CN110559628A - Multi-mode operable following vehicle and following method - Google Patents
Multi-mode operable following vehicle and following method Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B55/00—Bags for golf clubs; Stands for golf clubs for use on the course; Wheeled carriers specially adapted for golf bags
- A63B55/60—Wheeled carriers specially adapted for golf bags
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Aviation & Aerospace Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
the invention discloses a multimode operable following vehicle and a following method, wherein the following vehicle comprises a vehicle body, a vehicle-mounted VCU, a vehicle driving steering system, a vehicle braking system, a vehicle-mounted UWB (ultra Wide band), a UWB (ultra Wide band) tag, a human-computer interaction interface and an operating handle, wherein the front side of the bottom of the vehicle body is provided with a front wheel, the rear side of the bottom of the vehicle body is provided with a rear wheel, the vehicle-mounted VCU, the vehicle driving steering system, the vehicle braking system, the vehicle-mounted UWB tag, the human-computer interaction interface and the operating handle are respectively arranged on the vehicle body, and the UWB tag; the invention not only can solve the problems of smaller positioning detection range, poorer directivity and the like in the prior art, but also can realize the one-to-many following relationship between the followed target and the following vehicle so as to realize the mutual following between the following vehicles, thereby greatly improving the working efficiency and reducing the labor cost. In addition, the matching relation between the follow-up vehicle and the UWB tag on the followed target can be changed at any time, and the following flexibility is greatly improved.
Description
Technical Field
the invention relates to the technical field of following vehicles, in particular to a following vehicle capable of being operated in a multi-mode and a following method.
background
The following vehicle can follow the target and automatically move along with the target, and when the target stops moving, the following vehicle also stops moving. Golf carts are a relatively common follower.
The existing target positioning mode for following vehicles mainly adopts an ultrasonic radar and a time of arrival (TOA) method to position a target object through a plurality of ultrasonic probes. However, ultrasonic positioning has the problems of slow signal propagation speed, poor signal directivity, large divergence angle and the like, and the signal attenuation is serious because the energy is greatly reduced due to divergence, so that the detection range is limited.
In addition, the following vehicles correspond to the following targets one to one in the prior art, so that the functions of one-to-many following targets and following vehicles and mutual following among multiple following vehicles cannot be realized, and the utilization rate of the following vehicles in many scenes is low.
201710671092.X discloses an intelligent following golf cart, which comprises a golf cart body and a beacon. The golf cart body is provided with an electric power module I, a control module, a driving module, a motor module, a guidance module and an obstacle avoidance module, and the beacon is provided with an electric power module II, a signal processing module, an ultrasonic transmitting module and a manual control module. The beacon and the follow-up car in the golf car are matched with each other, and once the beacon and the follow-up car are determined to be incapable of being changed in the midway, the follow-up car has low flexibility in a follow-up function.
201510498083.6 discloses a following carrier and its operation method, the vehicle body is the one of a trailer, the bottom of the vehicle body has a wheel structure, the wheel structure is four-wheel structure, the four-wheel structure includes four wheels, the four wheels are power wheels, the upright operating platform in still be provided with the main control board the foremost edge of the vehicle body in proper order from left to right has five ultrasonic ranging sensors, start and stop button, mode selection key, electronic screen, battery and all motors all communicate with the main control board, in addition the following carrier still dispose the remote controller, the remote controller be used for with the main control board wireless communication connection, the main control board in have an operation control module. This carrier uses the ultrasonic wave to fix a position the required object of following, exists when following the target and following when the distance between the vehicle is far away, and positioning accuracy is lower, and the signal is weaker, when having a plurality of targets of following around, can't realize normal function of following.
