CN108146436A - A kind of method and vehicle for controlling vehicle traveling - Google Patents
A kind of method and vehicle for controlling vehicle traveling Download PDFInfo
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- CN108146436A CN108146436A CN201711434458.8A CN201711434458A CN108146436A CN 108146436 A CN108146436 A CN 108146436A CN 201711434458 A CN201711434458 A CN 201711434458A CN 108146436 A CN108146436 A CN 108146436A
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- 230000007246 mechanism Effects 0.000 claims description 123
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
Abstract
The embodiment of the present invention provides a kind of method that vehicle is controlled to travel and vehicle, this method include：The first control signal sent to vehicle is received, according to first control signal, the lines of the identification information of each wheel group and each wheel group controls each wheel group to rotate forward or backward.The method of control vehicle traveling provided in an embodiment of the present invention, while vehicle straight trip is retained with turning function, increases the traversing function of vehicle, so that driver is more convenient when driving vehicle or being stopped, for new hand driver, driving difficulty is reduced, improves driving experience.
Description
Technical field
The present embodiments relate to vehicular field, more particularly to a kind of method and vehicle for controlling vehicle traveling.
Background technology
Vehicle becomes increasingly popular in people's lives as a kind of common vehicles.Existing vehicle only has directly
Row and the driving functions of turning for the road conditions of some space relative narrowness, either drive vehicle and still stop, all to driving
The driving technology requirement of member is very high, for new hand driver, causes very big driving difficulty, seriously affects driving experience.
Invention content
An embodiment of the present invention provides a kind of method and vehicle for controlling vehicle traveling, to solve existing vehicle drive work(
Can be limited, the problem of causing to drive difficulty.
In a first aspect, an embodiment of the present invention provides a kind of method for controlling vehicle traveling, the vehicle includes:VCU
It is (Vehicle Control Unit, control unit for vehicle), left drive mechanism, front left wheel group, left back driving mechanism, left back
Wheel group, right front driving mechanism, right front wheel group, right rear drive mechanism and right rear wheel group, the method includes：
The VCU receives the traversing first control signal sent to the vehicle；
The VCU is according to the line of the first control signal, the identification information of each wheel group and each wheel group
The second control signal on road, the respectively corresponding front left wheel group of generation, the third control signal of the corresponding rear left wheel group,
4th control signal of the corresponding right front wheel group and the 5th control signal of the corresponding right rear wheel group；
The left drive mechanism controls the front left wheel group to rotate forward or backward according to the second control signal,
The left back driving mechanism controls signal that the rear left wheel group is controlled to rotate forward or backward according to the third, before the right side
Driving mechanism controls the right front wheel group to rotate forward or backward according to the described 4th control signal, the right rear drive mechanism
The right rear wheel group is controlled to rotate forward or backward according to the described 5th control signal；
Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group
Third lines and the 4th lines of the right rear wheel group combine to form X fonts or O fonts.
In some embodiments, the first control signal is the traversing signal in left side；
The second control signal that the VCU is rotated forward according to the left side traversing signal generation front left wheel group,
The third control signal that the rear left wheel group rotates backward, the 4th control signal and institute that the right front wheel group rotates backward
State the 5th control signal that right rear wheel group rotates forward；
The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to institute
Stating second control signal controls the front left wheel group to rotate forward；
The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to institute
Stating third control signal controls the rear left wheel group to rotate backward；
The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to institute
Stating the 4th control signal controls the right front wheel group to rotate backward；
The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to institute
Stating the 5th control signal controls the right rear wheel group to rotate forward；
Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group
Third lines and the 4th lines of the right rear wheel group combine to form X fonts.
In some embodiments, the first control signal is the traversing signal in right side；
The second control signal that the VCU rotates backward according to the right side traversing signal generation front left wheel group,
The third control signal that the rear left wheel group rotates forward, the 4th control signal and institute that the right front wheel group rotates forward
State the 5th control signal that right rear wheel group rotates backward；
The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to institute
Stating second control signal controls the front left wheel group to rotate backward；
The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to institute
Stating third control signal controls the rear left wheel group to rotate forward；
The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to institute
Stating the 4th control signal controls the right front wheel group to rotate forward；
The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to institute
Stating the 5th control signal controls the right rear wheel group to rotate backward；
Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group
Third lines and the 4th lines of the right rear wheel group combine to form X fonts.
