CN108791305A - A kind of double drive acceleration change curvature synchronous method, system and a relevant apparatus - Google Patents
A kind of double drive acceleration change curvature synchronous method, system and a relevant apparatus Download PDFInfo
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- CN108791305A CN108791305A CN201810595525.2A CN201810595525A CN108791305A CN 108791305 A CN108791305 A CN 108791305A CN 201810595525 A CN201810595525 A CN 201810595525A CN 108791305 A CN108791305 A CN 108791305A
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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
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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
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Abstract
This application discloses an a kind of double acceleration change curvature synchronous method of driving, double acceleration change curvature synchronous method of driving include the second average acceleration for detecting the first average acceleration and the second wheel group of first round group in current period；The first average acceleration curvature is calculated according to the first average acceleration, and the second average acceleration curvature is calculated according to the second average acceleration；Judge whether the first average acceleration curvature and the curvature ratio of the second average acceleration curvature are more than the first preset value；If then issuing acceleration regulating command adjusts first average acceleration in next period or second average acceleration, so that curvature ratio is less than or equal to the second preset value.This method can solve to cause vehicle yaw or driver to report an error due to the mechanical structure of vehicle itself.Disclosed herein as well is an a kind of double acceleration change curvature synchronization systems of driving, a kind of computer readable storage medium and a kind of double drivers driven, have the above advantageous effect.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to an a kind of double acceleration change curvature synchronous method of driving are
System, a kind of computer readable storage medium and an a kind of double driver driven.
Background technology
It is double to drive to be a kind of that by front-wheel or the vehicle of rear wheel power, there is preferable flexibility.It is double to drive
Essence be to use it is double drive chassis, double motion structures for driving chassis and being made of left and right wheels and left and right wheel-drive, due to
There are two drivers, and there are other mechanical structures, therefore can not avoid the occurrence of one side drivers velocity tracking can not keep up with
The case where another side driver, the problem of causing vehicle yaw or driver to report an error.
In view of the above-mentioned problems, the prior art can only restore the normal walking route of vehicle by artificial control, not yet
In the presence of fundamentally solving to cause the technical solution that vehicle yaw or driver report an error due to the mechanical structure of vehicle itself.
Therefore, how to solve since the mechanical structure of vehicle itself causes vehicle yaw or driver to report an error to be this field skill
The current technical issues that need to address of art personnel.
Invention content
The purpose of the application is to provide a kind of double drive acceleration change curvature synchronous method, system, an a kind of computers
Readable storage medium storing program for executing and an a kind of double driver driven, can solve to cause vehicle yaw due to the mechanical structure of vehicle itself
Or driver reports an error.
In order to solve the above technical problems, the application provides an a kind of double acceleration change curvature synchronous method of driving, this pair
An acceleration change curvature synchronous method of driving includes：
Detect the second average acceleration of the first average acceleration and the second wheel group of first round group in current period；
The first average acceleration curvature is calculated according to first average acceleration, and according to second average acceleration
Calculate the second average acceleration curvature；
Judge whether the first average acceleration curvature and the curvature ratio of the second average acceleration curvature are more than
First preset value；
If so, issuing first average acceleration or described second flat that acceleration regulating command adjusts next period
Equal acceleration, so that the curvature ratio is less than or equal to the second preset value；Wherein, first preset value is more than described second
Preset value.
Optionally, the first average acceleration of first round group and the second of the second wheel group are averaged in the detection current period
Acceleration includes：
Obtain first round group described in the current period the first average speed and a upper period described in first round group
One historical average speeds calculate first average acceleration according to first average speed and first historical average speeds
Degree；
Obtained of the second wheel group described in the second average speed of the second wheel group and a upper period described in the current period
Two historical average speeds calculate second average acceleration according to second average speed and second historical average speeds
Degree.
Optionally, the first average acceleration curvature is calculated according to first average acceleration, and flat according to described second
Equal acceleration calculation the second average acceleration curvature includes：
The first history acceleration of first round group described in the upper period was obtained, and according to the first history acceleration
The first average acceleration curvature is calculated with first average acceleration；
The second history acceleration of the second wheel group described in the upper period was obtained, and according to the second history acceleration
The second average acceleration curvature is calculated with second average acceleration.