201810588007.8 discloses a portable factory AGV following method based on UWB non-base station, the invention carries out non-base station type arrangement to factory site, hangs target signal source in air, thus 'carries' the track from front ground to air, forms a movable trackless track, adopts a mode that a plurality of AGVs follow one target signal source, realizes the following path of AGV flexible freedom. The following method also uses UWB as a positioning mode, but the following mode is that the AGV follows according to a set path by setting a plurality of fixed target positions, and the AGV does not have a function of following a moving target.
disclosure of Invention
the invention aims to solve the technical problem of providing a following vehicle capable of operating in multiple modes and a following method aiming at the defects of the prior art. The invention realizes the positioning of the followed target by applying the UWB positioning technology, not only can solve the problems of smaller positioning detection range, poorer directivity and the like in the prior art, but also can realize the one-to-many following relationship between the followed target and the following vehicle so as to realize the mutual following between the following vehicles, thereby greatly improving the working efficiency and reducing the labor cost; in addition, the matching relation between the follow-up vehicle and the UWB tag on the followed target can be changed at any time, and the following flexibility is greatly improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a multimode operable following vehicle comprises a vehicle body, a vehicle-mounted VCU, a vehicle driving and steering system, a vehicle braking system, a vehicle-mounted UWB (ultra Wide band) tag, a man-machine interaction interface and an operating handle, wherein front wheels are installed on the front side of the bottom of the vehicle body, rear wheels are installed on the rear side of the bottom of the vehicle body, the vehicle-mounted VCU, the vehicle driving and steering system, the vehicle braking system, the vehicle-mounted UWB tag, the man-machine interaction interface and the operating handle are respectively installed on the vehicle body, and the UWB tag is installed on a followed target;
The vehicle driving steering system comprises an in-wheel motor and a motor controller, wherein the in-wheel motor is used for driving the rear wheel;
the vehicle brake system comprises a steering engine and a brake hydraulic cylinder, wherein the steering engine is used for pulling the brake hydraulic cylinder, providing brake force for the brake hydraulic cylinder and transmitting the brake force to a brake caliper, and the brake caliper is arranged on the front wheel;
The vehicle-mounted UWB is used for carrying out real-time communication with the UWB tag, acquiring real-time XY coordinate data of the UWB tag relative to an origin of a following vehicle coordinate system, and transmitting the real-time XY coordinate data to the vehicle-mounted VCU in a CAN signal form;
the human-computer interaction interface is used for setting, outputting and displaying a working mode and parameters of a following vehicle, and the working mode comprises a handle operation mode and an automatic following mode;
the operating handle is used for carrying out data communication with the vehicle-mounted VCU through an analog signal, carrying out handle operation on a following vehicle and realizing the switching of a working mode of the following vehicle between a handle operation mode and an automatic following mode;
The vehicle-mounted VCU is respectively electrically connected with the motor controller, the steering engine, the vehicle-mounted UWB, the human-computer interaction interface and the operating handle, and is used for receiving and processing data and sending the processed data to the corresponding executing mechanism.
A multimode operable following method implemented by the multimode operable following vehicle comprises the following steps:
Respectively installing UWB tags with different IDs on different followed targets, and presetting a default following UWB tag ID in a human-computer interaction interface;
step two, the vehicle-mounted VCU operates a control flow once every other frequency cycle, the flow firstly judges whether the current working mode of the following vehicle displayed in the man-machine interaction interface is a handle operation mode, if the current working mode is judged to be the handle operation mode, the vehicle-mounted VCU processes an analog signal transmitted by an operation handle and outputs the processed signal as a CAN signal of a motor controller, and the motor controller controls a hub motor to execute a driving action; if the operation mode is judged to be the non-handle operation mode, the third step to the fourth step are executed;
step three, after determining the followed target to be followed, setting the working mode and parameters of the following vehicle in a human-computer interaction interface by a user, wherein the setting comprises the following steps: the working mode of the following vehicle is an automatic following mode, the UWB tag ID on the followed target and whether the followed target is allowed to be replaced midway;