In some embodiments, the first control signal is the traversing signal in left side；
The second control signal that the VCU rotates backward according to the left side traversing signal generation front left wheel group,
The third control signal that the rear left wheel group rotates forward, the 4th control signal and institute that the right front wheel group rotates forward
State the 5th control signal that right rear wheel group rotates backward；
The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to institute
Stating second control signal controls the front left wheel group to rotate backward；
The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to institute
Stating third control signal controls the rear left wheel group to rotate forward；
The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to institute
Stating the 4th control signal controls the right front wheel group to rotate forward；
The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to institute
Stating the 5th control signal controls the right rear wheel group to rotate backward；
Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group
Third lines and the 4th lines of the right rear wheel group combine to form O fonts.
In some embodiments, the first control signal is the traversing signal in right side；
The second control signal that the VCU is rotated forward according to the right side traversing signal generation front left wheel group,
The third control signal that the rear left wheel group rotates backward, the 4th control signal and institute that the right front wheel group rotates backward
State the 5th control signal that right rear wheel group rotates forward；
The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to institute
Stating second control signal controls the front left wheel group to rotate forward；
The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to institute
Stating third control signal controls the rear left wheel group to rotate backward；
The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to institute
Stating the 4th control signal controls the right front wheel group to rotate backward；
The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to institute
Stating the 5th control signal controls the right rear wheel group to rotate forward；
Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group
Third lines and the 4th lines of the right rear wheel group combine to form O fonts.
In some embodiments, the method further includes：
During the vehicle is traversing to the left, the first current state of the vehicle is obtained；
Judge whether first current state first object state corresponding with the traversing signal in the right side is consistent；
If first current state is consistent with the first object state, first current state is maintained；
If first current state and the first object state are inconsistent, it is anti-to send first to the VCU
Feedback signal；
The VCU generates the first adjustment signal for adjusting the vehicle-state according to first feedback signal.
In some embodiments, the method further includes：
During the vehicle is traversing to the right, the second current state of the vehicle is obtained；
Judge whether second current state the second dbjective state corresponding with the traversing signal in the right side is consistent；
If second current state is consistent with second dbjective state, second current state is maintained；
If second current state and second dbjective state are inconsistent, it is anti-to send second to the VCU
Feedback signal；
The VCU generates the second adjustment signal for adjusting the vehicle-state according to second feedback signal.
Second aspect, the embodiment of the present invention additionally provide a kind of vehicle, including：Before front left wheel group, rear left wheel group, the right side
Wheel group, right rear wheel group, which is characterized in that the vehicle further includes：
Control unit for vehicle VCU for receiving the traversing first control signal sent to the vehicle, is additionally operable to basis
The lines of the first control signal, the identification information of each wheel group and each wheel group, respectively generation correspond to the left side
The second control signal of front vehicle wheel group, the third control signal of the corresponding rear left wheel group correspond to the right front wheel group
5th control signal of the 4th control signal and the corresponding right rear wheel group；
Left drive mechanism, for the front left wheel group being controlled to turn forward or backward according to the second control signal
It is dynamic；
Left back driving mechanism, for controlling signal that the rear left wheel group is controlled to turn forward or backward according to the third
It is dynamic；
Right front driving mechanism, for the right front wheel group being controlled to turn forward or backward according to the described 4th control signal
It is dynamic；
Right rear drive mechanism, for the right rear wheel group being controlled to turn forward or backward according to the described 5th control signal
It is dynamic；
Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group
Third lines and the 4th lines of the right rear wheel group combine to form X fonts or O fonts.
In some embodiments, the vehicle further includes：
First acquisition module, it is current for during the vehicle is traversing to the left, obtaining the first of the vehicle
State；
First judgment module judges first current state first object state corresponding with the traversing signal in the right side
Whether it is consistent, if first current state is consistent with second dbjective state, maintains the described first current shape
State；
First feedback module, if inconsistent for first current state and the first object state, to
The VCU sends the first feedback signal.
In some embodiments, the vehicle further includes：
Second acquisition module, it is current for during the vehicle is traversing to the left, obtaining the second of the vehicle
State；
Second judgment module judges second current state the second dbjective state corresponding with the traversing signal in the right side
Whether it is consistent, if second current state is consistent with second dbjective state, maintains the described first current shape
State；
Second feedback module, if inconsistent for second current state and second dbjective state, to
The VCU sends the second feedback signal.