Optionally, first average acceleration and/or described that acceleration regulating command adjusts next period is issued
Two average accelerations, so that the curvature ratio includes less than or equal to the second preset value：
Judge whether the first average acceleration curvature is more than the second average acceleration curvature；
If so, issue the acceleration regulating command to the first round group, described the of next period is adjusted
One average acceleration curvature, so that the second average acceleration curvature of the first average acceleration curvature and current time after adjusting
It is equal；
If it is not, then issue the acceleration regulating command to the second wheel group, described the of next period is adjusted
Two average acceleration curvature, so that the first average acceleration curvature of the second average acceleration curvature and current time after adjusting
It is equal.
Present invention also provides an a kind of double acceleration change curvature synchronization systems of driving, this pair is driven an acceleration change
Curvature synchronization system includes：
Acceleration detection module, the first average acceleration and the second wheel group for detecting first round group in current period
Second average acceleration；
Curvature estimation module is used for according to first average acceleration the first average acceleration curvature of calculating, and according to
Second average acceleration calculates the second average acceleration curvature；
Judgment module, the curvature for judging the first average acceleration curvature and the second average acceleration curvature
Whether ratio is more than the first preset value；
Adjustment module, for when the curvature ratio is more than first preset value, issuing acceleration regulating command tune
First average acceleration in next period or second average acceleration are saved, so that the curvature ratio is less than or equal to
Second preset value；Wherein, first preset value is more than second preset value.
Optionally, the acceleration detection module includes：
First acceleration obtainment unit, the first average speed for obtaining first round group described in the current period and
First historical average speeds of first round group described in one period, according to first average speed and the average speed of first history
Degree calculates first average acceleration；
Second acceleration obtainment unit, for obtain the second average speed of the second wheel group described in the current period and
Second historical average speeds of the second wheel group described in one period, according to second average speed and the average speed of second history
Degree calculates second average acceleration.
Optionally, the curvature estimation module includes：
First curvature acquiring unit, the first history acceleration for obtaining first round group described in the upper period, and
The first average acceleration curvature is calculated according to the first history acceleration and first average acceleration；
Torsion acquiring unit, the second history acceleration for obtaining the second wheel group described in the upper period, and
The second average acceleration curvature is calculated according to the second history acceleration and second average acceleration.
Optionally, the adjustment module includes：
Curvature judging unit, judges whether the first average acceleration curvature writes music more than second average acceleration
Rate；
First adjusts unit, for being more than the second average acceleration curvature when the first average acceleration curvature
When, the acceleration regulating command is issued to the first round group, adjusts first average acceleration in next period
Curvature, so that the first average acceleration curvature after adjusting is equal with the second average acceleration curvature at current time；
Second adjusts unit, for being less than the first average acceleration curvature when the second average acceleration curvature
When, the acceleration regulating command is issued to the second wheel group, adjusts second average acceleration in next period
Curvature, so that the second average acceleration curvature after adjusting is equal with the first average acceleration curvature at current time.
Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer
Program realizes the step of above-mentioned double acceleration change curvature synchronous method of driving execute when executing.
Present invention also provides a kind of double drivers driven, including memory and processor, deposited in the memory
Computer program is contained, the processor realizes above-mentioned double drive vehicle accelerations when calling the computer program in the memory
Change the step of curvature synchronous method executes.
The present invention provides a kind of methods that double acceleration change curvature of driving synchronize, including the in detection current period
Second average acceleration of the first average acceleration of one wheel group and the second wheel group；The is calculated according to first average acceleration
One average acceleration curvature, and the second average acceleration curvature is calculated according to second average acceleration；Judge described first
Whether average acceleration curvature and the curvature ratio of the second average acceleration curvature are more than the first preset value；Under if so,
Hair acceleration regulating command adjusts first average acceleration in next period or second average acceleration, so that described
Curvature ratio is less than or equal to the second preset value；Wherein, first preset value is more than second preset value.