Step four, the vehicle-mounted VCU judges whether a user inputs the UWB tag ID on the followed target through a human-computer interaction interface, if the user inputs the UWB tag ID on the followed target, the vehicle-mounted VCU tries to intercept XY coordinate data of the UWB tag corresponding to the input UWB tag ID from the CAN signal input by the vehicle-mounted UWB in real time; if the user does not input the UWB tag ID on the followed target, the vehicle-mounted VCU controls the following vehicle to follow the target by using the preset default following UWB tag ID, and then tries to intercept XY coordinate data of the UWB tag corresponding to the default following UWB tag ID from the CAN signal input by the vehicle-mounted UWB in real time;
If corresponding data are not intercepted, the vehicle-mounted VCU prompts error information to a user on a man-machine interaction interface, sends a PWM signal to the steering engine, and the steering engine provides braking force for the brake hydraulic cylinder to enable the brake hydraulic cylinder to execute braking action until the corresponding data are intercepted;
if the corresponding data are intercepted and the vehicle-mounted VCU receives the analog signals transmitted by the operating handle, the vehicle-mounted VCU processes the analog signals transmitted by the operating handle and outputs the processed signals as CAN signals of a motor controller, and the motor controller controls the hub motor to execute driving action; if the vehicle-mounted VCU does not receive the analog signal transmitted by the operating handle, the vehicle-mounted VCU calculates the distance and the deflection angle of the corresponding UWB tag relative to the origin of the following vehicle coordinate system according to the intercepted corresponding data, and judges whether the distance between the following vehicle and the corresponding UWB tag is smaller than a set threshold value or not;
when the distance between the following vehicle and the corresponding UWB tag is smaller than the threshold value, the vehicle-mounted VCU sends a PWM signal to the steering engine, and the steering engine provides braking force for the brake hydraulic cylinder to enable the brake hydraulic cylinder to execute braking action until the distance between the following vehicle and the corresponding UWB tag is larger than the threshold value; and when the distance between the following vehicle and the corresponding UWB tag is greater than a threshold value, the vehicle-mounted VCU controls the following vehicle to follow the followed target to be followed to a target position.
The invention realizes the positioning of the followed target by applying the UWB positioning technology, has larger positioning range and better directivity, can realize the one-to-many following relationship between the followed target and the following vehicle, and further realizes the mutual following between the following vehicles, namely, the following vehicle follows the front vehicle, and the front vehicle follows the target, thereby greatly improving the working efficiency and reducing the labor cost. In addition, the matching relation between the follow-up vehicle and the UWB tag on the followed target can be changed at any time, namely, the UWB tag does not need to be replaced between the followed target in the follow-up process, so that the follow-up vehicle can follow another target, and the follow-up flexibility is greatly improved.
in the following method, when the corresponding data are intercepted and the vehicle-mounted VCU receives the analog signal transmitted by the operating handle, the vehicle-mounted VCU processes the analog signal transmitted by the operating handle and outputs the processed signal as a CAN signal of a motor controller, and the motor controller controls the hub motor to execute the driving action. The following device is used for ensuring that a user can intervene in the following process at any time in the following vehicle running process, so that the controllability of the following vehicle is enhanced.
in the following method, a direction following mode is mainly adopted, namely the distance between a following vehicle and a followed target in the depth direction is kept. Because the movement speed of the UWB tag is always in a changing state, in order to achieve the purpose of following, the method of the invention keeps a certain safe distance between the following vehicle and the corresponding UWB tag by setting the threshold value of the distance between the following vehicle and the corresponding UWB tag, and finally when the vehicle stops, the following vehicle and the followed target keep the preset safe distance and point to the followed target in the direction.
preferably, in the third step, if the tracked object is allowed to be replaced halfway, the UWB tag ID of the new tracked object after replacement is input to the human-computer interface at any time after the user stops the operation.
preferably, one of the frequency periods is 10 to 50 ms.