The embodiment of the present invention has the advantages that：
The method of control vehicle traveling provided in an embodiment of the present invention, while vehicle straight trip is retained with turning function,
Increase the traversing function of vehicle so that driver is more convenient when driving vehicle or being stopped, and for new hand driver, reduces
Driving difficulty, improves driving experience.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is a kind of method for controlling vehicle traveling provided in an embodiment of the present invention；
Fig. 2 is one of traversing method of control vehicle left side provided in an embodiment of the present invention；
Fig. 3 is the two of the traversing method of control vehicle left side provided in an embodiment of the present invention；
Fig. 4 is one of traversing method of control vehicle right side provided in an embodiment of the present invention；
Fig. 5 is the two of the traversing method of control vehicle right side provided in an embodiment of the present invention；
Fig. 6 is the three of the traversing method of control vehicle left side provided in an embodiment of the present invention；
Fig. 7 is the three of the traversing method of control vehicle right side provided in an embodiment of the present invention；
Fig. 8 is a kind of vehicle structure schematic diagram provided in an embodiment of the present invention；
Fig. 9 is the vehicle schematic diagram that a kind of each wheel group lines provided in an embodiment of the present invention is combined as X fonts；
A kind of Figure 10 vehicle schematic diagrames that O fonts are combined as each wheel group lines provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained without making creative work
Example, shall fall within the protection scope of the present invention.
It should be noted that the vehicle in the embodiment of the present invention, refers to thering is the vehicle of independent a11wheel drive ability, packet
Include hybrid vehicle, pure electric vehicle, plug-in hybrid vehicle, hydrogen-powered vehicle and other alternative fuel (for example, from except
The fuel that resource other than oil obtains) vehicle；Wheel group refers to what is be made of one or more wheels, and there are one driving machines
The wheel arrangement of structure driving.
Referring to Fig. 1, an embodiment of the present invention provides a kind of methods for controlling vehicle traveling, are as follows：
Step 101, VCU receive the traversing first control signal sent to vehicle；
In embodiments of the present invention, first control signal for driver by such as steering wheel, accelerator pedal, brake pedal and
The traversing signal that operating mechanisms is waited to be sent to vehicle that opens the light, it is such as left for representing that instruction vehicle is moved to perpendicular to vehicle body direction
The traversing signal of the traversing signal in side or right side, the signal are received by the VCU of vehicle interior.
Step 102, VCU are according to the line of first control signal, the identification information of each wheel group and each wheel group
Road, generates the second control signal of corresponding front left wheel group respectively, the third control signal of corresponding rear left wheel group, it is corresponding it is right before
4th control signal of wheel group and the 5th control signal of corresponding right rear wheel group；
In embodiments of the present invention, the identification information of each wheel group refers to that each wheel group corresponds to the setting position of vehicle
It puts, such as front left wheel group, the lines of each wheel group refers to the lines that different directions are provided in each wheel group, should
Lines is used to implement the traverse moving function of vehicle, according to the shape that the lines in each wheel group and ground contacting part are grouped as by line
Road type is divided into X fonts or O fonts.
Step 103, left drive mechanism control front left wheel group to rotate forward or backward according to second control signal, left back
Driving mechanism controls signal control rear left wheel group to rotate forward or backward according to third, and right front driving mechanism is according to the 4th control
Signal control right front wheel group rotate forward or backward, right rear drive mechanism according to the 5th control signal control right rear wheel group to
It is preceding or rotate backward；
In embodiments of the present invention, VCU by the second control signal of generation, third control signal, the 4th control signal with
And the 5th control signal be sent to driving machine behind corresponding left drive mechanism, left back driving mechanism, right front driving mechanism and the right side
Structure, driving mechanism drive corresponding wheel group to rotate forward or backward.
For the lines being obliquely installed in vehicle wheel rotation, ground can generate wheel the friction that direction favours wheel axial direction
Power, the frictional force can be decomposed into the component for being parallel to vehicle body direction and the component perpendicular to vehicle body direction, current rear car
During the rotation direction difference of wheel, component of the frictional force on the direction of vehicle body is parallel to is cancelled out each other, and is only retained perpendicular to vehicle body
The component in direction makes vehicle be realized transverse shifting function by horizontal force.In the case of normal straight-ahead operation or turning, X words
The lines that type or O font modes are arranged, the frictional force generated on left and right wheels, the component perpendicular to vehicle body direction mutually support
Disappear, only retain the component for being parallel to vehicle body direction, will not normally keep straight on to vehicle or turning function has an impact.
