reference signal, then the reference signal is used as an origin to establish a planar rectangular coordinate system, and the offset corresponding to the remaining longitude and latitude data is used as a two-dimensional coordinate of the rectangular coordinate system in the plane, so as to obtain a driving trajectory circle of the GPS receiver during the test.
Specifically, as shown in fig. 2, in an embodiment of the present invention, longitude and latitude data of the GPS receiver during a test process may be obtained by a GPS receiver disposed on a longitudinal axis of the vehicle, for example, the longitude and latitude data corresponding to O ' point is (XO, YO), where XO is the latitude of O ' and YO is the longitude of O ', the longitude and latitude data (XO, YO) corresponding to O ' point may be used as a reference signal, an offset between the longitude and latitude data (XA, YA) corresponding to a point a and the reference signal (XO, YO) may be (XA-XO, YA-YO), then a planar rectangular coordinate system may be established with the reference signal (XO, YO) corresponding to O ' point as an origin, the two-dimensional coordinates of a point may be the offsets (XA-XO, YA-YO), similarly, the two-dimensional coordinates corresponding to the remaining longitude and latitude data may be connected, the driving track circle of the GPS receiver in the test process can be obtained.
And S3, acquiring the radius of the running track circle, and acquiring the minimum turning radius of the vehicle according to the radius of the running track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheelbase of the front wheels of the vehicle.
The wheel base of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheel base of the front wheels of the vehicle can be measured according to actual conditions, and can be stored in a storage space of the vehicle in advance, for example, the vehicle controller.
In an embodiment of the present invention, acquiring the radius of the travel track circle may include connecting any two points in the travel track circle, determining a center position of the travel track circle based on any two connecting lines, and acquiring a distance between the center position and any point of the travel track circle as the radius of the travel track circle.
It should be noted that, determining the position of the center of the driving trajectory circle based on any two connecting lines on the driving trajectory circle may include making perpendicular bisectors of any two connecting lines, and then using the intersection point of the two perpendicular bisectors as the center of the circle.
Continuing with the example of fig. 2, arbitrarily finding two points A, B on the obtained track circle, then connecting the two lines, repeating the above steps to obtain two connecting lines AB and CD, then respectively making the midperpendicular aa 'and bb' of the two connecting lines, and taking the intersection o of the two midperpendicular as the center of the circle of the driving track circle, and taking the distance between the center o and the connecting line oA of the point a on the track circle as the radius r of the track circle.
In an embodiment of the present invention, after the radius of the driving track circle is obtained, as shown in fig. 3, during the minimum turning test of the vehicle, the orientation relationship between the external wheel in front of the vehicle and the center of the circle is always unchanged, and the wheel base of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle, and the wheel base of the front wheel of the vehicle can be measured or calibrated in advance, so that a model can be constructed, and a calculation mode of the minimum turning radius of the vehicle can be obtained.
As shown in fig. 3, if the positioning module c is installed on the longitudinal axis of the vehicle and has the same lateral distance to the rotation center e of the left front wheel and the rotation center d of the right front wheel of the vehicle, the minimum turning radius R is the distance of the connecting line od, and the radius R of the travel locus circle of the positioning module c is the distance of the connecting line oc.
As can be seen from fig. 3, the minimum turning radius R is:
since oc ═ r, ac ═ L-a, ab ═ B/2, bd ═ L,
the minimum turning radius R is therefore:
thus, in one embodiment of the invention, obtaining the minimum turning radius of the vehicle according to the radius of the driving track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle, and the wheelbase of the front wheels of the vehicle may comprise
Wherein, R is the minimum turning radius, R is the radius of the driving track circle, L is the wheel base of the vehicle, A is the distance between the installation position of the positioning module and the front axle of the vehicle, and B is the wheel base of the front wheel of the vehicle. It should be noted that the above formula may be stored in a storage space of the vehicle in advance, for example, may be stored in the vehicle controller.
