CN108146436B - Method for controlling vehicle to run and vehicle - Google Patents
Method for controlling vehicle to run and vehicle Download PDFInfo
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- CN108146436B CN108146436B CN201711434458.8A CN201711434458A CN108146436B CN 108146436 B CN108146436 B CN 108146436B CN 201711434458 A CN201711434458 A CN 201711434458A CN 108146436 B CN108146436 B CN 108146436B
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims description 129
- 239000000758 substrate Substances 0.000 claims 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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 application provides a method for controlling vehicle running and a vehicle, wherein the method comprises the following steps: and receiving a first control signal sent to the vehicle, and controlling each wheel set to rotate forwards or backwards according to the identification information of each wheel set and the lines of each wheel set according to the first control signal. The method for controlling the running of the vehicle, provided by the embodiment of the application, has the advantages that the function of transversely moving the vehicle is added while the functions of straight running and turning of the vehicle are maintained, so that a driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty is reduced for a novice driver, and the driving experience is improved.
Description
Technical Field
The embodiment of the application relates to the field of vehicles, in particular to a method for controlling running of a vehicle and the vehicle.
Background
Vehicles are becoming increasingly popular as a common vehicle in people's lives. The existing vehicle only has the running functions of straight running and turning, has high requirements on the driving technology of a driver for some road conditions with relatively narrow space, whether the vehicle is driven or stopped, and causes great driving difficulty for a novice driver, thereby seriously affecting driving experience.
Disclosure of Invention
The embodiment of the application provides a method for controlling a vehicle to run and the vehicle, which are used for solving the problem of difficult driving caused by limited driving functions of the existing vehicle.
In a first aspect, an embodiment of the present application provides a method of controlling travel of a vehicle including a VCU (Vehicle Control Unit ), a front left drive mechanism, a front left wheel set, a rear left drive mechanism, a rear left wheel set, a front right drive mechanism, a front right wheel set, a rear right drive mechanism, and a rear right wheel set, the method comprising:
the VCU receives a first control signal of traversing sent to the vehicle;
the VCU respectively generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the first control signal, the identification information of each wheel set and the lines of each wheel set;
the left front driving mechanism controls the left front wheel set to rotate forwards or backwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate forwards or backwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate forwards or backwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate forwards or backwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an X shape or an O shape.
In some embodiments, the first control signal is a left traversing signal;
the VCU generates a second control signal for the forward rotation of the left front wheel set, a third control signal for the backward rotation of the left rear wheel set, a fourth control signal for the backward rotation of the right front wheel set and a fifth control signal for the forward rotation of the right rear wheel set according to the left lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate forwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate backwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate backwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate forwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an X shape.
In some embodiments, the first control signal is a right traversing signal;
the VCU generates a second control signal for the backward rotation of the left front wheel set, a third control signal for the forward rotation of the left rear wheel set, a fourth control signal for the forward rotation of the right front wheel set and a fifth control signal for the backward rotation of the right rear wheel set according to the right lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate backwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate forwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate forwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate backwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an X shape.
In some embodiments, the first control signal is a left traversing signal;
the VCU generates a second control signal for the backward rotation of the left front wheel set, a third control signal for the forward rotation of the left rear wheel set, a fourth control signal for the forward rotation of the right front wheel set and a fifth control signal for the backward rotation of the right rear wheel set according to the left lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate backwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate forwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate forwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate backwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an O shape.
In some embodiments, the first control signal is a right traversing signal;
the VCU generates a second control signal for the front left wheel set to rotate forwards, a third control signal for the rear left wheel set to rotate backwards, a fourth control signal for the front right wheel set to rotate backwards and a fifth control signal for the rear right wheel set to rotate forwards according to the right lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate forwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate backwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate backwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate forwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an O shape.
In some embodiments, the method further comprises:
acquiring a first current state of the vehicle in the process of transversely moving the vehicle to the left side;
judging whether the first current state is consistent with a first target state corresponding to the right side transverse moving signal;
if the first current state is consistent with the first target state, maintaining the first current state;
if the first current state does not coincide with the first target state, sending a first feedback signal to the VCU;
the VCU generates a first adjustment signal for adjusting the vehicle state according to the first feedback signal.
In some embodiments, the method further comprises:
acquiring a second current state of the vehicle in the process of traversing the vehicle to the right side;
judging whether the second current state is consistent with a second target state corresponding to the right side transverse moving signal;
if the second current state is consistent with the second target state, maintaining the second current state;
if the second current state does not coincide with the second target state, sending a second feedback signal to the VCU;
the VCU generates a second adjustment signal for adjusting the vehicle state according to the second feedback signal.