The method provided through the embodiment of the present invention in this way makes vehicle increase while straight trip is retained with turning function
Vehicle traversing function so that driver is more convenient when driving vehicle or being stopped, and for new hand driver, reduces and drives
Difficulty is sailed, improves driving experience.
Referring to Fig. 2, an embodiment of the present invention provides a kind of traversing method of vehicle left side, for the line in each wheel group
Road is combined as the situation of X fonts, is as follows：
Step 201, VCU receive the traversing signal in left side sent to vehicle；
Step 202, VCU are according to the line of the traversing signal in left side, the identification information of each wheel group and each wheel group
Road, generates the second control signal of corresponding front left wheel group respectively, the third control signal of corresponding rear left wheel group, it is corresponding it is right before
4th control signal of wheel group and the 5th control signal of corresponding right rear wheel group；
Step 203, left drive mechanism control front left wheel group to rotate forward according to second control signal, left back driving machine
Structure controls signal control rear left wheel group to rotate backward according to third, before right front driving mechanism is according to the 4th control signal control right side
Wheel group rotates backward, and right rear drive mechanism rotates forward according to the 5th control signal control right rear wheel group；
The method provided through the embodiment of the present invention in this way makes vehicle increase while straight trip is retained with turning function
Vehicle traversing function so that driver is more convenient when driving vehicle or being stopped, and for new hand driver, reduces and drives
Difficulty is sailed, improves driving experience.
Referring to Fig. 3, an embodiment of the present invention provides the traversing method of another vehicle left side, in each wheel group
Lines is combined as the situation of O fonts, is as follows：
Step 301, VCU receive the traversing signal in left side sent to vehicle；
Step 302, VCU are according to the line of the traversing signal in left side, the identification information of each wheel group and each wheel group
Road, generates the second control signal of corresponding front left wheel group respectively, the third control signal of corresponding rear left wheel group, it is corresponding it is right before
4th control signal of wheel group and the 5th control signal of corresponding right rear wheel group；
Step 303, left drive mechanism control front left wheel group to rotate backward according to second control signal, left back driving machine
Structure controls signal control rear left wheel group to rotate forward according to third, before right front driving mechanism is according to the 4th control signal control right side
Wheel group rotates forward, and right rear drive mechanism rotates backward according to the 5th control signal control right rear wheel group；
The method provided through the embodiment of the present invention in this way makes vehicle increase while straight trip is retained with turning function
Vehicle traversing function so that driver is more convenient when driving vehicle or being stopped, and for new hand driver, reduces and drives
Difficulty is sailed, improves driving experience.
Referring to Fig. 4, an embodiment of the present invention provides a kind of traversing method of vehicle right side, for the line in each wheel group
Road is combined as the situation of X fonts, is as follows：
Step 401, VCU receive the traversing signal in right side sent to vehicle；
Step 402, VCU are according to the line of the traversing signal in right side, the identification information of each wheel group and each wheel group
Road, generates the second control signal of corresponding front left wheel group respectively, the third control signal of corresponding rear left wheel group, it is corresponding it is right before
4th control signal of wheel group and the 5th control signal of corresponding right rear wheel group；
Step 403, left drive mechanism control front left wheel group to rotate backward according to second control signal, left back driving machine
Structure controls signal control rear left wheel group to rotate forward according to third, before right front driving mechanism is according to the 4th control signal control right side
Wheel group rotates forward, and right rear drive mechanism rotates backward according to the 5th control signal control right rear wheel group；
The method provided through the embodiment of the present invention in this way makes vehicle increase while straight trip is retained with turning function
Vehicle traversing function so that driver is more convenient when driving vehicle or being stopped, and for new hand driver, reduces and drives
Difficulty is sailed, improves driving experience.
Referring to Fig. 5, an embodiment of the present invention provides the traversing method of another vehicle right side, in each wheel group
Lines is combined as the situation of O fonts, is as follows：
Step 501, VCU receive the traversing signal in right side sent to vehicle；
Step 502, VCU are according to the line of the traversing signal in right side, the identification information of each wheel group and each wheel group
Road, generates the second control signal of corresponding front left wheel group respectively, the third control signal of corresponding rear left wheel group, it is corresponding it is right before
4th control signal of wheel group and the 5th control signal of corresponding right rear wheel group；
Step 503, left drive mechanism control front left wheel group to rotate forward according to second control signal, left back driving machine
Structure controls signal control rear left wheel group to rotate backward according to third, before right front driving mechanism is according to the 4th control signal control right side
Wheel group rotates backward, and right rear drive mechanism rotates forward according to the 5th control signal control right rear wheel group；
The method provided through the embodiment of the present invention in this way makes vehicle increase while straight trip is retained with turning function
Vehicle traversing function so that driver is more convenient when driving vehicle or being stopped, and for new hand driver, reduces and drives
Difficulty is sailed, improves driving experience.
