CN105629968A - Self-guiding control method for no-rail self-guiding combination vehicle - Google Patents
Self-guiding control method for no-rail self-guiding combination vehicle Download PDFInfo
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Abstract
The invention discloses a self-guiding control method for a no-rail self-guiding combination vehicle, and the method comprises the steps: (1), recording the real-time position information of all axles of a vehicle in moving; (2), enabling each axle to move along a track through adjusting the steering angle of a wheel on the corresponding axle, wherein all axles need to move along the track where the first axle moves. The method is simple in principle, is high in control precision, can improve the following performance of wheels of a plurality of carriages, and improves the passing rate of a combination vehicle road.
Description
Technical field
Present invention relates generally to urban transportation tool field, refer in particular to a kind of self-steering control method suitable in trackless self-steering truck combination.
Background technology
In modern society, road becomes more and more crowded, and long-term is trapped on crowded road, necessarily causes the huge economy of people and spiritual loss. Therefore cheap, quick, reliable and punctual public transportation system change has more and more attractive.
Public transportation system main in modern city has subway, light rail, tramcar, bus etc. The public transportation system of these types has the merits and demerits that it is intrinsic. Subway and light rail systems are located in the ground or on overpass owing to building, and will not hinder other vehicle and pedestrian, and property is strong on schedule. But it is huge that its disadvantage is early investment, and on track due to occur contingency barrier occurs time, can only be out of service. Compared with subway and light rail, infrastructure construction needed for tramcar is cheaply a lot (but the construction cost of track and aerial line is still huge), and tramcar can, with other vehicle common row tracks, not need additionally to take up room, exactly because but so, it is possible to cause incuring loss through delay. Tramcar needs also exist for track and supply of electric power, when there is barrier in front, and can only be out of service. Tramcar, subway, light rail can stop website accurately, and vehicle is only small with the spacing of platform, and passengers get on or off the bus very convenient.
Compared to subway, light rail and electric car, the transport power of tradition bus is much smaller, and when turning, the skew of trailing wheel makes automobile need broader path space, and in order to increase transport power by after traditional bus hinged prolongation, it can become worse by property. But tradition bus is very flexible compared to railroad vehicle, when there is barrier in front, it is possible to avoid barrier very easily and continue to travel, when vehicle breaks down, it is possible to keep to the side, travel without influence on other vehicles.
Summary of the invention
The technical problem to be solved in the present invention is that for the technical problem that prior art exists, and the present invention provides the self-steering control method that a kind of principle is simple, control accuracy is high, can improve more piece car wheel followability, improve truck combination road passes through the trackless self-steering truck combination of property.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
The self-steering control method of a kind of trackless self-steering truck combination, the steps include:
Step (1): the real-time position information of the registration of vehicle each axletree in traveling;
Step (2): making axletree run on certain track by adjusting the steering angle of wheel in respective shaft, each axletree need to run on the track that the first axle runs.
As a further improvement on the present invention: the idiographic flow of described step (1) is:
The positional information of the vehicle each axletree in the traveling real-time coordinates T by known front truck barycenter place1(x1,y1), by measuring the yaw angle �� of each vehicle arrived1,��2,��3��..��nAnd the size of vehicle calculates in real time:
x2=x1-(lf1+lr1)cos��1
y2=y1-(lf1+lr1)sin��1
x3=x1-(lf1+lg1)cos��1-(lf2+lr2)cos��2
y3=y1-(lf1+lg1)sin��1-(lf2+lr2)sin��2
����
xn=x1-(lf1+lg1)cos��1......-(lf(n-2)+lg(n-2))cos��n-2-(lf(n-1)+lr(n-1))cos��n-1
yn=y1-(lf1+lg1)sin��1......-(lf(n-2)+lg(n-2))sin��n-2-(lf(n-1)+lr(n-1))sin��n-1
The positional information at each axletree midpoint of self-steering train is drawn by above-mentioned expression formula.