Since double drive chassis are there are many other structures, thus the speed tracing rate of first round group and the second wheel group there may be
Deviation.When the speed tracing rate of both sides wheel is equal, the path of vehicle actual travel meets preset path, on the contrary then will appear
The phenomenon that vehicle yaw.And the inconsistent reason of the speed tracing rate of both sides wheel is the executable acceleration of both sides wheel
Gap is excessive, therefore can unify vehicle by the peak acceleration for changing both sides wheel adjusts the percentage speed variation of both sides wheel
It is pre- finally so that the actual travel route of vehicle meets for the speed tracing rate of the wheel group of body both sides and the attitude rate of car body
If it is required that.Based on this, the first average acceleration and second that the present invention passes through acquisition first round group and the second wheel group current period
Average acceleration calculates the first average acceleration curvature and the second average acceleration curvature, judge the first average acceleration curvature and
Whether the ratio of the second average acceleration curvature meets the first preset value to evaluate whether there is since first round group and second are taken turns
The acceleration curvature of group has big difference caused vehicle yaw or the problem of driver reports an error.It is default that curvature ratio is more than first
Value then makes curvature ratio be less than the second preset value by changing first round group or the average acceleration in second wheel group next period
In this reasonable range.The reflection of acceleration Curvature varying is exactly the speed of velocity variations, if working as the acceleration curvature of front side
Excessive compared with opposite acceleration curvature, then the speed of side wheel increases to compare and increase soon to side wheel speed, then can lead
The side sideslip is caused, therefore needs to reduce the latax curvature, that is, reduces the latax of lower period, to ensure that other side tracking is good
It is good.Therefore this programme can solve the machine due to vehicle itself by the average acceleration for changing first round group or the second wheel group
The problem of tool structure causes vehicle yaw or driver to report an error reduces the probability of vehicle yaw.The application additionally provides one simultaneously
Kind of double acceleration change curvature synchronization systems of driving, a kind of computer readable storage medium and a kind of double drivings driven
Device has above-mentioned advantageous effect, and details are not described herein.
Description of the drawings
In order to illustrate more clearly of the embodiment of the present application, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for ordinary skill people
For member, without creative efforts, other drawings may also be obtained based on these drawings.
A kind of double flow charts for acceleration change curvature synchronous method of driving that Fig. 1 is provided by the embodiment of the present application；
The double flows for acceleration change curvature synchronous method of driving of another kind that Fig. 2 is provided by the embodiment of the present application
Figure；
Fig. 3 is the relational graph of normal tracking brief acceleration and time；
Fig. 4 is the acceleration for being abnormal tracking and the relational graph of time；
A kind of double structural representations for acceleration change curvature synchronization system of driving that Fig. 5 is provided by the embodiment of the present application
Figure.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Fig. 1 is referred to below, and the double acceleration change curvature of driving of one kind that Fig. 1 is provided by the embodiment of the present application synchronize
The flow chart of method.
Specific steps may include：
S101：Detect the second average acceleration of the first average acceleration and the second wheel group of first round group in current period
Degree；
Wherein, the double wheel control modes driven are controllers to driver downloading speed order, and driver is specifically held
Row speed command and then the rotating speed for changing wheel, the present embodiment are the improvement carried out for the double drivers driven, Ke Yishi
Gap for realizing the velocity variations curvature for reducing the double left and right two-wheeleds driven under the control of any one controller,
Reduce the purpose of the probability of vehicle yaw.
Since the present embodiment is directed to the double control modes driven when carrying out variable accelerated motion, becoming acceleration
The acceleration of first round group and the acceleration of the second wheel group, which are at, in motion process does not stop variation.This step obtain be
Second average acceleration of the first average acceleration of first round group and the second wheel group in current period, can be in several ways
The average acceleration of first round group is obtained, such as obtains the velocity variations situation of different moments in current period and calculates current period
Interior average acceleration, then current week was for example calculated by the average speed and the average speed in a upper period that obtain current period
The average acceleration of phase does not repeat, the skill of this field one by one herein certainly there is also other methods for calculating average acceleration
Art personnel can flexibly set according to actual conditions.How no matter the average acceleration of current period is obtained, in a word originally
The purpose of step be to understand first round group and the second wheel group current period variable accelerated motion situation.