Further, since the minimum turning radius of the vehicle at the left turn and the minimum turning radius of the vehicle at the right turn may be different, in an embodiment of the present invention, the method for obtaining the minimum turning radius of the vehicle may further include obtaining a first minimum turning radius when the vehicle turns left and a second minimum turning radius when the vehicle turns right, respectively, comparing the first minimum turning radius with the second minimum turning radius, and determining the maximum value of the first minimum turning radius and the second minimum turning radius as the minimum turning radius of the vehicle.
For example, the minimum turning test can be performed by turning the steering wheel of the vehicle to the left to the limit position, acquiring longitude and latitude data of the vehicle in the test process through a GPS receiver, drawing a driving track circle after coordinate transformation, then obtaining the radius of the driving track circle according to the driving track circle, then obtaining the minimum turning radius when the vehicle turns to the left according to a formula of the minimum turning radius prestored in the whole vehicle controller, the axle distance of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle, the wheel track of the front wheel of the vehicle and the obtained radius of the driving track circle, taking the minimum turning radius as the first minimum turning radius, then turning the steering wheel of the vehicle to the limit position to perform the minimum turning test, repeating the steps to obtain the minimum turning radius when the vehicle turns to the right, taking the minimum turning radius as the second minimum turning radius, and finally comparing the first minimum turning radius with the second minimum turning radius, the maximum of the two is determined as the minimum turning radius of the vehicle. It should be noted that some details of the embodiments of the present invention can be found in the above embodiments, and are not described herein again.
In summary, according to the method for obtaining the minimum turning radius of the vehicle in the embodiment of the invention, the vehicle is controlled to perform the minimum turning test, the positioning module on the vehicle obtains the positioning signal of the vehicle in the minimum turning test process, then the driving track circle of the vehicle is drawn according to the positioning signal of the vehicle, then the radius of the driving track circle is obtained, and finally the minimum turning radius of the vehicle is obtained according to the radius of the driving track circle, the wheel base of the vehicle, the distance between the installation position of the positioning module and the front shaft of the vehicle, and the wheel base of the front wheels of the vehicle. Therefore, the method reduces the requirement on the test environment, has high measurement precision, does not need to greatly transform the vehicle, and can realize the test by depending on the positioning module on the vehicle. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved.
FIG. 4 is a block diagram illustrating an apparatus for obtaining a minimum turning radius of a vehicle according to one embodiment of the present invention.
As shown in fig. 4, the apparatus for acquiring a minimum turning radius of a vehicle according to an embodiment of the present invention includes a signal position acquiring module 100, a mapping module 200, and a radius acquiring module 300.
The signal position obtaining module 100 is configured to control a vehicle to perform a minimum turning test, and obtain a positioning signal of the vehicle in the minimum turning test process through a positioning module on the vehicle;
the drawing module 200 is configured to draw a driving track circle of the vehicle according to the positioning signal of the vehicle;
the radius obtaining module 300 is configured to obtain a radius of the travel track circle, and obtain a minimum turning radius of the vehicle according to the radius of the travel track circle, a wheel base of the vehicle, a distance between an installation position of the positioning module and a front axle of the vehicle, and a wheel base of front wheels of the vehicle.
In an embodiment of the present invention, the drawing module 200 is specifically configured to use one of the positioning signals as a reference signal, obtain an offset between the remaining positioning signals and the reference signal, and draw the travel track circle by using the offset.
In an embodiment of the present invention, the radius obtaining module 300 is specifically configured to connect any two points in the travel track circle, and determine a position of a center of the travel track circle based on any two connection lines; and acquiring the distance between the circle center position and any point of the driving track circle as the radius of the driving track circle.
In an embodiment of the present invention, the radius obtaining module 300 is further configured to obtain a first minimum turning radius when the vehicle turns left and a second minimum turning radius when the vehicle turns right, respectively; and comparing the first minimum turning radius with the second minimum turning radius, and determining the maximum value of the first minimum turning radius and the second minimum turning radius as the minimum turning radius of the vehicle.
