CN109240309A - Vehicle control method, device and the vehicles - Google Patents
Vehicle control method, device and the vehicles Download PDFInfo
- Publication number
- CN109240309A CN109240309A CN201811356167.6A CN201811356167A CN109240309A CN 109240309 A CN109240309 A CN 109240309A CN 201811356167 A CN201811356167 A CN 201811356167A CN 109240309 A CN109240309 A CN 109240309A
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- vehicles
- parameter
- corner
- pulse
- motion track
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
Abstract
The present invention provides a kind of vehicle control method, device and the vehicles, belong to technical field of transportation means.Vehicle control method, device and the vehicles provided in an embodiment of the present invention, when receiving recording instruction, the motion track of recording vehicle；When receiving return instruction, the vehicles are controlled according to the motion track of record and are returned along original route, so as to realize that the automatic original route of the vehicles returns, avoids causing collision accident because sight is bad in pilot steering return course.
Description
Technical field
The present invention relates to technical field of transportation means, in particular to a kind of vehicle control method, device and friendship
Logical tool.
Background technique
The existing vehicles all can not automatic original route return.For example, mainly relying on people after fire fighting truck enters the scene of a fire
Work drives, and return can be realized by needing biggish space.It is larger if it is scene of fire smog, the unintelligible situation of visual effect
Under, it is be easy to cause collision accident, leads to the damage of casualty accident or vehicle, house.
Summary of the invention
For above-mentioned problems of the prior art, the present invention provides a kind of vehicle control method, device and
The vehicles, the automatic original route that the vehicles may be implemented return.
In a first aspect, the embodiment of the invention provides a kind of vehicle control methods, comprising:
When receiving recording instruction, the motion track of recording vehicle；
When receiving return instruction, the vehicles are controlled according to the motion track of record and are returned along original route.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
The step of stating the motion track of recording vehicle, comprising:
It is sequentially recorded the corner parameter and the corresponding traveling parameter of each corner parameter of the vehicles.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein the corner parameter is the steering angle of the transfer of corner measuring apparatus acquisition.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein the traveling parameter is the wheel pulse number of pulse counting equipment acquisition, output shaft of gear-box arteries and veins
Rush number or ABS gear ring umber of pulse；Alternatively, the traveling parameter be kilometer sensor acquisition the vehicles traveling away from
From.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein it is described that the step of vehicles are returned along original route is controlled according to the motion track of record,
Include:
The corner parameter and corresponding traveling parameter for reading the vehicles in reverse order, according to the corner parameter and right
The vehicles described in the traveling state modulator answered are sailed back along original route retroversion.
Second aspect, the embodiment of the invention also provides a kind of traffic means controlling apparatus, comprising:
Path recording unit, for when receiving recording instruction, the motion track of recording vehicle；
Control unit is returned to, for controlling the traffic work according to the motion track of record when receiving return instruction
Tool is returned along original route.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein institute
Path recording unit is stated to be also used to:
It is sequentially recorded the corner parameter and the corresponding traveling parameter of each corner parameter of the vehicles；The corner
Parameter is the steering angle of the transfer of corner measuring apparatus acquisition；The traveling parameter is the vehicle of pulse counting equipment acquisition
Take turns umber of pulse, output shaft of gear-box umber of pulse or ABS gear ring umber of pulse；Alternatively, the traveling parameter is adopted for kilometer sensor
The travel distance of the vehicles of collection.
In conjunction with second aspect, the embodiment of the invention provides second of possible embodiments of second aspect, wherein institute
Return control unit is stated to be also used to:
The corner parameter and corresponding traveling parameter for reading the vehicles in reverse order, according to the corner parameter and right
The vehicles described in the traveling state modulator answered are sailed back along original route retroversion.
The third aspect, the embodiment of the invention also provides a kind of vehicles, including central processing unit and with the center
The memory of processor connection, the memory is stored with the machine-executable instruction that can be executed by the processor, described
Processor executes the machine-executable instruction with the motion track of recording vehicle, and is controlled according to the motion track of record
The vehicles are returned along original route.