It should be noted that actually driver changes the rotating speed of first round group, since first round group is that have to fix directly
Diameter, it can thus be understood that driver changes the speed of first round group.Above description is also applied for the second wheel group, does not exist herein
It repeats.The process for the speed condition for detecting first round group and the second wheel group is divided into multiple periods by the present embodiment, the period when
Length can flexibly be set according to performance, embodiment as one preferred, and the duration in each period is identical.
S102：The first average acceleration curvature is calculated according to first average acceleration, and average according to described second
Acceleration calculation the second average acceleration curvature；
Wherein, the purpose of this step is to obtain the acceleration change situation of first round group and the second wheel group：First is average
Acceleration curvature and the second average acceleration curvature.This step is the first average acceleration that acquiescence has been obtained for a period
With the second average acceleration, average acceleration curvature can be calculated by following this method, calculate the average of current period and add
The difference of speed and the average acceleration in a upper period is again divided by the duration of a cycle.
Wherein, any driving error and environmental error is not occurring ideally, the First Speed of any time with
Track rate and second speed tracking rate are completely the same, and double in this case drive being capable of good route row according to the rules
It sails, driver will not there is a phenomenon where report an error due to first round group or the second wheel group do not catch up with other side.Work as in variable accelerated motion
In, if the first average acceleration curvature of first round group and the second average acceleration curvature of the second wheel group have big difference and will lead
It causes the acceleration trajectory deviation of first round group and the second wheel group excessive, and then leads to vehicle yaw, influence normal vehicle drive.
S103：Judge the first average acceleration curvature and the second average acceleration curvature curvature ratio whether
More than the first preset value；If so, into S104；If it is not, then terminating flow；
Wherein, when curvature ratio is more than the first preset value, it can enter in S105 and adjust next period flat fare speed
The step of；When tracking rate difference is less than or equal to the first preset value, the judgement flow in this step can be terminated, as one kind
Preferred embodiment can be after curvature ratio be less than or equal to the first preset value, and delay preset time re-executes S101 extremely
Operation in S103, until meeting condition or the double stop motions of driving in S103.
Consider vehicle performance and vehicle traveling you need to add is that the first preset value is those skilled in the art
The numerical value of environment setting, will cause vehicle seriously to yaw, influence normal vehicle when curvature ratio is more than the first preset value
It drives.
S104：Issue first average acceleration or described second average that acceleration regulating command adjusts next period
Acceleration, so that the curvature ratio is less than or equal to the second preset value；Wherein, it is pre- to be more than described second for first preset value
If value.
Wherein, this step is built upon under the premise of S103 judges that curvature ratio is more than the first preset value, needs change the
The curvature ratio of one wheel group and the second wheel group.The operation of the first average acceleration or the second average acceleration is adjusted in this step is
It is executed in driver level, it is to be understood that when there is curvature ratio more than the case where the first preset value be because deposit
In the speed of wheel group another side wheel group because machine driving problem can not be kept up with of side, therefore being at this time impossible flat by changing
The average acceleration of the equal smaller wheel group of acceleration curvature reduces tracking rate difference, thus should change average acceleration curvature compared with
The average acceleration of big wheel group.That is, " adjusting first average acceleration or described in next period in S104
Two average accelerations " actually refer to that the larger wheel group of average acceleration curvature adds in change first round group and the second wheel group
Speed.
It is understood that herein not to by adjusting the first round group average acceleration or the second wheel group be averaged
The concrete numerical value of acceleration is defined, as long as the speed tracing rate difference after adjustment is less than the second preset value.It can manage
Solution, the second preset value is set according to the practical situations of this programme, the meaning for the second preset value being arranged herein
It is when curvature ratio is less than the second preset value, even if the acceleration change of first round group and the second wheel group has centainly inclined
Difference, the double normally travels driven will not be generated it is apparent influence, driver will not be made to report an error.Certainly as a kind of excellent
The embodiment of choosing can be that the first average acceleration curvature after adjustment is equal with the second average acceleration curvature, i.e. curvature
Ratio is 1.