As a further improvement on the present invention: the idiographic flow of described step (2) is:
Step (2.1): for first segment car, the coordinate T of vehicle the first axle center in motion1(x1,y1) constantly update, it is stored in vehicle control device internal memory with the form of array;
Step (2.2): the coordinate at later steering spindle center is calculated in real time by step (1); By the coordinate at all front steering axle centers of storage in enquiring vehicle controller internal memory, finding out with front steering axle centre distance is antero posterior axis wheelbase and nearest with now rear steering spindle center coordinate points A (x*,y*), it can be used as coordinates of targets, be used for adjusting the steering angle of a rear steering spindle of vehicle;
Step (2.3): by coordinates of targets A (x*,y*) transform on first segment vehicle axis system Xv1-Yv1, obtaining A point Yv1 under Xv1-Yv1 coordinate system to distance is:
When by controlWhen being zero, trailing wheel can be made to be traveling on the track of front-wheel;
Step (2.4): repeat step (2.2)��(2.3), obtain the control program of other all each joint Vehicular turn axle steering angles.
As a further improvement on the present invention: the length of described array was determined according to idle speed and the vehicle control device control cycle of vehicle.
As a further improvement on the present invention: described self-steering control method includes the track of first steering spindle is determined, when determining that mode is automatic driving mode, by installing, at headstock, the identification forward path border that video camera is real-time, automatic adjustment direction dish, adjust turning to of first steering spindle of vehicle, it is ensured that first steering spindle of vehicle travels all the time in path.
As a further improvement on the present invention: described self-steering control method includes the track of first steering spindle is determined, when determining that mode is automatic driving mode, adopt GPS, the longitude and latitude curve of expected path is previously stored in the internal memory of vehicle control device, GPS is installed in vehicle the first axle center simultaneously, turning to of first steering spindle of vehicle is controlled, it is ensured that the longitude and latitude of vehicle the first axle is consistent with the expected path longitude and latitude curve of storage by automatic adjustment direction dish; The high accuracy GPS that other axles are installed by the first axle simultaneously extrapolates the latitude and longitude coordinates of other each axles with the setting element of installation on each joint vehicle.
As a further improvement on the present invention: described self-steering control method includes the track of first steering spindle is determined, when determining that mode is manual drive pattern, adopt road surface-people-vehicle closed loop system, people uses eye recognition path, control the direction of first steering spindle of vehicle with hands adjustment direction dish, make vehicle travel in path; On car, controller record the first axle is relative to the relative coordinate of starting point, for use as guiding control.
As a further improvement on the present invention: described self-steering control method includes platform and stops flow process, its method is: the microwave detector that is mounted laterally at self-steering train carries out precision ranging, when passenger vehicle pulls in by controlling all-wheel control system, vehicle diagonal is made to stop to realize stopping, it is achieved vehicle floor docks with the small gap of platform floor.
As a further improvement on the present invention: described self-steering control method includes traffic lights testing process, its method is: at the crossing being provided with traffic lights, interactive point type answering system is installed, front traffic light signal is passed to entire car controller, interactive point type answering system the vehicle to run after completing traffic lights response controls.
Compared with prior art, it is an advantage of the current invention that: the present invention proposes the self-steering control method of a kind of trackless self-steering truck combination, structure based on self-steering truck combination, principle is simple, control accuracy is high, can make to have line traffic control all-wheel steering truck combination and control turning to of vehicle the first axle according to the automatic adjustment direction dish of predefined track, can also pass through to manually adjust steering wheel and control turning to of vehicle the first axle, and the track that other axle all follows the first axle is advanced; This traveling mode can so that having good road by property and safety when the truck combination with two and above compartment travels on road, more piece car wheel followability can be improved, achieve self-steering function, real formation trackless self-steering truck combination.
Accompanying drawing explanation
Fig. 1 is the guiding principle schematic diagram of present invention trackless self-steering truck combination in concrete application example.
Fig. 2 is compartment relation schematic diagram between single inboard wheel and outboard wheels when turning in concrete application example.