Referring to Fig. 6, an embodiment of the present invention provides the traversing methods of another vehicle left side, are as follows：
Step 601, VCU receive the traversing signal in left side sent to vehicle；
Step 602, VCU are according to the line of the traversing signal in left side, the identification information of each wheel group and each wheel group
Road, generates the second control signal of corresponding front left wheel group respectively, the third control signal of corresponding rear left wheel group, it is corresponding it is right before
4th control signal of wheel group and the 5th control signal of corresponding right rear wheel group；
Step 603, left drive mechanism control front left wheel group to rotate forward or backward according to second control signal, left back
Driving mechanism controls signal control rear left wheel group to rotate forward or backward according to third, and right front driving mechanism is according to the 4th control
Signal control right front wheel group rotate forward or backward, right rear drive mechanism according to the 5th control signal control right rear wheel group to
It is preceding or rotate backward；
In embodiments of the present invention, in the case of the lines in each wheel group is combined as X fonts, step 603 and Fig. 2
Middle step 203 is identical；In the case of the lines in each wheel group is combined as O fonts, step 603 and step 303 phase in Fig. 3
Together, it no longer repeats herein.
Step 604, the first current state for obtaining vehicle；
In embodiments of the present invention, the first current state is referred to when vehicle is traversing to the left, the state of vehicle, the shape
State includes speed or vehicle heading, and for representing the travel situations of vehicle, the embodiment of the present invention is to the first current state
Particular content is not especially limited.First current state can be obtained by detections such as such as gyroscopes or wheel speed sensor
, the embodiment of the present invention is not especially limited the acquisition modes of the first current state.
Step 605 judges whether the first current state first object state corresponding with the traversing signal in left side is consistent, such as
The first current state of fruit first object state corresponding with the traversing signal in left side is consistent, then performs step 606, otherwise perform step
Rapid 607；
In embodiments of the present invention, the corresponding first object state of the traversing signal in left side represents that driver passes through operating mechanism
The driving intention indicated to vehicle, including such as by accelerator pedal or brake pedal adjustment speed etc., the embodiment of the present invention is to the
The particular content of one dbjective state is not especially limited, but the content that above-mentioned first current state is included with first object state
It is corresponding.
Step 606 maintains the first current state；
In embodiments of the present invention, the first current state is consistent with first object state, keeps current vehicle traveling shape
State is adjusted without control.
Step 607 sends the first feedback signal to VCU；
In embodiments of the present invention, the first current state and first object state are inconsistent, according to different between the two
Information, generate the first feedback signal, be used to indicate VCU and make corresponding adjustment.
Step 608, VCU generate the first adjustment signal for adjusting vehicle-state；
In embodiments of the present invention, VCU generates the first adjustment signal according to the first feedback signal, for adjusting vehicle shape
State.
The method provided through the embodiment of the present invention in this way makes vehicle increase while straight trip is retained with turning function
Vehicle traversing function, and can feedback adjustment be carried out according to vehicle's current condition, vehicle driving functions be allowed more to stablize,
So that driver is more convenient when driving vehicle or being stopped, for new hand driver, driving difficulty is reduced, improves driving
Experience.
Referring to Fig. 7, an embodiment of the present invention provides the traversing methods of another vehicle right side, are as follows：
Step 701, VCU receive the traversing signal in right side sent to vehicle；
Step 702, VCU are according to the line of the traversing signal in right side, the identification information of each wheel group and each wheel group
Road, generates the second control signal of corresponding front left wheel group respectively, the third control signal of corresponding rear left wheel group, it is corresponding it is right before
4th control signal of wheel group and the 5th control signal of corresponding right rear wheel group；
Step 703, left drive mechanism control front left wheel group to rotate forward or backward according to second control signal, left back
Driving mechanism controls signal control rear left wheel group to rotate forward or backward according to third, and right front driving mechanism is according to the 4th control
Signal control right front wheel group rotate forward or backward, right rear drive mechanism according to the 5th control signal control right rear wheel group to
It is preceding or rotate backward；
In embodiments of the present invention, in the case of the lines in each wheel group is combined as X fonts, step 703 and Fig. 4
Middle step 403 is identical；In the case of the lines in each wheel group is combined as O fonts, step 703 and step 503 phase in Fig. 5
Together, it no longer repeats herein.