Since double drive chassis are there are many other structures, thus the speed tracing rate of first round group and the second wheel group there may be
Deviation.When the speed tracing rate of both sides wheel is equal, the path of vehicle actual travel meets preset path, on the contrary then will appear
The phenomenon that vehicle yaw.And the inconsistent reason of the speed tracing rate of both sides wheel is the acceleration gap mistake of both sides wheel
Greatly, therefore speed tracing rate can be changed by the acceleration for changing both sides wheel adjusts the speed of both sides wheel, finally made
The actual travel route for obtaining vehicle meets preset requirement.Based on this, the present embodiment is worked as by obtaining first round group and the second wheel group
First average acceleration in preceding period and the second average acceleration calculate the first average acceleration curvature and the second average acceleration
Curvature, judges whether the ratio of the first average acceleration curvature and the second average acceleration curvature meets the first preset value to evaluate
Have big difference caused vehicle yaw with the presence or absence of the acceleration curvature due to first round group and the second wheel group or driver reports an error
The problem of.Curvature ratio is more than the first preset value, then by changing first round group or the average acceleration in second wheel group next period
Degree is so that curvature ratio is less than in the second preset value this reasonable range.The present embodiment can be by changing first round group or the
The average acceleration of two wheel groups solves the problems, such as that the mechanical structure due to vehicle itself causes vehicle yaw or driver to report an error,
Reduce the probability of vehicle yaw.
Fig. 2 is referred to below, and the double acceleration change curvature of driving of another kind that Fig. 2 is provided by the embodiment of the present application are same
The flow chart of one step process.
Specific steps may include：
S201：Obtain first round group described in the current period the first average speed and a upper period described in first round group
The first historical average speeds, it is average to calculate described first according to first average speed and first historical average speeds
Acceleration；
S202：Obtained the second wheel group described in the second average speed of the second wheel group and a upper period described in the current period
The second historical average speeds, it is average to calculate described second according to second average speed and second historical average speeds
Acceleration.
S203：The first history acceleration of first round group described in the upper period was obtained, and according to first history
Acceleration and first average acceleration calculate the first average acceleration curvature；
S204：The second history acceleration of the second wheel group described in the upper period was obtained, and according to second history
Acceleration and second average acceleration calculate the second average acceleration curvature.
S205：Judge the first average acceleration curvature and the second average acceleration curvature curvature ratio whether
More than the first preset value；If so, into S201；If it is not, then entering S206；
S206：Judge whether the first average acceleration curvature is more than the second average acceleration curvature；If so,
Into S207；If it is not, then entering S208；
S207：The acceleration regulating command is issued to the first round group, adjusts described the first of next period
Average acceleration curvature, so that the second average acceleration curvature phase of the first average acceleration curvature and current time after adjusting
Deng；
S208：The acceleration regulating command is issued to the second wheel group, adjusts described the second of next period
Average acceleration curvature, so that the first average acceleration curvature phase of the second average acceleration curvature and current time after adjusting
Deng.
Fig. 3, Fig. 4 are referred to, Fig. 3 is the relational graph of normal tracking brief acceleration and time, and Fig. 4 is to be abnormal tracking
The relational graph of acceleration and time；Illustrate the operation of above-described embodiment by a specific example with reference to this Fig. 3, Fig. 4
Flow：
Such as：Continuous three period velocities of first round group be 70000counts/ms, 107000counts/ms,
149000counts/ms.A cycle 10ms, therefore upper period acceleration is 3700counts/ms2, this period acceleration is
4200counts/ms2, acceleration curvature are 50counts/ms3.Continuous three period velocities of second wheel group are
125000counts/ms, 165000counts/ms, 218000counts/ms.A cycle 10ms, therefore upper period acceleration
For 4000counts/ms2, this period acceleration is 5300counts/ms2, acceleration curvature is 130counts/ms3.Acceleration
Curvature ratio is 2.6, therefore is judged as that first round group does not track, and it is 5300+50* that second wheel group next period of change, which issues acceleration,
10=5800counts/ms2.As shown in figure 4, significant difference occurs for the curvature of acceleration in the horizontal axis time 50 to 100, through toning
It is overall after whole acceleration to track in place.First round group does not track first, and then the second wheel of next period group issues acceleration
Change, ensures that there is no problem for whole tracking.I.e.：Average acceleration by changing first round group or the second wheel group solve due to
The problem of mechanical structure of vehicle itself causes vehicle yaw or driver to report an error.