In one embodiment of the invention, the positioning module is arranged on a longitudinal axis of the vehicle.
In an embodiment of the present invention, the signal position obtaining module 100 is further configured to control a steering wheel steering limit position of the vehicle; and controlling the vehicle to be kept at the lowest forward gear, and carrying out the minimum turning test under the condition that the vehicle speed is less than the preset vehicle speed.
In an embodiment of the present invention, the radius obtaining module 300 is specifically configured to obtain the minimum turning radius by using the following formula:
wherein R is the minimum turning radius; the r is the radius of the driving track circle; l is the wheelbase of the vehicle; the A is the distance between the installation position of the positioning module and the front axle of the vehicle; and B is the wheel track of the front wheel of the vehicle.
To sum up, the device for acquiring the minimum turning radius of the vehicle according to the embodiment of the present invention first controls the vehicle to perform the minimum turning test through the signal position acquisition module, acquires the positioning signal of the vehicle in the minimum turning test process through the positioning module on the vehicle, then draws the driving track circle of the vehicle according to the positioning signal of the vehicle through the drawing module, then acquires the radius of the driving track circle through the radius acquisition module, and finally acquires the minimum turning radius of the vehicle through the radius acquisition module according to the radius of the driving track circle, the wheel base of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle, and the wheel base of the front wheel of the vehicle. From this, the device has reduced the requirement to test environment, and measurement accuracy is high, need not to reform transform the vehicle by a wide margin, relies on the orientation module on the vehicle just can realize the test. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved.
In order to implement the above embodiments, the present invention further provides an electronic device, which includes a memory and a processor. Wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to realize the method for acquiring the minimum turning radius of the vehicle.
According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored on the memory, so that the requirement on a test environment is reduced, the measurement precision is high, the vehicle is not required to be greatly modified, and the test can be realized by depending on the positioning module on the vehicle. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved.
In order to implement the above embodiments, the present invention also proposes a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above method of obtaining a minimum turning radius of a vehicle.
The computer-readable storage medium of the embodiment of the invention reduces the requirement on the test environment by storing the computer program and executing the computer program by the processor, has high measurement precision, does not need to greatly reform the vehicle, and can realize the test by depending on the positioning module on the vehicle. Furthermore, only a tester drives the vehicle to complete the test, the operation is simple, the tester does not need to operate outside the vehicle, manpower and material resources are saved, and the working experience of the tester is greatly improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method of obtaining a minimum turning radius of a vehicle, comprising the steps of:
controlling a vehicle to perform a minimum turning test, and acquiring a positioning signal of the vehicle in the minimum turning test process through a positioning module on the vehicle;
drawing a running track circle of the vehicle according to the positioning signal of the vehicle;
and acquiring the radius of the running track circle, and acquiring the minimum turning radius of the vehicle according to the radius of the running track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheelbase of the front wheels of the vehicle.
2. The method of claim 1, wherein said drawing a circle of a trajectory of said vehicle based on said vehicle's localization signals comprises:
and taking one of the positioning signals as a reference signal, acquiring the offset between the rest positioning signals and the reference signal, and drawing the driving track circle by using the offset.
3. The method of claim 1, wherein the obtaining the radius of the travel trajectory circle comprises:
connecting any two points in the driving track circle, and determining the circle center position of the driving track circle based on any two connecting lines;
and acquiring the distance between the circle center position and any point of the driving track circle as the radius of the driving track circle.
4. The method according to any one of claims 1-3, further comprising:
respectively acquiring a first minimum turning radius when the vehicle turns left and a second minimum turning radius when the vehicle turns right;
and comparing the first minimum turning radius with the second minimum turning radius, and determining the maximum value of the first minimum turning radius and the second minimum turning radius as the minimum turning radius of the vehicle.