Fig. 3 is present invention compartment relation schematic diagram between all inboard wheels and outboard wheels when turning in concrete application example.
Fig. 4 is present invention schematic diagram when adjusting steering angle to make axletree run on same track in concrete application example.
Fig. 5 is the principle schematic that the present invention carries out steering angle control target in concrete application example.
Fig. 6 is the principle schematic that self-steering train of the present invention guiding controls.
Fig. 7 is that the present invention carries out the principle schematic that diagonal pulls in concrete application example.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
The advantage of subway light rail electric car and tradition bus is carried out complementation by the present invention, a kind of trackless truck combination is proposed, this train is referred to as self-steering train, self-steering train is automobile, there is the structure that simple tradition articulated type bus is close, can be general with tradition bus part, do not need big infrastructure construction, erection without track and power network, with low cost, adopt this train after the present invention to be capable of automatic guide to travel along controlled track as tramcar, when there is barrier in front this train can depart from track can also as tradition bus cut-through thing. this self-steering train has slightly different from tradition articulated type public train, and this train needs have holoaxial and turns to (or all-wheel steering technology). when self-steering train has holoaxial driving (or a11wheel drive) ability, the operation of this train is more stable. for typical case three joint marshalling self-steering car, this car is made up of front truck, rear car, middle car, wherein front truck includes driver's cabin, being available for driver to be operated, the front and back of middle car all adopt hinged disk to be connected with front truck and rear car, when adopting hybrid power, rear car rear portion is provided with TRT and realizes totally-enclosed, to ensure the safety of passenger, when adopting pure electronic preparation, battery can also be installed with to motor.
Structure based on self-steering truck combination, the present invention proposes the self-steering control method of a kind of trackless self-steering truck combination, the method utilizing the present invention can make to have line traffic control all-wheel steering truck combination and control turning to of vehicle the first axle according to the automatic adjustment direction dish of predefined track, can also pass through to manually adjust steering wheel and control turning to of vehicle the first axle, and the track that other axle all follows the first axle is advanced; This traveling mode can so that having good road by property and safety when the truck combination with two and above compartment travels on road, realize self-steering function, real formation trackless self-steering truck combination, as shown in Figure 1, in figure, A is desired guiding trajectory, B is wheels travel path, and C is wheel, and D is vehicle body.
Between the self-steering control method setting forth the present invention, first do some it is assumed that namely compared with actual auto model:
(1) without side drift angle between tire and road, namely the direction of wheel determines the direction of vehicle;
(2) without the effect of internal force Yu external force;
(3) quality and inertia are left in the basket;
(4) translational speed of vehicle is very little.
After above-mentioned hypothesis completes, the static models of self-steering train can depression of order be " single wheel model ", and often referred to as " bicycle model " (bicycle-model), bicycle model simplification process is as shown in Figure 2.
Have as shown in Figure 2:
�� in formula11, ��12For vehicle both sides tire corner, ��1For equivalence wheel steering angle, W1For the wheelspan between the wheel of both sides, L1For antero posterior axis wheelbase. Subscript 1 is for representing the first axle, and subscript 11 represents that the first axle left side wheel, subscript 12 are expressed as the first axle right side wheels.
Therefore, the kinetic characteristic of self-steering train can describe by the kinetic characteristic of " bicycle " that wheel is positioned at vehicle axis. Therefore the hinged public train of N joint can describe by bicycle model as shown in Figure 3.
Due to, the coaxial wheel of vehicle is connected by connecting rod, and therefore coaxial wheel only need to give a steering angle, adjusts turning to of this axle wheel, and the steering angle of the equivalence wheel in the equally possible bicycle model of this steering angle is stated.