Fig. 5 is referred to, the double acceleration change curvature synchronization systems of driving of one kind that Fig. 5 is provided by the embodiment of the present application
Structural schematic diagram；
The system may include：
Acceleration detection module 100, the first average acceleration for detecting first round group in current period and the second wheel
Second average acceleration of group；
Curvature estimation module 200, for calculating the first average acceleration curvature, and root according to first average acceleration
The second average acceleration curvature is calculated according to second average acceleration；
Judgment module 300, for judging the first average acceleration curvature and the second average acceleration curvature
Whether curvature ratio is more than the first preset value；
Adjustment module 400, for when the curvature ratio is more than first preset value, issuing acceleration regulating command
First average acceleration in next period or second average acceleration are adjusted, so that the curvature ratio is less than or waits
In the second preset value；Wherein, first preset value is more than second preset value.
Optionally, the acceleration detection module 100 includes：
First acceleration obtainment unit, the first average speed for obtaining first round group described in the current period and
First historical average speeds of first round group described in one period, according to first average speed and the average speed of first history
Degree calculates first average acceleration；
Second acceleration obtainment unit, for obtain the second average speed of the second wheel group described in the current period and
Second historical average speeds of the second wheel group described in one period, according to second average speed and the average speed of second history
Degree calculates second average acceleration.
Optionally, the curvature estimation module 200 includes：
First curvature acquiring unit, the first history acceleration for obtaining first round group described in the upper period, and
The first average acceleration curvature is calculated according to the first history acceleration and first average acceleration；
Torsion acquiring unit, the second history acceleration for obtaining the second wheel group described in the upper period, and
The second average acceleration curvature is calculated according to the second history acceleration and second average acceleration.
Optionally, the adjustment module 400 includes：
Curvature judging unit, judges whether the first average acceleration curvature writes music more than second average acceleration
Rate；
First adjusts unit, for being more than the second average acceleration curvature when the first average acceleration curvature
When, the acceleration regulating command is issued to the first round group, adjusts first average acceleration in next period
Curvature, so that the first average acceleration curvature after adjusting is equal with the second average acceleration curvature at current time；
Second adjusts unit, for being less than the first average acceleration curvature when the second average acceleration curvature
When, the acceleration regulating command is issued to the second wheel group, adjusts second average acceleration in next period
Curvature, so that the second average acceleration curvature after adjusting is equal with the first average acceleration curvature at current time.
Since the embodiment of components of system as directed is corresponded with the embodiment of method part, the embodiment of components of system as directed is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed and the step of above-described embodiment is provided may be implemented.The storage medium may include：USB flash disk, read-only is deposited mobile hard disk
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or
The various media that can store program code such as CD.
Present invention also provides a kind of double drivers driven, may include memory and processor, the memory
In have computer program above-described embodiment may be implemented when the processor calls the computer program in the memory
The step of provided.Certainly the described double driver driven can also include various network interfaces, the components such as power supply.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
?.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, also
Can to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the application scope of the claims
It is interior.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.Under the situation not limited more, the element limited by sentence "including a ..." is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. an a kind of double acceleration change curvature synchronous method of driving, are applied to driver, which is characterized in that including：
Detect the second average acceleration of the first average acceleration and the second wheel group of first round group in current period；
The first average acceleration curvature is calculated according to first average acceleration, and is calculated according to second average acceleration
Second average acceleration curvature；
Judge whether the first average acceleration curvature and the curvature ratio of the second average acceleration curvature are more than first
Preset value；
If so, issue acceleration regulating command adjust next period first average acceleration or it is described second it is average plus
Speed, so that the curvature ratio is less than or equal to the second preset value；Wherein, it is default to be more than described second for first preset value
Value.
2. a double acceleration change curvature synchronous method of driving according to claim 1, which is characterized in that the detection is current
The second average acceleration of the first average acceleration of first round group and the second wheel group includes in period：
Obtain first round group described in the current period the first average speed and a upper period described in first round group first go through
History average speed calculates first average acceleration according to first average speed and first historical average speeds；
Obtained the second wheel group described in the second average speed of the second wheel group and a upper period described in the current period second is gone through
History average speed calculates second average acceleration according to second average speed and second historical average speeds.