5. The method of any of claims 1-3, wherein the positioning module is disposed on a longitudinal axis of the vehicle.
6. The method of any one of claims 1-3, wherein controlling the vehicle to perform a minimum turn test comprises:
controlling a steering wheel limit position of the vehicle;
and controlling the vehicle to be kept at the lowest forward gear, and carrying out the minimum turning test under the condition that the vehicle speed is less than the preset vehicle speed.
7. The method according to any one of claims 1 to 3, wherein obtaining the minimum turning radius of the vehicle from the radius of the travel track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle, and the wheelbase of the front wheels of the vehicle comprises:
wherein R is the minimum turning radius; the r is the radius of the driving track circle; l is the wheelbase of the vehicle; the A is the distance between the installation position of the positioning module and the front axle of the vehicle; and B is the wheel track of the front wheel of the vehicle.
8. An apparatus for obtaining a minimum turning radius of a vehicle, comprising:
the signal position acquisition module is used for controlling a vehicle to carry out a minimum turning test and acquiring a positioning signal of the vehicle in the minimum turning test process through a positioning module on the vehicle;
the drawing module is used for drawing a driving track circle of the vehicle according to the positioning signal of the vehicle;
and the radius acquisition module is used for acquiring the radius of the running track circle and acquiring the minimum turning radius of the vehicle according to the radius of the running track circle, the wheelbase of the vehicle, the distance between the installation position of the positioning module and the front axle of the vehicle and the wheelbase of the front wheels of the vehicle.
9. An electronic device comprising a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the method of obtaining a minimum turning radius of a vehicle as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of obtaining a minimum turning radius for a vehicle according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910935709.3A CN112577756A (en) | 2019-09-29 | 2019-09-29 | Method and device for acquiring minimum turning radius of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910935709.3A CN112577756A (en) | 2019-09-29 | 2019-09-29 | Method and device for acquiring minimum turning radius of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112577756A true CN112577756A (en) | 2021-03-30 |
Family
ID=75111256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910935709.3A Pending CN112577756A (en) | 2019-09-29 | 2019-09-29 | Method and device for acquiring minimum turning radius of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112577756A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113405819A (en) * | 2021-06-18 | 2021-09-17 | 安徽江淮汽车集团股份有限公司 | Vehicle turning radius measuring method and system based on GPS |
| CN113884319A (en) * | 2021-08-30 | 2022-01-04 | 武汉科技大学 | Monocular vision-based vehicle minimum turning diameter measuring method and system |
| CN114397119A (en) * | 2022-01-14 | 2022-04-26 | 襄阳达安汽车检测中心有限公司 | High-precision automobile and automobile train steering test method and system |
| CN114414256A (en) * | 2021-12-21 | 2022-04-29 | 广西汽车集团有限公司 | Device and method for testing turning passing boundary of intelligent networked automobile under perception deviation |
| CN114659810A (en) * | 2022-03-07 | 2022-06-24 | 徐州徐工挖掘机械有限公司 | Real-time turning radius testing device and testing method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010083314A (en) * | 2008-09-30 | 2010-04-15 | Fuji Heavy Ind Ltd | Driving support device for vehicle |
| CN101927765A (en) * | 2009-06-17 | 2010-12-29 | 通用汽车环球科技运作公司 | Be used to improve the handling car construction of low speed |
| CN102343912A (en) * | 2011-06-20 | 2012-02-08 | 中南大学 | Method for estimating state during running process of automobile |
-
2019
- 2019-09-29 CN CN201910935709.3A patent/CN112577756A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010083314A (en) * | 2008-09-30 | 2010-04-15 | Fuji Heavy Ind Ltd | Driving support device for vehicle |