In conjunction with the third aspect, the embodiment of the invention provides the first possible embodiments of the third aspect, wherein institute
Stating the vehicles further includes the corner measuring apparatus connecting with the central processing unit, and the corner measuring apparatus is for acquisition
The steering angle of transfer；
The vehicles further include the pulse counting equipment or kilometer sensor connecting with the central processing unit；Institute
State wheel pulse number, output shaft of gear-box umber of pulse or the ABS gear ring umber of pulse of pulse counting equipment acquisition；The mileometer passes
Sensor is used to acquire the travel distance of the vehicles.
In conjunction with the third aspect, the embodiment of the invention provides second of possible embodiments of the third aspect, wherein institute
Stating the vehicles further includes the device that controls and receives connecting with the central processing unit, and the device that controls and receives is for receiving user's
The instruction received is transmitted to the central processing unit by recording instruction or return instruction.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage medium, the machine readable storage
Media storage has machine-executable instruction, and the machine-executable instruction is when being called and being executed by central processing unit, the machine
Device executable instruction promotes the central processing unit to realize method documented by any one of above-mentioned first aspect.
The embodiment of the present invention bring it is following the utility model has the advantages that
Vehicle control method, device and the vehicles provided in an embodiment of the present invention, when receiving recording instruction,
The motion track of recording vehicle；When receiving return instruction, the vehicles are controlled along former according to the motion track of record
Path returns, and so as to realize that the automatic original route of the vehicles returns, avoids in pilot steering return course because of sight not
Cause collision accident well.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow chart of vehicle control method provided by one embodiment of the invention；
Fig. 2 is the flow chart of vehicle control method provided by another embodiment of the present invention；
Fig. 3 is the structural block diagram of the vehicles provided by one embodiment of the invention；
Fig. 4 is the structural block diagram of traffic means controlling apparatus provided by one embodiment of the invention；
Fig. 5 is the schematic diagram of vehicle control method provided by one embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.The component of embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings can be matched with a variety of different
It sets to arrange and design.Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below
The range of claimed invention, but it is merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work, belongs to the present invention
The range of protection.
For the problem that the existing vehicles need pilot steering, when return, is easy to happen collision accident, and the present invention is real
It applies example and provides a kind of vehicle control method, device and the vehicles, the vehicles of the invention are controlled first below
Method describes in detail.
Embodiment one
Present embodiments provide a kind of vehicle control method, this method can be applied to it is any have returned by original route
In the vehicles of demand, such as steamer, ground or underground driving vehicle.As shown in Figure 1, this method comprises the following steps:
Step S102, when receiving recording instruction, the motion track of recording vehicle.
Specifically, the motion track that the vehicles can be obtained by GPS positioning device, by the motion track of the vehicles
Save designated position in memory；The motion track is continuous latitude and longitude coordinates information.Institute can also be sequentially recorded
The corner parameter and the corresponding traveling parameter of each corner parameter of the vehicles are stated, the program not only can be in outdoor utility, also
It can be applied to the region without GPS signal such as interior.Wherein, corner parameter can be the transfer of corner measuring apparatus acquisition
Steering angle；Transfer can include but is not limited to steering motor or steering wheel etc..Traveling parameter can be step-by-step counting
Wheel pulse number, output shaft of gear-box umber of pulse or the ABS gear ring umber of pulse of device acquisition；Alternatively, traveling parameter can also be
The travel distance of the vehicles of kilometer sensor acquisition.
Step S104 controls the vehicles according to the motion track of record and returns along original route when receiving return instruction
It returns.
If the motion track of record is the motion track for obtaining the vehicles by GPS positioning device, traffic is controlled
Tool is inversely fallen back traveling by motion track, is returned along original route.