3. a double acceleration change curvature synchronous method of driving according to claim 1, which is characterized in that according to described first
Average acceleration calculates the first average acceleration curvature, and calculates the second average acceleration according to second average acceleration and write music
Rate includes：
The first history acceleration of first round group described in the upper period was obtained, and according to the first history acceleration and institute
It states the first average acceleration and calculates the first average acceleration curvature；
The second history acceleration of the second wheel group described in the upper period was obtained, and according to the second history acceleration and institute
It states the second average acceleration and calculates the second average acceleration curvature.
4. a double acceleration change curvature synchronous method of driving according to claim 1, which is characterized in that issue acceleration tune
Section instruction adjusts first average acceleration in next period and/or second average acceleration, so that curvature ratio
Value includes less than or equal to the second preset value：
Judge whether the first average acceleration curvature is more than the second average acceleration curvature；
If so, issuing the acceleration regulating command to the first round group, adjust next period described first is flat
Equal acceleration curvature, so that the second average acceleration curvature phase of the first average acceleration curvature and current time after adjusting
Deng；
If it is not, then issuing the acceleration regulating command to the second wheel group, adjust next period described second is flat
Equal acceleration curvature, so that the first average acceleration curvature phase of the second average acceleration curvature and current time after adjusting
Deng.
5. an a kind of double acceleration change curvature synchronization systems of driving, which is characterized in that including：
Acceleration detection module, second of the first average acceleration and the second wheel group for detecting first round group in current period
Average acceleration；
Curvature estimation module, for calculating the first average acceleration curvature according to first average acceleration, and according to described
Second average acceleration calculates the second average acceleration curvature；
Judgment module, the curvature ratio for judging the first average acceleration curvature and the second average acceleration curvature
Whether the first preset value is more than；
Adjustment module, for when the curvature ratio is more than first preset value, issuing under acceleration regulating command adjusting
First average acceleration or second average acceleration in one period, so that the curvature ratio is less than or equal to second
Preset value；Wherein, first preset value is more than second preset value.
6. a double acceleration change curvature synchronization systems of driving according to claim 5, which is characterized in that the acceleration inspection
Surveying module includes：
First acceleration obtainment unit, the first average speed for obtaining first round group described in the current period and one week upper
First historical average speeds of first round group described in the phase, according to first average speed and the first historical average speeds meter
Calculate first average acceleration；
Second acceleration obtainment unit, for obtaining the second average speed of the second wheel group described in the current period and one week upper
Second historical average speeds of the second wheel group described in phase, according to second average speed and the second historical average speeds meter
Calculate second average acceleration.
7. a double acceleration change curvature synchronization systems of driving according to claim 5, which is characterized in that the curvature estimation
Module includes：
First curvature acquiring unit, the first history acceleration for obtaining first round group described in the upper period, and according to
The first history acceleration and first average acceleration calculate the first average acceleration curvature；
Torsion acquiring unit, the second history acceleration for obtaining the second wheel group described in the upper period, and according to
The second history acceleration and second average acceleration calculate the second average acceleration curvature.
8. a double acceleration change curvature synchronization systems of driving according to claim 5, which is characterized in that the adjustment module
Including：
Curvature judging unit, judges whether the first average acceleration curvature is more than the second average acceleration curvature；
First adjusts unit, is used for when the first average acceleration curvature is more than the second average acceleration curvature, to
The first round group issues the acceleration regulating command, adjusts the first average acceleration curvature in next period,
So that the first average acceleration curvature after adjusting is equal with the second average acceleration curvature at current time；
Second adjusts unit, is used for when the second average acceleration curvature is less than the first average acceleration curvature, to
The second wheel group issues the acceleration regulating command, adjusts the second average acceleration curvature in next period,
So that the second average acceleration curvature after adjusting is equal with the first average acceleration curvature at current time.
9. an a kind of double driver driven, which is characterized in that including：
Memory, for storing computer program；
Processor executes the double acceleration of driving of such as Claims 1-4 any one of them when for executing the computer program
The step of degree variation curvature synchronous method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized when the computer program is executed by processor and drives vehicle acceleration as Claims 1-4 any one of them is double
The step of changing curvature synchronous method.
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