| CN101927765A (en) * | 2009-06-17 | 2010-12-29 | 通用汽车环球科技运作公司 | Be used to improve the handling car construction of low speed |
| CN102343912A (en) * | 2011-06-20 | 2012-02-08 | 中南大学 | Method for estimating state during running process of automobile |
Non-Patent Citations (3)
| Title |
|---|
| 国家汽车质量监督检验中心: "《中华人民共和国国家标准》", 31 July 2009 * |
| 李钱 等: "基于GPS的汽车最小转弯直径测试技术", 《公路与汽运》 * |
| 梁成江 等: "轴偏角对半挂汽车列车转弯及行驶通道宽度的影响", 《青岛理工大学学报》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113405819A (en) * | 2021-06-18 | 2021-09-17 | 安徽江淮汽车集团股份有限公司 | Vehicle turning radius measuring method and system based on GPS |
| CN113884319A (en) * | 2021-08-30 | 2022-01-04 | 武汉科技大学 | Monocular vision-based vehicle minimum turning diameter measuring method and system |
| CN113884319B (en) * | 2021-08-30 | 2024-04-12 | 武汉科技大学 | Vehicle minimum turning diameter measuring method and system based on monocular vision |
| CN114414256A (en) * | 2021-12-21 | 2022-04-29 | 广西汽车集团有限公司 | Device and method for testing turning passing boundary of intelligent networked automobile under perception deviation |
| CN114414256B (en) * | 2021-12-21 | 2024-04-12 | 广西汽车集团有限公司 | Device and method for testing turning passing boundary of intelligent network-connected automobile under perceived deviation |
| CN114397119A (en) * | 2022-01-14 | 2022-04-26 | 襄阳达安汽车检测中心有限公司 | High-precision automobile and automobile train steering test method and system |
| CN114397119B (en) * | 2022-01-14 | 2022-12-06 | 襄阳达安汽车检测中心有限公司 | High-precision automobile and automobile train steering test method and system |
| CN114659810A (en) * | 2022-03-07 | 2022-06-24 | 徐州徐工挖掘机械有限公司 | Real-time turning radius testing device and testing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112577756A (en) | Method and device for acquiring minimum turning radius of vehicle | |
| US10800423B2 (en) | Monitoring steering conditions of an off-road vehicle | |
| US20170248426A1 (en) | Calibration Methods and Systems for an Autonomous Navigation Vehicle | |
| JP6673921B2 (en) | 3D map generation with robotic tools | |
| CN105372078B (en) | The Servo Control method and device of wheeled tractor | |
| CN111982532B (en) | Automatic parking performance testing method | |
| CN108873043B (en) | Method and device for calculating vehicle sideslip angle | |
| CN112284415B (en) | Odometer scale error calibration method, system and computer storage medium | |
| CN111949030B (en) | Agricultural machinery positioning method, agricultural machinery vehicle and storage medium | |
| CN112284773A (en) | System and method for measuring minimum turning radius of automobile | |
| CN113804464B (en) | Vehicle steering radius measurement system and method | |
| CN114413934B (en) | Correction method and device for vehicle positioning system | |
| CN109405837A (en) | Object positioning method, application and vehicle | |
| CN111605547B (en) | Automatic parking performance evaluation method | |
| CN116381748B (en) | Agricultural machinery straight line automatic driving track comparison method and device | |
| JP7037529B2 (en) | Work machine | |
| CN108718533A (en) | Radio inertia automobile navigation with altitude data input | |
| CN114019954B (en) | Course installation angle calibration method, device, computer equipment and storage medium | |
| US8731826B2 (en) | Automatic determination of tire height for improving guidance performance | |
| JP3975549B2 (en) | Calibration method of vehicle speed pulse coefficient for autonomous navigation of navigation equipment | |
| CN113885054B (en) | Antenna position determining method and device | |
| CN107640157B (en) | Method and device for measuring centroid slip angle and tire slip angle and vehicle | |
| CN114623834B (en) | Combined navigation positioning measurement method and measurement system | |
| CN116026349B (en) | Method, apparatus, electronic device and medium for vehicle distance measurement | |
| CN117470438A (en) | Vehicle centroid side offset angle measuring method, medium, electronic equipment and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210330 |