Compared with the prior art, the invention has the following advantages: the multi-mode operable following vehicle and the following method disclosed by the invention can realize the switching of the working mode of the following vehicle between the handle operation mode and the automatic following mode. The invention realizes the positioning of the followed target by applying the UWB positioning technology, not only can solve the problems of smaller positioning detection range, poorer directivity and the like in the prior art, but also can realize the one-to-many following relation between the followed target and the following vehicle, thereby realizing the mutual following between the following vehicles, namely the following vehicle follows the front vehicle, and the front vehicle follows the target, thereby greatly improving the working efficiency and reducing the labor cost. In addition, the matching relation between the follow-up vehicle and the UWB tag on the followed target can be changed at any time, namely, the UWB tag does not need to be replaced between the followed target in the follow-up process, so that the follow-up vehicle can follow another target, and the follow-up flexibility is greatly improved.
Drawings
FIG. 1 is a schematic diagram of the connection between the major components of the present invention in a vehicle;
FIG. 2 is a basic flow chart of the following method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
example 1: a multi-mode operable following vehicle comprises a vehicle body, a vehicle-mounted VCU, a vehicle-driven steering system, a vehicle braking system, a vehicle-mounted UWB (ultra wide band) tag, a UWB (human-computer interaction) tag, a human-computer interaction interface and an operating handle, wherein the front side of the bottom of the vehicle body is provided with a front wheel, the rear side of the bottom of the vehicle body is provided with a rear wheel, the vehicle-mounted VCU, the vehicle-driven steering system, the vehicle braking system, the vehicle-mounted UWB tag, the human-computer interaction interface and the operating handle are respectively arranged on the vehicle body, and the UWB;
In embodiment 1, a vehicle drive steering system includes a hub motor for driving a rear wheel and a motor controller; the vehicle braking system comprises a steering engine and a braking hydraulic cylinder, wherein the steering engine is used for pulling the braking hydraulic cylinder, providing braking force for the braking hydraulic cylinder and transmitting the braking force to the braking calipers, and the braking calipers are installed on front wheels.
in the embodiment 1, the vehicle-mounted UWB is used for carrying out real-time communication with the UWB tag, acquiring real-time XY coordinate data of the UWB tag relative to an origin of a following vehicle coordinate system, and transmitting the real-time XY coordinate data to the vehicle-mounted VCU in a CAN signal form; the human-computer interaction interface is used for setting and outputting and displaying a working mode and parameters of a following vehicle, and the working mode comprises a handle operation mode and an automatic following mode; the operation handle is used for carrying out data communication with the vehicle-mounted VCU through an analog signal, carrying out handle operation on the following vehicle and realizing the switching of the working mode of the following vehicle between a handle operation mode and an automatic following mode; the vehicle-mounted VCU is respectively electrically connected with the motor controller, the steering engine, the vehicle-mounted UWB, the human-computer interaction interface and the operating handle, and is used for receiving and processing data and sending the processed data to the corresponding executing mechanism.