Step 704, the second current state for obtaining vehicle；
In embodiments of the present invention, the second current state is referred to when vehicle is traversing to the left, the state of vehicle, the shape
State includes speed or vehicle heading, and for representing the travel situations of vehicle, the embodiment of the present invention is to the second current state
Particular content is not especially limited.Second current state can be obtained by detections such as such as gyroscopes or wheel speed sensor
, the embodiment of the present invention is not especially limited the acquisition modes of the second current state.
Step 705 judges whether the second current state the second dbjective state corresponding with the traversing signal in left side is consistent, such as
The second current state of fruit the second dbjective state corresponding with the traversing signal in left side is consistent, then performs step 706, otherwise perform step
Rapid 707；
In embodiments of the present invention, corresponding second dbjective state of the traversing signal in left side represents that driver passes through operating mechanism
The driving intention indicated to vehicle, including such as by accelerator pedal or brake pedal adjustment speed etc., the embodiment of the present invention is to the
The particular content of two dbjective states is not especially limited, but the content that above-mentioned second current state is included with the second dbjective state
It is corresponding.
Step 706 maintains the second current state；
In embodiments of the present invention, the second current state is consistent with the second dbjective state, keeps current vehicle traveling shape
State is adjusted without control.
Step 707 sends the second feedback signal to VCU；
In embodiments of the present invention, the second current state and the second dbjective state are inconsistent, according to different between the two
Information, generate the second feedback signal, be used to indicate VCU and make corresponding adjustment.
Step 708, VCU generate the second adjustment signal for adjusting vehicle-state；
In embodiments of the present invention, VCU generates second adjustment signal according to the second feedback signal, for adjusting vehicle shape
State.
Referring to Fig. 8, a kind of vehicle structure schematic diagram provided in an embodiment of the present invention, the vehicle 800 includes：Front left wheel group
801st, rear left wheel group 802, right front wheel group 803, right rear wheel group 804, further include：
VCU805 for receiving the traversing first control signal sent to the vehicle, is additionally operable to according to described first
Signal, the identification information of each wheel group and the lines of each wheel group are controlled, respectively the corresponding front left wheel group of generation
Second control signal, the 4th control of the third control signal, the corresponding right front wheel group of the corresponding rear left wheel group
5th control signal of signal and the corresponding right rear wheel group, is additionally operable to, according to first feedback signal, generate to adjust
The first adjustment signal of the whole vehicle-state is additionally operable to according to second feedback signal, generates to adjust the vehicle
The second adjustment signal of state；
Left drive mechanism 806, for controlling the front left wheel group forward or backward according to the second control signal
Rotation；
Left back driving mechanism 807, for signal being controlled to control the rear left wheel group forward or backward according to the third
Rotation；
Right front driving mechanism 808, for controlling the right front wheel group forward or backward according to the described 4th control signal
Rotation；
Right rear drive mechanism 809, for controlling the right rear wheel group forward or backward according to the described 5th control signal
Rotation；
Wherein, before the first lines of the front left wheel group 801, the second lines of the rear left wheel group 802, the right side
The third lines of wheel group 803 and the 4th lines of the right rear wheel group 804 combine to form X fonts or O fonts.
Optionally, the vehicle 800 further includes：
First acquisition module 810 is worked as during the vehicle is traversing to the left, obtaining the first of the vehicle
Preceding state；
First judgment module 811 judges first current state first object corresponding with the traversing signal in the right side
Whether state is consistent, if first current state is consistent with the first object state, maintains described first to work as
Preceding state；
First feedback module 812, if inconsistent for first current state and the first object state,
The first feedback signal is sent to the VCU805.
Optionally, the vehicle further includes：
Second acquisition module 813 is worked as during the vehicle is traversing to the left, obtaining the second of the vehicle
Preceding state；
Second judgment module 814 judges second current state the second target corresponding with the traversing signal in the right side
Whether state is consistent, if second current state is consistent with second dbjective state, maintains described first to work as
Preceding state；
Second feedback module 815, if inconsistent for second current state and second dbjective state,
The second feedback signal is sent to the VCU805.