As shown in Figure 6, the self-steering control method of a kind of trackless self-steering truck combination of the present invention, all trailing wheels of self-steering train can be realized by control and follow front wheel track thus realizing guiding, the steps include:
Step (1): the positional information of the registration of vehicle each axletree in traveling; The positional information of the vehicle each axletree in traveling can pass through the real-time coordinates T at known front truck barycenter place1(x1,y1), by measuring the yaw angle �� of each vehicle arrived1,��2,��3��..��nAnd the size of vehicle calculates in real time.
x2=x1-(lf1+lr1)cos��1(3)
y2=y1-(lf1+lr1)sin��1(4)
x3=x1-(lf1+lg1)cos��1-(lf2+lr2)cos��2(5)
y3=y1-(lf1+lg1)sin��1-(lf2+lr2)sin��2(6)
����
xn=x1-(lf1+lg1)cos��1......-(lf(n-2)+lg(n-2))cos��n-2-(lf(n-1)+lr(n-1))cos��n-1(7)
yn=y1-(lf1+lg1)sin��1......-(lf(n-2)+lg(n-2))sin��n-2-(lf(n-1)+lr(n-1))sin��n-1(8)
X in formula1��x2��x3��.xnRespectively represent the 1st, 2,3 ... n axle coordinate in coordinate x-axis;
Y in formula1��y2��y3��.ynRespectively represent the 1st, 2,3 ... n axle coordinate in coordinate y-axis;
�� in formula1,��2,��3��..��nRespectively represent the 1st, 2,3 ... n save compartment yaw angle;
L in formulaf1Represent the first segment compartment barycenter distance to first axletree;
L in formulag1Represent the first segment compartment barycenter distance to first segment compartment Yu junction, second section compartment;
L in formulaf2Represent that second section compartment and hinged place, first segment compartment are to the distance between second section compartment barycenter;
L in formular2Represent the distance to barycenter of the axletree on second section compartment;
L in formulaf(n-2)Represent that (n-2) saves barycenter on compartment and save compartment to (n-2) and (n-3) saves the distance of junction between compartment;
L in formulag(n-2)Represent that (n-2) saves barycenter on compartment and save compartment to (n-2) and (n-1) saves the distance of junction between compartment;
L in formulaf(n-1)Represent that (n-2) saves barycenter on compartment and save compartment to (n-2) and (n-1) saves the distance of junction between compartment;
L in formular(n-1)Represent that (n-2) saves on compartment axletree to the distance of this joint compartment barycenter;
The positional information at guiding each axletree midpoint of train must be come from by above-mentioned expression formula.
Step 2: make axletree run on certain track by adjusting the steering angle of wheel in respective shaft; As shown in Figure 4, for self-steering train, each axletree need to run on the track that the first axle runs.
In concrete application example, its detailed step is:
Step (2.1): for first segment car, the coordinate T of vehicle the first axle center in motion1(x1,y1) constantly update, it is stored in vehicle control device internal memory with the form of array. Wherein, the length of array can be determined according to the idle speed of vehicle and vehicle control device control cycle. Such as: for first segment car, with its wheelbase for 7m, idling speed 0.1m/s, the control cycle is 0.01s, then array length need to more than 7000.
Step (2.2): the coordinate at later steering spindle center can calculate in real time according to above-mentioned formula (3)��(4). By the coordinate at all front steering axle centers of storage in enquiring vehicle controller internal memory, find out that be antero posterior axis wheelbase with front steering axle centre distance and nearest with now rear steering axle center coordinate points A (x*,y*), it can be used as coordinates of targets, for adjusting the steering angle of a rear steering spindle of vehicle.
Step (2.3): by coordinates of targets A (x*,y*) transform on first segment vehicle axis system Xv1-Yv1, obtaining A point Yv1 under Xv1-Yv1 coordinate system to distance is:
As it is shown in figure 5, E is desired trajectory in figure, when by controlWhen being zero, trailing wheel can be made to be traveling on the track of front-wheel.
Step (2.4): repeat step step (2.2)��(2.3), the control program of other all each joint Vehicular turn axle steering angles can be obtained.