If the motion track of record is the corner parameter and the corresponding traveling parameter of each corner parameter of the vehicles,
The corner parameter and corresponding traveling parameter for reading the vehicles in reverse order, join according to the corner parameter of reading and corresponding traveling
The number control vehicles are sailed back along original route retroversion.
Vehicle control method provided in this embodiment, when receiving recording instruction, the movement of recording vehicle
Track；When receiving return instruction, the vehicles are controlled according to the motion track of record and are returned along original route, so as to reality
The automatic original route of the existing vehicles returns.
Embodiment two
The present embodiment is by taking fire fighting truck as an example, the one kind for the vehicle control method that embodiment that the present invention will be described in detail provides
Specific implementation.As shown in Fig. 2, this method comprises the following steps:
Step S202 is sequentially recorded the corner parameter and each corner parameter of fire fighting truck when receiving recording instruction
Corresponding traveling parameter.
It is provided on fire fighting truck and controls and receives device, user can be controlled and received by controlling and receiving the instruction of device input record
Recording instruction is transmitted to central processing unit by device.Central processing unit receives recording instruction, is sequentially recorded the corner of fire fighting truck
Parameter and the corresponding traveling parameter of each corner parameter.Wherein, corner parameter can be the steering electricity of corner measuring apparatus acquisition
The steering angle of machine or steering wheel；Traveling parameter can be the wheel pulse number of pulse counting equipment acquisition, output shaft of gear-box
Umber of pulse or ABS gear ring umber of pulse；Alternatively, traveling parameter can also be the row of the vehicles of kilometer sensor acquisition
Into distance.
For example, as shown in figure 5, driver drives fire fighting truck and 1. reaches A point, this process through corner from O point after start recording
In, the steering angle of the steering motor of corner measuring apparatus acquisition represents the size of corner 1., the vehicle of pulse counting equipment acquisition
1. and corresponding wheel pulse number N1 wheel umber of pulse represents the distance of distance between OA, records the steering angle of steering motor, i.e.,
1. steering angle is saved with wheel pulse number N1 to the specified region of memory, the number of the initial position storage in the specified region
According to being always zero, 1. steering angle is stored in next position of the initial position with wheel pulse number N1.Then, fire fighting truck is again
2. and corresponding wheel pulse number N2 B point is 2. reached through corner from A point, records the steering angle of steering motor during this.It
3. and corresponding wheel afterwards, 3. fire fighting truck reaches C point through corner from B point again, records the steering angle of steering motor during this
Umber of pulse N3.
Step S204 judges whether to receive return instruction when fire fighting truck is in parking standby mode；If so, continuing
Execute step S206；If not, executing step S204 repeatedly, return instruction is waited.
Fire fighting truck reaches scene of fire, when in fire fighting effort, is likely to be at parking standby mode.Complete fire fighting work
Afterwards, fire fighting truck needs to withdraw scene, due to scene of fire environment complexity, other return paths may be not present, or even turn around to be stranded
Difficulty controls and receives device for return instruction and is transmitted to central processing at this point, user can input return instruction by controlling and receiving device
Device, central processing unit receive return instruction, execute following return operations.
Step S206 reads the corner parameter and corresponding traveling parameter of fire fighting truck in reverse order, is joined according to the corner of reading
Several and corresponding traveling state modulator fire fighting truck falls back along original route and returns.
Step S208 judges whether the data read are zero；If so, terminating；If not, returning to step S206.
Central processing unit receives return instruction, reads the corner of fire fighting truck one by one from the designated position of memory in reverse order
Parameter and corresponding traveling parameter are fallen back according to the corner parameter of reading and corresponding traveling state modulator fire fighting truck along original route
It returns.After one group of data of every reading, judge whether the data read are zero.If the corner parameter and corresponding traveling that read
Parameter is zero, then it is assumed that read the initial position in specified region, can terminate.