In a second aspect, an embodiment of the present application further provides a vehicle, including: front left wheel group, back left wheel group, front right wheel group, back right wheel group, its characterized in that, the vehicle still includes:
the vehicle control unit VCU is used for receiving a first control signal of transverse movement sent to the vehicle, and also used for respectively generating a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the first control signal, the identification information of each wheel set and the grain of each wheel set;
the left front driving mechanism is used for controlling the left front wheel set to rotate forwards or backwards according to the second control signal;
the left rear driving mechanism is used for controlling the left rear wheel group to rotate forwards or backwards according to the third control signal;
the right front driving mechanism is used for controlling the right front wheel set to rotate forwards or backwards according to the fourth control signal;
the right rear driving mechanism is used for controlling the right rear wheel group to rotate forwards or backwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an X shape or an O shape.
In some embodiments, the vehicle further comprises:
the first acquisition module is used for acquiring a first current state of the vehicle in the process of transversely moving the vehicle to the left side;
the first judging module is used for judging whether the first current state is consistent with a first target state corresponding to the right side transverse moving signal, and if so, maintaining the first current state;
and the first feedback module is used for sending a first feedback signal to the VCU if the first current state does not accord with the first target state.
In some embodiments, the vehicle further comprises:
the second acquisition module is used for acquiring a second current state of the vehicle in the process of transversely moving the vehicle to the left side;
the second judging module is used for judging whether the second current state is consistent with a second target state corresponding to the right side transverse moving signal, and if so, maintaining the first current state;
and the second feedback module is used for sending a second feedback signal to the VCU if the second current state does not accord with the second target state.
The embodiment of the application has the following beneficial effects:
the method for controlling the running of the vehicle, provided by the embodiment of the application, has the advantages that the function of transversely moving the vehicle is added while the functions of straight running and turning of the vehicle are maintained, so that a driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty is reduced for a novice driver, and the driving experience is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a method for controlling a vehicle to travel according to an embodiment of the present application;
FIG. 2 is a schematic illustration of one of the methods for controlling left side lateral movement of a vehicle according to an embodiment of the present application;
FIG. 3 is a second method for controlling left lateral movement of a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic illustration of one of the methods for controlling right side lateral movement of a vehicle according to an embodiment of the present application;
FIG. 5 is a second method for controlling right lateral movement of a vehicle according to an embodiment of the present application;
FIG. 6 is a third method for controlling left lateral movement of a vehicle according to an embodiment of the present application;
FIG. 7 is a third method for controlling right lateral movement of a vehicle according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a vehicle structure according to an embodiment of the present application;
FIG. 9 is a schematic view of a vehicle with X-shaped combination of wheel sets according to an embodiment of the present application;
fig. 10 is a schematic diagram of a vehicle with O-shaped grain combination for each wheel set according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, in the embodiments of the present application, the vehicle refers to a vehicle having an independent all-wheel driving capability, including a hybrid vehicle, a pure electric vehicle, a plug-in hybrid vehicle, a hydrogen-powered vehicle, and other alternative fuel (e.g., fuel derived from a source other than petroleum) vehicles; wheel sets refer to wheel units consisting of one or more wheels, which are driven by a drive mechanism.
Referring to fig. 1, an embodiment of the present application provides a method for controlling a vehicle to travel, which includes the following specific steps:
step 101, the VCU receives a first control signal of transverse movement sent to a vehicle;
in an embodiment of the present application, the first control signal is a signal sent to the vehicle by the driver through an operating mechanism such as a steering wheel, an accelerator pedal, a brake pedal, and a lateral light, for indicating that the vehicle is being moved in a direction perpendicular to the vehicle body, such as a left lateral movement signal or a right lateral movement signal, which is received through a VCU inside the vehicle.
102, VCU generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the first control signal, the identification information of each wheel set and the lines of each wheel set;
in the embodiment of the application, the identification information of each wheel set refers to the setting position of each wheel set corresponding to the vehicle, such as a left front wheel set and the like, the grain of each wheel set refers to grains in different directions arranged on each wheel set, the grains are used for realizing the transverse movement function of the vehicle, and the grain types are divided into X shapes or O shapes according to the shape formed by the grains on each wheel set and the ground contact part.