Example 2: a multimode operational following method implemented with the multimode operational following vehicle of embodiment 1, as shown in fig. 2, comprising the steps of:
respectively installing UWB tags with different IDs on different followed targets, and presetting a default following UWB tag ID in a human-computer interaction interface;
step two, the vehicle-mounted VCU runs a control flow once every other frequency cycle (in the embodiment, one frequency cycle is 10 ms), the flow firstly judges whether the current following working mode displayed in the man-machine interaction interface is a handle operation mode, if the current following working mode is judged to be the handle operation mode, the vehicle-mounted VCU processes an analog signal transmitted by an operation handle, the processed signal is output to a CAN signal of a motor controller, and the motor controller controls the hub motor to execute a driving action; if the operation mode is judged to be the non-handle operation mode, the third step to the fourth step are executed;
step three, after determining the followed target to be followed, setting the working mode and parameters of the following vehicle in a human-computer interaction interface by a user, wherein the setting comprises the following steps: the working mode of the following vehicle is an automatic following mode, the UWB tag ID on the followed target and whether the followed target is allowed to be replaced midway;
Step four, the vehicle-mounted VCU judges whether a user inputs the UWB tag ID on the followed target through a human-computer interaction interface, if the user inputs the UWB tag ID on the followed target, the vehicle-mounted VCU tries to intercept XY coordinate data of the UWB tag corresponding to the input UWB tag ID from the CAN signal input by the vehicle-mounted UWB in real time; if the user does not input the UWB tag ID on the followed target, the vehicle-mounted VCU controls the following vehicle to follow the target by using the preset default following UWB tag ID, and then tries to intercept XY coordinate data of the UWB tag corresponding to the default following UWB tag ID from the CAN signal input by the vehicle-mounted UWB in real time;
if corresponding data are not intercepted, the vehicle-mounted VCU prompts error information to a user on a man-machine interaction interface, sends a PWM signal to the steering engine, and the steering engine provides braking force for the brake hydraulic cylinder to enable the brake hydraulic cylinder to execute braking action until the corresponding data are intercepted;
If the corresponding data are intercepted and the vehicle-mounted VCU receives the analog signals transmitted by the operating handle, the vehicle-mounted VCU processes the analog signals transmitted by the operating handle and outputs the processed signals as CAN signals of a motor controller, and the motor controller controls the hub motor to execute driving action; if the vehicle-mounted VCU does not receive the analog signal transmitted by the operating handle, the vehicle-mounted VCU calculates the distance and the deflection angle of the corresponding UWB tag relative to the origin of the following vehicle coordinate system according to the intercepted corresponding data, and judges whether the distance between the following vehicle and the corresponding UWB tag is smaller than a set threshold value or not;
when the distance between the following vehicle and the corresponding UWB tag is smaller than the threshold value, the vehicle-mounted VCU sends a PWM signal to the steering engine, and the steering engine provides braking force for the brake hydraulic cylinder to enable the brake hydraulic cylinder to execute braking action until the distance between the following vehicle and the corresponding UWB tag is larger than the threshold value; and when the distance between the following vehicle and the corresponding UWB tag is greater than a threshold value, the vehicle-mounted VCU controls the following vehicle to follow the followed target to be followed to a target position.
The method supports the midway replacement of the followed target, and only needs to preset in the third step to allow the midway replacement of the followed target, and when the following vehicle is in a braking state, a user inputs the replaced UWB tag ID on the new followed target at any time in a human-computer interaction interface. Therefore, the following flexibility of the following vehicle is higher, and the step of replacing the UWB tag between the followed targets is omitted. The human-computer interaction interface also provides a locking operation of the UWB tag ID, and once the UWB tag ID is locked (namely, the follow-up target is not allowed to be replaced midway), even if misoperation of the UWB tag ID on the follow-up target on the human-computer interaction interface occurs in the following process, the vehicle can not change the follow-up target. Meanwhile, the method also supports a one-to-many following function, namely, a plurality of following vehicles can follow a target at the same time, and only need to input the UWB tag ID on the front vehicle on the human-computer interaction interface of the rear vehicle, so that a following vehicle queue is formed, and the working efficiency can be greatly improved.