3. and corresponding vehicle for example, reading the steering angle finally stored first in reverse order when fire fighting truck is returned from C point
Umber of pulse N3 is taken turns, this group of data are not zero, and reversing (R grades) are 3. executed according to steering angle, in the process of backing up, monitor wheel arteries and veins
Number is rushed, the stopping when wheel pulse number reaches N3, fire fighting truck returns to B point from C point.Address decrement will be read, next group of number is read
2. and corresponding wheel pulse number N2 according to that is, steering angle.This group of data are also not zero, and 2. execute reversing according to steering angle,
In the process of backing up, wheel umber of pulse, the stopping when wheel pulse number reaches N2 are monitored, fire fighting truck returns to A point from B point.It will read
1. and corresponding wheel pulse number N1 address decrement is taken, reads next group of data, i.e., steering angle.This group of data are also not zero, and press
Reversing is 1. executed according to steering angle, in the process of backing up, monitors wheel umber of pulse, the stopping when wheel pulse number reaches N1 disappears
Anti- vehicle returns to O point from A point.Address decrement will be read, next group of data, the steering angle and corresponding wheel of this group of data are read
Umber of pulse is zero, is terminated.The above process is the process that fire fighting truck presses backtracking O point from C automatically.
Vehicle control method provided in this embodiment, the side that can be displaced based on corner and umber of pulse resolution of vectors
Formula, the segmentation memory and storage of realizing route.And in such a way that stacking-type data first-in last-out are transferred, realizing route it is reverse
Playback.
Vehicle control method provided in this embodiment is sequentially recorded the vehicles when receiving recording instruction
Corner parameter and the corresponding traveling parameter of each corner parameter；Can simply and reliablely recording vehicle travel track.
When receiving return instruction, the corner parameter and corresponding traveling parameter of the vehicles are read in reverse order, according to turning for reading
Angular dimensions and corresponding traveling state modulator fire fighting truck are fallen back along original route to be returned, so as to realize the automatic original of the vehicles
Path returns to (or returning for a key), avoids causing collision accident because sight is bad in pilot steering return course, meanwhile,
This method can not be limited by the navigation system signal strength or weakness such as GPS or Beidou, while can reduce the operation difficulty of operator.
Embodiment three
The embodiment of the invention also provides a kind of vehicles that above-mentioned control method can be used and realize key return, such as
Shown in Fig. 3, which includes central processing unit 10, engine controller 20, gearbox control 30, steering motor control
Device 40, corner measuring apparatus 50, pulse counting equipment 60 and control and receive device 80 etc. at memory 70.Engine controller 20 becomes
Fast case controller 30, steering motor controller 40, corner measuring apparatus 50, pulse counting equipment 60, memory 70 and control connect
Device 80 is received to connect by bus with central processing unit 10.Illustratively, engine controller 20, gearbox control 30 and turn
It can be connect to electric machine controller 40 by the first bus with central processing unit 10；It memory 70 and controls and receives device 80 and can lead to
The second bus is crossed to connect with central processing unit 10.First bus and the second bus can be CAN (Controller Area
Network, controller local area network) bus.
Central processing unit 10 is used as entire car controller, can send corresponding instruction control hair according to the operation of driver
Motivation controller 20 executes starting or shutoff operation, controls gear box actuator 31 by gearbox control 30 and executes advance
Gear, neutral gear or retreating gear control the steering angle of steering motor by steering motor controller 40.
Central processing unit 10 can be a kind of IC chip, have signal handling capacity.During realization, this hair
Each step for the vehicle control method that bright embodiment provides can pass through the integration logic of the hardware in central processing unit 10
The instruction of circuit or software form is completed.
Memory 70 may include high-speed random access memory (RAM, Random Access Memory), it is also possible to also
Including non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.It is deposited in memory 70
The machine-executable instruction that can be executed by central processing unit is contained, processor 10 executes the machine-executable instruction to record
The motion track of the vehicles, and the vehicles are controlled according to the motion track of record and are returned along original route.
Optionally, corner measuring apparatus 50 is connect with steering motor 41, the steering angle of the steering motor for acquisition.Turn
Angle measuring device 50 can also be connect with steering wheel, for acquiring the steering angle of steering wheel.Corner measuring apparatus 50 will acquire
Steering angle be transmitted to central processing unit 10.