Step 103, the left front driving mechanism controls the left front wheel set to rotate forwards or backwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate forwards or backwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate forwards or backwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate forwards or backwards according to the fifth control signal;
in the embodiment of the application, the VCU sends the generated second control signal, third control signal, fourth control signal and fifth control signal to the corresponding left front driving mechanism, left rear driving mechanism, right front driving mechanism and right rear driving mechanism, and the driving mechanisms drive the corresponding wheel sets to rotate forwards or backwards.
When the wheels rotate, the ground generates friction force with the direction inclined to the axial direction of the wheels, the friction force can be decomposed into a component force parallel to the direction of the vehicle body and a component force perpendicular to the direction of the vehicle body, and when the rotation directions of the front wheels and the rear wheels are different, the component force of the friction force in the direction parallel to the direction of the vehicle body is mutually offset, and only the component force perpendicular to the direction of the vehicle body is reserved, so that the vehicle receives transverse acting force, and the transverse movement function is realized. For the normal straight running or turning situation, the X-shaped or O-shaped lines generate friction force on the left and right wheels, and the component force perpendicular to the vehicle body direction is mutually offset, so that only the component force parallel to the vehicle body direction is reserved, and the normal straight running or turning function of the vehicle is not influenced.
By the method provided by the embodiment of the application, the transverse movement function of the vehicle is increased while the straight movement and turning functions are reserved, so that a driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty of a novice driver is reduced, and the driving experience is improved.
Referring to fig. 2, the embodiment of the application provides a method for traversing left side of a vehicle, which is used in a case that a grain combination on each wheel set is X-shaped, and specifically comprises the following steps:
step 201, the VCU receives a left side transverse movement signal sent to the vehicle;
202, VCU generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the left lateral movement signal, the identification information of each wheel set and the lines of each wheel set;
step 203, the left front driving mechanism controls the left front wheel set to rotate forwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate backwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate backwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate forwards according to the fifth control signal;
by the method provided by the embodiment of the application, the transverse movement function of the vehicle is increased while the straight movement and turning functions are reserved, so that a driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty of a novice driver is reduced, and the driving experience is improved.
Referring to fig. 3, the embodiment of the application provides another method for traversing the left side of a vehicle, which is used in the case that the grain combination on each wheel set is O-shaped, and specifically comprises the following steps:
step 301, the VCU receives a left lateral movement signal sent to the vehicle;
step 302, the VCU generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the left lateral movement signal, the identification information of each wheel set and the lines of each wheel set;
step 303, the left front driving mechanism controls the left front wheel set to rotate backwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate forwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate forwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate backwards according to the fifth control signal;
by the method provided by the embodiment of the application, the transverse movement function of the vehicle is increased while the straight movement and turning functions are reserved, so that a driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty of a novice driver is reduced, and the driving experience is improved.
Referring to fig. 4, an embodiment of the present application provides a method for traversing a right side of a vehicle, where the combination of lines on each wheel set is in an X shape, and the specific steps are as follows:
step 401, the VCU receives a right side transverse movement signal sent to the vehicle;
step 402, the VCU generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the right lateral movement signal, the identification information of each wheel set and the lines of each wheel set;
step 403, the left front driving mechanism controls the left front wheel set to rotate backwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate forwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate forwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate backwards according to the fifth control signal;
by the method provided by the embodiment of the application, the transverse movement function of the vehicle is increased while the straight movement and turning functions are reserved, so that a driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty of a novice driver is reduced, and the driving experience is improved.
Referring to fig. 5, the embodiment of the application provides another method for traversing the right side of a vehicle, which is used in the case that the grain combination on each wheel set is O-shaped, and specifically comprises the following steps:
step 501, the VCU receives a right lateral movement signal sent to the vehicle;
step 502, the VCU generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the right lateral movement signal, the identification information of each wheel set and the lines of each wheel set;
step 503, the left front driving mechanism controls the left front wheel set to rotate forwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate backwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate backwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate forwards according to the fifth control signal;
by the method provided by the embodiment of the application, the transverse movement function of the vehicle is increased while the straight movement and turning functions are reserved, so that a driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty of a novice driver is reduced, and the driving experience is improved.
Referring to fig. 6, the embodiment of the application provides a method for traversing the left side of a vehicle, which comprises the following specific steps:
step 601, the VCU receives a left side transverse movement signal sent to the vehicle;
step 602, the VCU generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the left lateral movement signal, the identification information of each wheel set and the lines of each wheel set;
step 603, the left front driving mechanism controls the left front wheel set to rotate forwards or backwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate forwards or backwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate forwards or backwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate forwards or backwards according to the fifth control signal;
in the embodiment of the present application, step 603 is the same as step 203 in fig. 2 for the case that the grain combination on each wheel set is X-shaped; for the case where the combination of the lines on each wheel set is O-shaped, step 603 is the same as step 303 in fig. 3, and will not be repeated here.