Referring to Fig. 9, show that a kind of each wheel group lines is combined as the vehicle schematic diagram of X fonts in figure；
Referring to Figure 10, show that a kind of each wheel group lines is combined as the vehicle schematic diagram of O fonts in figure；
It should be noted that Fig. 9 and Figure 10 is illustrated that 4 × 4 type of vehicle, change the wheel count of each wheel group,
It can then obtain the wheel lines set-up mode of the vehicles such as 6 × 6 or 8 × 8, the embodiment of the present invention does not make specifically the vehicle of vehicle
It limits.
The specific embodiment of the above, only the application, but the protection domain of the application is not limited thereto, it is any
The change or replacement in technical scope disclosed in the application, should all cover within the protection domain of the application.Therefore, this Shen
Protection domain please should be based on the protection scope of the described claims.
Claims (10)
- A kind of 1. method for controlling vehicle traveling, which is characterized in that the vehicle includes:Control unit for vehicle VCU, left drive Mechanism, front left wheel group, left back driving mechanism, rear left wheel group, right front driving mechanism, right front wheel group, right rear drive mechanism With right rear wheel group, the method includes：The VCU receives the traversing first control signal sent to the vehicle；The VCU divides according to the lines of the first control signal, the identification information of each wheel group and each wheel group The second control signal of the front left wheel group, the third control signal of the corresponding rear left wheel group, correspondence Sheng Cheng not corresponded to 4th control signal of the right front wheel group and the 5th control signal of the corresponding right rear wheel group；The left drive mechanism controls the front left wheel group to rotate forward or backward according to the second control signal, described Left back driving mechanism controls signal that the rear left wheel group is controlled to rotate forward or backward according to the third, the right preceding driving Mechanism controls the right front wheel group to rotate forward or backward according to the described 4th control signal, the right rear drive mechanism according to The 5th control signal controls the right rear wheel group to rotate forward or backward；Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group Three lines and the 4th lines of the right rear wheel group combine to form X fonts or O fonts.
- 2. according to the method described in claim 1, it is characterized in that,The first control signal is the traversing signal in left side；The second control signal that the VCU is rotated forward according to the left side traversing signal generation front left wheel group, it is described The third control signal that rear left wheel group rotates backward, the 4th control signal and the right side that the right front wheel group rotates backward The 5th control signal that rear wheel group rotates forward；The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to described the Two control signals control the front left wheel group to rotate forward；The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to described the Three control signals control the rear left wheel group to rotate backward；The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to described the Four control signals control the right front wheel group to rotate backward；The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to described the Five control signals control the right rear wheel group to rotate forward；Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group Three lines and the 4th lines of the right rear wheel group combine to form X fonts.
- 3. according to the method described in claim 1, it is characterized in that,The first control signal is the traversing signal in right side；The second control signal that the VCU rotates backward according to the right side traversing signal generation front left wheel group, it is described The third control signal that rear left wheel group rotates forward, the 4th control signal and the right side that the right front wheel group rotates forward The 5th control signal that rear wheel group rotates backward；The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to described the Two control signals control the front left wheel group to rotate backward；The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to described the Three control signals control the rear left wheel group to rotate forward；The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to described the Four control signals control the right front wheel group to rotate forward；The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to described the Five control signals control the right rear wheel group to rotate backward；Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group Three lines and the 4th lines of the right rear wheel group combine to form X fonts.
- 4. according to the method described in claim 1, it is characterized in that,The first control signal is the traversing signal in left side；The second control signal that the VCU rotates backward according to the left side traversing signal generation front left wheel group, it is described The third control signal that rear left wheel group rotates forward, the 4th control signal and the right side that the right front wheel group rotates forward The 5th control signal that rear wheel group rotates backward；The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to described the Two control signals control the front left wheel group to rotate backward；The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to described the Three control signals control the rear left wheel group to rotate forward；The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to described the Four control signals control the right front wheel group to rotate forward；The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to described the Five control signals control the right rear wheel group to rotate backward；Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group Three lines and the 4th lines of the right rear wheel group combine to form O fonts.