Optionally, pulse counting equipment 60 is connect with gear box actuator 31, for acquiring output shaft of gear-box pulse
Number.Pulse counting equipment 60 can also be connect with wheel, for acquiring wheel umber of pulse.Pulse counting equipment 60 can also be with
ABS gear ring connection, for acquiring ABS gear ring umber of pulse.Above-mentioned three kinds of umber of pulses can embody the travel distance of the vehicles.
Optionally, the vehicles can also be not provided with pulse counting equipment 60, and be arranged and to connect with central processing unit 10
Or kilometer sensor.Kilometer sensor is used to acquire the travel distance of the vehicles.
Device 80 is controlled and received for receiving the recording instruction or return instruction of user, the instruction received is transmitted to center
Processor 10.Controlling and receiving device 80 can be control button, be arranged on operation panel；Controlling and receiving device 80 can also be remote control
Receiver.When controlling and receiving device is receiver of remote-control sytem, remote control transmitter can also be set.Remote control transmitter is hand-held
Part, user can hold remote control transmitter in the hand, and receiver of remote-control sytem is arranged in fire fighting truck.If in the scene of a fire, user
Return instruction can not be sent to fire fighting truck by hand-held remote control transmitter close to fire fighting truck.
The vehicles provided in an embodiment of the present invention are based on CAN bus integrated technology for engine controller, steering motor
Controller, gearbox control, entire car controller integrated management control.Control system is simple and reliable, using kilometer sensor,
ABS gear-wheel gear-ring sensor and based on CAN bus transmission steering motor angular signal, without newly increase device and at
This.It is manually operable, remote control operation, backtracking may be implemented in mode of operation multiplicity.
Example IV
With above method embodiment correspondingly, a kind of traffic means controlling apparatus is present embodiments provided, such as Fig. 4 institute
Show, which includes:
Path recording unit 401, for when receiving recording instruction, the motion track of recording vehicle；
Control unit 402 is returned to, for controlling the traffic according to the motion track of record when receiving return instruction
Tool is returned along original route.
Wherein, path recording unit 401 can be also used for: be sequentially recorded the corner parameter of the vehicles and each
The corresponding traveling parameter of corner parameter.Wherein, corner parameter is the steering angle of the transfer of corner measuring apparatus acquisition.Row
It is wheel pulse number, output shaft of gear-box umber of pulse or the ABS gear ring umber of pulse of pulse counting equipment acquisition into parameter；Alternatively,
The traveling parameter is the travel distance of the vehicles of kilometer sensor acquisition.
Returning to control unit 402 can be also used for the corner parameter for reading the vehicles in reverse order and corresponding traveling
Parameter is sailed back according to the vehicles described in the corner parameter and corresponding traveling state modulator along original route retroversion.
When above-mentioned apparatus is applied on fire fighting truck, fire fighting truck can automatically record vehicle motion track after entering the scene of a fire.
Once it is larger smog occur, visual effect is unintelligible, when original route being needed to return, can simply be pressed by next control by driver
Key, so that it may execute reverse gear, identical corner and identical pulse number, be returned along original route.Alternatively, driver can also at a distance,
Fire fighting truck is returned by original route by remote controler operating in a key.
Further, the embodiment of the invention also provides a kind of machine readable storage medium, the machine readable storage mediums
It is stored with machine-executable instruction, when being called and being executed by processor, machine-executable instruction promotees the machine-executable instruction
Processor is set to realize above-mentioned vehicle control method.
Vehicle control method, device and vehicles technical characteristic having the same provided in an embodiment of the present invention,
So also can solve identical technical problem, reach identical technical effect.