Step 604, obtaining a first current state of the vehicle;
in the embodiment of the present application, the first current state refers to a state of the vehicle when the vehicle traverses to the left, where the state includes a vehicle speed or a vehicle running direction, and is used to represent a running condition of the vehicle. The first current state may be obtained through detection, for example, by a gyroscope or a wheel rotation speed sensor, and the method for obtaining the first current state in the embodiment of the present application is not particularly limited.
Step 605, judging whether the first current state is consistent with the first target state corresponding to the left lateral movement signal, if so, executing step 606, otherwise, executing step 607;
in the embodiment of the present application, the first target state corresponding to the left lateral movement signal represents the driving intention of the driver indicated to the vehicle through the operation mechanism, including, for example, adjusting the vehicle speed through the accelerator pedal or the brake pedal, and the specific content of the first target state is not specifically limited, but the first current state corresponds to the content included in the first target state.
Step 606, maintaining a first current state;
in the embodiment of the application, the first current state is consistent with the first target state, the current vehicle running state is maintained, and no control adjustment is performed.
Step 607, sending a first feedback signal to the VCU;
in the embodiment of the application, the first current state does not coincide with the first target state, and a first feedback signal is generated according to different information between the first current state and the first target state and is used for indicating the VCU to make corresponding adjustment.
Step 608, the VCU generates a first adjustment signal for adjusting the vehicle state;
in an embodiment of the application, the VCU generates a first adjustment signal according to the first feedback signal for adjusting the vehicle state.
By the method provided by the embodiment of the application, the lateral movement function of the vehicle is increased while the straight movement and turning functions are reserved, and the feedback adjustment can be carried out according to the current state of the vehicle, so that the running function of the vehicle is more stable, the driver can drive the vehicle or park the vehicle more conveniently, the driving difficulty is reduced for a novice driver, and the driving experience is improved.
Referring to fig. 7, the embodiment of the application provides a method for traversing the right side of a vehicle, which comprises the following specific steps:
step 701, the VCU receives a right side transverse movement signal sent to the vehicle;
step 702, the VCU generates a second control signal corresponding to the front left wheel set, a third control signal corresponding to the rear left wheel set, a fourth control signal corresponding to the front right wheel set and a fifth control signal corresponding to the rear right wheel set according to the right lateral movement signal, the identification information of each wheel set and the lines of each wheel set;
703, the left front driving mechanism controls the left front wheel set to rotate forwards or backwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate forwards or backwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate forwards or backwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate forwards or backwards according to the fifth control signal;
in the embodiment of the present application, step 703 is the same as step 403 in fig. 4 for the case that the grain combination on each wheel set is X-shaped; for the case where the combination of the lines on each wheel set is O-shaped, step 703 is the same as step 503 in fig. 5, and will not be repeated here.
Step 704, obtaining a second current state of the vehicle;
in the embodiment of the present application, the second current state refers to a state of the vehicle when the vehicle traverses to the left, where the state includes a vehicle speed or a vehicle running direction, and is used to represent a running condition of the vehicle. The second current state may be obtained through detection, for example, by a gyroscope or a wheel rotation speed sensor, and the method for obtaining the second current state in the embodiment of the present application is not limited in particular.
Step 705, judging whether the second current state is consistent with the second target state corresponding to the left lateral movement signal, if so, executing step 706, otherwise, executing step 707;
in the embodiment of the present application, the second target state corresponding to the left lateral movement signal represents the driving intention of the driver indicated to the vehicle through the operation mechanism, including, for example, adjusting the vehicle speed through the accelerator pedal or the brake pedal, and the specific content of the second target state is not specifically limited, but the second current state corresponds to the content included in the second target state.
Step 706, maintaining the second current state;
in the embodiment of the application, the second current state is consistent with the second target state, the current vehicle running state is maintained, and no control adjustment is performed.
Step 707, sending a second feedback signal to the VCU;
in the embodiment of the application, the second current state does not coincide with the second target state, and a second feedback signal is generated according to different information between the second current state and the second target state and is used for indicating the VCU to make corresponding adjustment.
Step 708, the VCU generating a second adjustment signal for adjusting the vehicle state;
in an embodiment of the application, the VCU generates a second adjustment signal according to the second feedback signal for adjusting the vehicle state.