In the present embodiment, further the track of first steering spindle is determined, it is possible to adopt both of which:
3.1 automatic driving modes;
In this mode, adopt Path Recognition technology (such as image recognition technology), by installing, at headstock, the identification forward path border that video camera is real-time, by automatic adjustment direction dish, thus adjusting turning to of first steering spindle of vehicle, so that it is guaranteed that first steering spindle of vehicle travels all the time in path. When technology such as adopting image recognition technology, laser detection, Light-Echo detection realizes automatic Pilot, owing to can not directly obtain real-time latitude and longitude information, therefore frequently with the mode of relative coordinate, vehicle control device is by the vehicle speed sensor installed on vehicle, inertial navigation element, and other sensors calculate vehicle the first axle in real time with starting point for initial point, when starting point, first segment vehicle axis is X-axis, it is perpendicular to the real-time coordinates under the earth axes that direction, axis is Y-axis, it is stored in controller internal memory, for use as guiding control.
When directly adopting high accuracy GPS, the longitude and latitude curve of expected path is previously stored in the internal memory of vehicle control device, GPS is installed in vehicle the first axle center simultaneously, turning to of first steering spindle of vehicle is controlled, so that it is guaranteed that the longitude and latitude of vehicle the first axle is consistent with the expected path longitude and latitude curve of storage by automatic adjustment direction dish. Meanwhile, other axles are by the high accuracy GPS of the first axle installation and installation inertial navigation element on each joint vehicle, and angular transducer, vehicle speed sensor etc. extrapolates the latitude and longitude coordinates of other each axles.
3.2 manual drive patterns;
In this mode, the same with orthodox car vehicle drive mode, adopt road surface-people-vehicle closed loop system, people uses eye recognition path, controls the direction of first steering spindle of vehicle with hands adjustment direction dish, makes vehicle travel in path. On car, controller record the first axle is relative to the relative coordinate of starting point, for use as guiding control.
In the present embodiment, the self-steering control method of the trackless self-steering truck combination of the present invention, farther include platform and stop flow process, its method is: the microwave detector that is mounted laterally at self-steering train carries out precision ranging, when passenger vehicle pulls in by controlling all-wheel control system, vehicle diagonal is made to stop to realize high accuracy stop, it is achieved vehicle floor docks with the small gap of platform floor, as it is shown in fig. 7, F is platform in figure.
Owing to self-steering train is possible to travel with orthodox car vehicle co-channel, therefore the signaling system of traffic lights is equally applicable to it, and the identification of traffic lights is also an indispensable technology of self-steering train. In the present embodiment, the self-steering control method of the trackless self-steering truck combination of the present invention, farther include traffic lights testing process, its method is: at the crossing being provided with traffic lights, install interactive point type answering system, front traffic light signal is passed to entire car controller, interactive point type answering system the vehicle to run after completing traffic lights response controls, stop realizing red light, green light row.
Below being only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, and all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention. It should be pointed out that, for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be regarded as protection scope of the present invention.
Claims (9)
1. the self-steering control method of a trackless self-steering truck combination, it is characterised in that step is:
Step (1): the real-time position information of the registration of vehicle each axletree in traveling;
Step (2): making axletree run on certain track by adjusting the steering angle of wheel in respective shaft, each axletree need to run on the track that the first axle runs.
2. the self-steering control method of trackless self-steering truck combination according to claim 1, it is characterised in that the idiographic flow of described step (1) is:
The positional information of the vehicle each axletree in the traveling real-time coordinates T by known front truck barycenter place1(x1,y1), by measuring the yaw angle �� of each vehicle arrived1,��2,��3.....��nAnd the size of vehicle calculates in real time:
x2=x1-(lf1+lr1)cos��1
y2=y1-(lf1+lr1)sin��1
x3=x1-(lf1+lg1)cos��1-(lf2+lr2)cos��2
y3=y1-(lf1+lg1)sin��1-(lf2+lr2)sin��2
����
xn=x1-(lf1+lg1)cos��1......-(lf(n-2)+lg(n-2))cos��n-2-(lf(n-1)+lr(n-1))cos��n-1
yn=y1-(lf1+lg1)sin��1......-(lf(n-2)+lg(n-2))sin��n-2-(lf(n-1)+lr(n-1))sin��n-1
The positional information at each axletree midpoint of self-steering train is drawn by above-mentioned expression formula.