It should be noted that in embodiment provided by the present invention, it should be understood that disclosed system and method, it can
To realize by another way.The apparatus embodiments described above are merely exemplary, for example, the unit is drawn
Point, only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.It is described to be used as separation unit
The unit that part illustrates may or may not be physically separated, and component shown as a unit can be or can also
Not to be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Needs some or all of the units may be selected to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in embodiment provided by the invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of vehicle control method characterized by comprising
When receiving recording instruction, the motion track of recording vehicle；
When receiving return instruction, the vehicles are controlled according to the motion track of record and are returned along original route.
2. the method according to claim 1, wherein the step of motion track of the recording vehicle, packet
It includes:
It is sequentially recorded the corner parameter and the corresponding traveling parameter of each corner parameter of the vehicles.
3. according to the method described in claim 2, it is characterized in that, the corner parameter is the steering of corner measuring apparatus acquisition
The steering angle of device；
The traveling parameter is wheel pulse number, output shaft of gear-box umber of pulse or the ABS gear ring arteries and veins of pulse counting equipment acquisition
Rush number；Alternatively, the traveling parameter is the travel distance of the vehicles of kilometer sensor acquisition.
4. according to the method described in claim 2, it is characterized in that, described control the traffic work according to the motion track of record
The step of tool is returned along original route, comprising:
The corner parameter and corresponding traveling parameter for reading the vehicles in reverse order, according to the corner parameter and corresponding
The vehicles described in traveling state modulator are sailed back along original route retroversion.
5. a kind of traffic means controlling apparatus characterized by comprising
Path recording unit, for when receiving recording instruction, the motion track of recording vehicle；
Control unit is returned to, for controlling the vehicles edge according to the motion track of record when receiving return instruction
Original route returns.
6. device according to claim 5, which is characterized in that the path recording unit is also used to:
It is sequentially recorded the corner parameter and the corresponding traveling parameter of each corner parameter of the vehicles；The corner parameter
For the steering angle of the transfer of corner measuring apparatus acquisition；The traveling parameter is the wheel arteries and veins of pulse counting equipment acquisition
Rush number, output shaft of gear-box umber of pulse or ABS gear ring umber of pulse；Alternatively, the traveling parameter is kilometer sensor acquisition
The travel distance of the vehicles.
7. device according to claim 6, which is characterized in that the return control unit is also used to:
The corner parameter and corresponding traveling parameter for reading the vehicles in reverse order, according to the corner parameter and corresponding
The vehicles described in traveling state modulator are sailed back along original route retroversion.
8. a kind of vehicles, which is characterized in that including central processing unit and the memory being connect with the central processing unit, institute
It states memory and is stored with the machine-executable instruction that can be executed by the central processing unit, described in the central processing unit executes
Machine-executable instruction controls the vehicles edge according to the motion track of record with the motion track of recording vehicle
Original route returns.
9. the vehicles according to claim 8, which is characterized in that the vehicles further include and the central processing
The corner measuring apparatus of device connection, the corner measuring apparatus are used to acquire the steering angle of transfer；
The vehicles further include the pulse counting equipment or kilometer sensor connecting with the central processing unit；The arteries and veins
Counting device is rushed for acquiring wheel umber of pulse, output shaft of gear-box umber of pulse or ABS gear ring umber of pulse；The mileometer sensing
Device is used to acquire the travel distance of the vehicles.
10. the vehicles according to claim 8, which is characterized in that the vehicles further include and the centre
Reason device connection controls and receives device, and the device that controls and receives will be received for receiving the recording instruction or return instruction of user
Instruction be transmitted to the central processing unit.
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| CN201811356167.6A CN109240309A (en) | 2018-11-14 | 2018-11-14 | Vehicle control method, device and the vehicles |
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| CN201811356167.6A CN109240309A (en) | 2018-11-14 | 2018-11-14 | Vehicle control method, device and the vehicles |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112878230A (en) * | 2021-03-29 | 2021-06-01 | 邵煜桐 | Self-positioning warning pile and positioning method |
| WO2022127370A1 (en) * | 2020-12-15 | 2022-06-23 | 灵动科技（北京）有限公司 | Track control method and device, robot and storage medium |
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