Referring to fig. 8, a schematic vehicle structure is provided in an embodiment of the present application, and the vehicle 800 includes: left front wheel set 801, left rear wheel set 802, right front wheel set 803, right rear wheel set 804, further includes:
the VCU805 is configured to receive a first control signal of a lateral movement sent to the vehicle, and further configured to generate, according to the first control signal, identification information of each wheel set, and a grain of each wheel set, a second control signal corresponding to the front left wheel set, a third control signal corresponding to the rear left wheel set, a fourth control signal corresponding to the front right wheel set, and a fifth control signal corresponding to the rear right wheel set, and further configured to generate, according to the first feedback signal, a first adjustment signal for adjusting a state of the vehicle, and further configured to generate, according to the second feedback signal, a second adjustment signal for adjusting the state of the vehicle;
a left front drive mechanism 806 for controlling the left front wheel set to rotate forward or backward according to the second control signal;
a left rear drive mechanism 807 for controlling the left rear wheel group to rotate forward or backward in accordance with the third control signal;
a right front drive mechanism 808 for controlling the right front wheel set to rotate forward or backward in accordance with the fourth control signal;
a right rear drive mechanism 809 for controlling the right rear wheel set to rotate forward or backward in accordance with the fifth control signal;
wherein, the first grain of the left front wheel set 801, the second grain of the left rear wheel set 802, the third grain of the right front wheel set 803 and the fourth grain of the right rear wheel set 804 are combined to form an X-shape or an O-shape.
Optionally, the vehicle 800 further includes:
a first obtaining module 810, configured to obtain a first current state of the vehicle during a process of traversing the vehicle to the left;
a first judging module 811, configured to judge whether the first current state corresponds to a first target state corresponding to the right traversing signal, and if the first current state corresponds to the first target state, maintain the first current state;
a first feedback module 812, configured to send a first feedback signal to the VCU805 if the first current state does not correspond to the first target state.
Optionally, the vehicle further comprises:
a second obtaining module 813, configured to obtain a second current state of the vehicle during a process of traversing the vehicle to the left;
a second judging module 814, configured to judge whether the second current state corresponds to a second target state corresponding to the right traversing signal, and if the second current state corresponds to the second target state, maintain the first current state;
a second feedback module 815 is configured to send a second feedback signal to the VCU805 if the second current state does not correspond to the second target state.
Referring to fig. 9, a schematic view of a vehicle with X-shaped wheel set grain combinations is shown;
referring to fig. 10, a schematic view of a vehicle with a combination of wheel set textures in an O-shape is shown;
it should be noted that, fig. 9 and fig. 10 show a 4×4 vehicle type, and changing the number of wheels of each wheel set may obtain a wheel line setting manner of a vehicle type such as 6×6 or 8×8, and the embodiment of the present application does not specifically limit the vehicle type of the vehicle.
The foregoing is merely illustrative of specific embodiments of the present application, and the scope of the present application is not limited thereto, but any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A method of controlling travel of a vehicle, the vehicle including a vehicle control unit VCU, a front left drive mechanism, a front left wheel set, a rear left drive mechanism, a rear left wheel set, a front right drive mechanism, a front right wheel set, a rear right drive mechanism, and a rear right wheel set, the method comprising:
the VCU receives a first control signal of traversing sent to the vehicle;
the VCU respectively generates a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the first control signal, the identification information of each wheel set and the lines of each wheel set;
the left front driving mechanism controls the left front wheel set to rotate forwards or backwards according to the second control signal, the left rear driving mechanism controls the left rear wheel set to rotate forwards or backwards according to the third control signal, the right front driving mechanism controls the right front wheel set to rotate forwards or backwards according to the fourth control signal, and the right rear driving mechanism controls the right rear wheel set to rotate forwards or backwards according to the fifth control signal;
in case the first control signal is a left traversing signal,
the VCU generates a second control signal for the forward rotation of the left front wheel set, a third control signal for the backward rotation of the left rear wheel set, a fourth control signal for the backward rotation of the right front wheel set and a fifth control signal for the forward rotation of the right rear wheel set according to the left lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate forwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate backwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate backwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate forwards according to the fifth control signal;
wherein, the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an X shape;
or alternatively, the process may be performed,
the VCU generates a second control signal for the backward rotation of the left front wheel set, a third control signal for the forward rotation of the left rear wheel set, a fourth control signal for the forward rotation of the right front wheel set and a fifth control signal for the backward rotation of the right rear wheel set according to the left lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate backwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate forwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate forwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate backwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an O shape.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
in case the first control signal is a right traversing signal,
the VCU generates a second control signal for the backward rotation of the left front wheel set, a third control signal for the forward rotation of the left rear wheel set, a fourth control signal for the forward rotation of the right front wheel set and a fifth control signal for the backward rotation of the right rear wheel set according to the right lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate backwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate forwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate forwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate backwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an X shape.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
in case the first control signal is a right traversing signal,
the VCU generates a second control signal for the front left wheel set to rotate forwards, a third control signal for the rear left wheel set to rotate backwards, a fourth control signal for the front right wheel set to rotate backwards and a fifth control signal for the rear right wheel set to rotate forwards according to the right lateral movement signal;
the VCU sends the second control signal to the left front driving mechanism, and the left front driving mechanism controls the left front wheel set to rotate forwards according to the second control signal;
the VCU sends the third control signal to the left rear driving mechanism, and the left rear driving mechanism controls the left rear wheel group to rotate backwards according to the third control signal;
the VCU sends the fourth control signal to the right front driving mechanism, and the right front driving mechanism controls the right front wheel set to rotate backwards according to the fourth control signal;
the VCU sends the fifth control signal to the right rear driving mechanism, and the right rear driving mechanism controls the right rear wheel group to rotate forwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an O shape.