3. the self-steering control method of trackless self-steering truck combination according to claim 2, it is characterised in that the idiographic flow of described step (2) is:
Step (2.1): for first segment car, the coordinate T of vehicle the first axle center in motion1(x1,y1) constantly update, it is stored in vehicle control device internal memory with the form of array;
Step (2.2): the coordinate at later steering spindle center is calculated in real time by step (1); By the coordinate at all front steering axle centers of storage in enquiring vehicle controller internal memory, finding out with front steering axle centre distance is antero posterior axis wheelbase and nearest with now rear steering spindle center coordinate points A (x*,y*), it can be used as coordinates of targets, be used for adjusting the steering angle of a rear steering spindle of vehicle;
Step (2.3): by coordinates of targets A (x*,y*) transform on first segment vehicle axis system Xv1-Yv1, obtaining A point Yv1 under Xv1-Yv1 coordinate system to distance is:
When by controlWhen being zero, trailing wheel can be made to be traveling on the track of front-wheel;
Step (2.4): repeat step step (2.2)��(2.3), obtain the control program of other all each joint Vehicular turn axle steering angles.
4. the self-steering control method of trackless self-steering truck combination according to claim 3, it is characterised in that the length of described array was determined according to idle speed and the vehicle control device control cycle of vehicle.
5. the self-steering control method of the trackless self-steering truck combination according to any one in Claims 1 to 4, it is characterized in that, described self-steering control method includes the track of first steering spindle is determined, when determining that mode is automatic driving mode, by installing, at headstock, the identification forward path border that video camera is real-time, automatic adjustment direction dish, adjusts turning to of first steering spindle of vehicle, it is ensured that first steering spindle of vehicle travels all the time in path.
6. the self-steering control method of the trackless self-steering truck combination according to any one in Claims 1 to 4, it is characterized in that, described self-steering control method includes the track of first steering spindle is determined, when determining that mode is automatic driving mode, adopt GPS, the longitude and latitude curve of expected path is previously stored in the internal memory of vehicle control device, GPS is installed in vehicle the first axle center simultaneously, turning to of first steering spindle of vehicle is controlled by automatic adjustment direction dish, guarantee that the longitude and latitude of vehicle the first axle is consistent with the expected path longitude and latitude curve of storage, the high accuracy GPS that other axles are installed by the first axle simultaneously extrapolates the latitude and longitude coordinates of other each axles with the setting element of installation on each joint vehicle.
7. the self-steering control method of the trackless self-steering truck combination according to any one in Claims 1 to 4, it is characterized in that, described self-steering control method includes the track of first steering spindle is determined, when determining that mode is manual drive pattern, adopt road surface-people-vehicle closed loop system, people uses eye recognition path, controls the direction of first steering spindle of vehicle with hands adjustment direction dish, makes vehicle travel in path; On car, controller record the first axle is relative to the relative coordinate of starting point, for use as guiding control.
8. the self-steering control method of the trackless self-steering truck combination according to any one in Claims 1 to 4, it is characterized in that, described self-steering control method includes platform and stops flow process, its method is: the microwave detector that is mounted laterally at self-steering train carries out precision ranging, when passenger vehicle pulls in by controlling all-wheel control system, vehicle diagonal is made to stop to realize stopping, it is achieved vehicle floor docks with the small gap of platform floor.
9. the self-steering control method of the trackless self-steering truck combination according to any one in Claims 1 to 4, it is characterized in that, described self-steering control method includes traffic lights testing process, its method is: at the crossing being provided with traffic lights, interactive point type answering system is installed, front traffic light signal is passed to entire car controller, interactive point type answering system the vehicle to run after completing traffic lights response controls.
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