- 5. according to the method described in claim 1, it is characterized in that,The first control signal is the traversing signal in right side；The second control signal that the VCU is rotated forward according to the right side traversing signal generation front left wheel group, it is described The third control signal that rear left wheel group rotates backward, the 4th control signal and the right side that the right front wheel group rotates backward The 5th control signal that rear wheel group rotates forward；The VCU sends the second control signal to the left drive mechanism, and the left drive mechanism is according to described the Two control signals control the front left wheel group to rotate forward；The VCU sends the third to the left back driving mechanism and controls signal, and the left back driving mechanism is according to described the Three control signals control the rear left wheel group to rotate backward；The VCU sends the 4th control signal to the right front driving mechanism, and the right front driving mechanism is according to described the Four control signals control the right front wheel group to rotate backward；The VCU sends the 5th control signal to the right rear drive mechanism, and the right rear drive mechanism is according to described the Five control signals control the right rear wheel group to rotate forward；Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group Three lines and the 4th lines of the right rear wheel group combine to form O fonts.
- 6. the method according to claim 2 or 4, which is characterized in that the method further includes：During the vehicle is traversing to the left, the first current state of the vehicle is obtained；Judge whether first current state first object state corresponding with the traversing signal in the left side is consistent；If first current state is consistent with the first object state, first current state is maintained；If first current state and the first object state are inconsistent, the first feedback letter is sent to the VCU Number；The VCU generates the first adjustment signal for adjusting the vehicle-state according to first feedback signal.
- 7. the method according to claim 3 or 5, which is characterized in that the method further includes：During the vehicle is traversing to the right, the second current state of the vehicle is obtained；Judge whether second current state the second dbjective state corresponding with the traversing signal in the right side is consistent；If second current state is consistent with second dbjective state, second current state is maintained；If second current state and second dbjective state are inconsistent, the second feedback letter is sent to the VCU Number；The VCU generates the second adjustment signal for adjusting the vehicle-state according to second feedback signal.
- 8. a kind of vehicle, including：Front left wheel group, rear left wheel group, right front wheel group, right rear wheel group, which is characterized in that institute Vehicle is stated to further include：Control unit for vehicle VCU for receiving the traversing first control signal sent to the vehicle, is additionally operable to according to The lines of first control signal, the identification information of each wheel group and each wheel group, respectively generation correspond to the left front vehicle The second control signal of wheel group, the third control signal of the corresponding rear left wheel group, the 4th of the corresponding right front wheel group the Signal and the 5th control signal of the corresponding right rear wheel group are controlled, is additionally operable to according to first feedback signal, generation is used It in the first adjustment signal for adjusting the vehicle-state, is additionally operable to according to second feedback signal, generates described for adjusting The second adjustment signal of vehicle-state；Left drive mechanism, for the front left wheel group being controlled to rotate forward or backward according to the second control signal；Left back driving mechanism, for controlling signal that the rear left wheel group is controlled to rotate forward or backward according to the third；Right front driving mechanism, for the right front wheel group being controlled to rotate forward or backward according to the described 4th control signal；Right rear drive mechanism, for the right rear wheel group being controlled to rotate forward or backward according to the described 5th control signal；Wherein, the first lines of the front left wheel group, the second lines of the rear left wheel group, the right front wheel group Three lines and the 4th lines of the right rear wheel group combine to form X fonts or O fonts.
- 9. vehicle according to claim 8, which is characterized in that the vehicle further includes：First acquisition module, for during the vehicle is traversing to the left, obtaining the first current state of the vehicle；Whether first judgment module judges first current state first object state corresponding with the traversing signal in the right side It is consistent, if first current state is consistent with the first object state, maintains first current state；First feedback module, if inconsistent for first current state and the first object state, to described VCU sends the first feedback signal.
- 10. vehicle according to claim 8, which is characterized in that the vehicle further includes：Second acquisition module, for during the vehicle is traversing to the left, obtaining the second current state of the vehicle；Whether second judgment module judges second current state the second dbjective state corresponding with the traversing signal in the right side It is consistent, if second current state is consistent with second dbjective state, maintains second current state；Second feedback module, if inconsistent for second current state and second dbjective state, to described VCU sends the second feedback signal.
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| CN201711434458.8A CN108146436B (en) | 2017-12-26 | 2017-12-26 | Method for controlling vehicle to run and vehicle |
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| CN201711434458.8A CN108146436B (en) | 2017-12-26 | 2017-12-26 | Method for controlling vehicle to run and vehicle |
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| GB2240522A (en) * | 1990-01-10 | 1991-08-07 | Uniroyal Englebert Gmbh | Tyre tread patterns |
| CN2183915Y (en) * | 1994-04-07 | 1994-11-30 | 黄河龙 | Combined wheel with section caterpillar board with coincident pattern with rubber tyre |
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|---|---|
| CN108146436B (en) | 2023-10-27 |
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