4. The method according to claim 1, wherein the method further comprises:
acquiring a first current state of the vehicle in the process of transversely moving the vehicle to the left side;
judging whether the first current state is consistent with a first target state corresponding to the left side transverse moving signal;
if the first current state is consistent with the first target state, maintaining the first current state;
if the first current state does not coincide with the first target state, sending a first feedback signal to the VCU;
the VCU generates a first adjustment signal for adjusting a vehicle state according to the first feedback signal.
5. A method according to claim 2 or 3, characterized in that the method further comprises:
acquiring a second current state of the vehicle in the process of traversing the vehicle to the right side;
judging whether the second current state is consistent with a second target state corresponding to the right side transverse moving signal;
if the second current state is consistent with the second target state, maintaining the second current state;
if the second current state does not coincide with the second target state, sending a second feedback signal to the VCU;
the VCU generates a second adjustment signal for adjusting the vehicle state according to the second feedback signal.
6. A vehicle, comprising: a front left wheel set, a rear left wheel set, a front right wheel set, a rear right wheel set, characterized in that the vehicle uses the method of controlling the travel of the vehicle according to any one of claims 1 to 5, the vehicle further comprising:
the vehicle control unit VCU is used for receiving a first control signal of transverse movement sent to the vehicle, generating a second control signal corresponding to the left front wheel set, a third control signal corresponding to the left rear wheel set, a fourth control signal corresponding to the right front wheel set and a fifth control signal corresponding to the right rear wheel set according to the first control signal, the identification information of each wheel set and the grain of each wheel set, generating a first adjustment signal for adjusting the state of the vehicle according to the first feedback signal, and generating a second adjustment signal for adjusting the state of the vehicle according to the second feedback signal;
the left front driving mechanism is used for controlling the left front wheel set to rotate forwards or backwards according to the second control signal;
the left rear driving mechanism is used for controlling the left rear wheel group to rotate forwards or backwards according to the third control signal;
the right front driving mechanism is used for controlling the right front wheel set to rotate forwards or backwards according to the fourth control signal;
the right rear driving mechanism is used for controlling the right rear wheel group to rotate forwards or backwards according to the fifth control signal;
the first grain of the left front wheel set, the second grain of the left rear wheel set, the third grain of the right front wheel set and the fourth grain of the right rear wheel set are combined to form an X shape or an O shape.
7. The vehicle of claim 6, characterized in that the vehicle further comprises:
the first acquisition module is used for acquiring a first current state of the vehicle in the process of transversely moving the vehicle to the left side;
the first judging module is used for judging whether the first current state is consistent with a first target state corresponding to the right side transverse moving signal, and if so, maintaining the first current state;
and the first feedback module is used for sending a first feedback signal to the VCU if the first current state does not accord with the first target state.
8. The vehicle of claim 6, characterized in that the vehicle further comprises:
the second acquisition module is used for acquiring a second current state of the vehicle in the process of transversely moving the vehicle to the left side;
the second judging module is used for judging whether the second current state is consistent with a second target state corresponding to the right side transverse moving signal, and if so, maintaining the second current state;
and the second feedback module is used for sending a second feedback signal to the VCU if the second current state does not accord with the second target state.
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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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| CN108146436A (en) | 2018-06-12 |
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