Claims (4)
1. a multimode operable follower is characterized by comprising a vehicle body, a vehicle-mounted VCU, a vehicle driving steering system, a vehicle braking system, a vehicle-mounted UWB (ultra wide band), a UWB (ultra wide band) tag, a human-computer interaction interface and an operating handle, wherein front wheels are installed on the front side of the bottom of the vehicle body, rear wheels are installed on the rear side of the bottom of the vehicle body, the vehicle-mounted VCU, the vehicle driving steering system, the vehicle braking system, the vehicle-mounted UWB, the human-computer interaction interface and the operating handle are respectively installed on the vehicle body, and the UWB tag is installed on a followed target;
the vehicle driving steering system comprises an in-wheel motor and a motor controller, wherein the in-wheel motor is used for driving the rear wheel;
the vehicle brake system comprises a steering engine and a brake hydraulic cylinder, wherein the steering engine is used for pulling the brake hydraulic cylinder, providing brake force for the brake hydraulic cylinder and transmitting the brake force to a brake caliper, and the brake caliper is arranged on the front wheel;
The vehicle-mounted UWB is used for carrying out real-time communication with the UWB tag, acquiring real-time XY coordinate data of the UWB tag relative to an origin of a following vehicle coordinate system, and transmitting the real-time XY coordinate data to the vehicle-mounted VCU in a CAN signal form;
the human-computer interaction interface is used for setting, outputting and displaying a working mode and parameters of a following vehicle, and the working mode comprises a handle operation mode and an automatic following mode;
the operating handle is used for carrying out data communication with the vehicle-mounted VCU through an analog signal, carrying out handle operation on a following vehicle and realizing the switching of a working mode of the following vehicle between a handle operation mode and an automatic following mode;
The vehicle-mounted VCU is respectively electrically connected with the motor controller, the steering engine, the vehicle-mounted UWB, the human-computer interaction interface and the operating handle, and is used for receiving and processing data and sending the processed data to the corresponding executing mechanism.
2. a multimode operative following method implemented with the multimode operative following vehicle of claim 1, characterized by comprising the steps of:
Respectively installing UWB tags with different IDs on different followed targets, and presetting a default following UWB tag ID in a human-computer interaction interface;
step two, the vehicle-mounted VCU operates a control flow once every other frequency cycle, the flow firstly judges whether the current working mode of the following vehicle displayed in the man-machine interaction interface is a handle operation mode, if the current working mode is judged to be the handle operation mode, the vehicle-mounted VCU processes an analog signal transmitted by an operation handle and outputs the processed signal as a CAN signal of a motor controller, and the motor controller controls a hub motor to execute a driving action; if the operation mode is judged to be the non-handle operation mode, the third step to the fourth step are executed;
step three, after determining the followed target to be followed, setting the working mode and parameters of the following vehicle in a human-computer interaction interface by a user, wherein the setting comprises the following steps: the working mode of the following vehicle is an automatic following mode, the UWB tag ID on the followed target and whether the followed target is allowed to be replaced midway;
Step four, the vehicle-mounted VCU judges whether a user inputs the UWB tag ID on the followed target through a human-computer interaction interface, if the user inputs the UWB tag ID on the followed target, the vehicle-mounted VCU tries to intercept XY coordinate data of the UWB tag corresponding to the input UWB tag ID from the CAN signal input by the vehicle-mounted UWB in real time; if the user does not input the UWB tag ID on the followed target, the vehicle-mounted VCU controls the following vehicle to follow the target by using the preset default following UWB tag ID, and then tries to intercept XY coordinate data of the UWB tag corresponding to the default following UWB tag ID from the CAN signal input by the vehicle-mounted UWB in real time;
If corresponding data are not intercepted, the vehicle-mounted VCU prompts error information to a user on a man-machine interaction interface, sends a PWM signal to the steering engine, and the steering engine provides braking force for the brake hydraulic cylinder to enable the brake hydraulic cylinder to execute braking action until the corresponding data are intercepted;
If the corresponding data are intercepted and the vehicle-mounted VCU receives the analog signals transmitted by the operating handle, the vehicle-mounted VCU processes the analog signals transmitted by the operating handle and outputs the processed signals as CAN signals of a motor controller, and the motor controller controls the hub motor to execute driving action; if the vehicle-mounted VCU does not receive the analog signal transmitted by the operating handle, the vehicle-mounted VCU calculates the distance and the deflection angle of the corresponding UWB tag relative to the origin of the following vehicle coordinate system according to the intercepted corresponding data, and judges whether the distance between the following vehicle and the corresponding UWB tag is smaller than a set threshold value or not;
When the distance between the following vehicle and the corresponding UWB tag is smaller than the threshold value, the vehicle-mounted VCU sends a PWM signal to the steering engine, and the steering engine provides braking force for the brake hydraulic cylinder to enable the brake hydraulic cylinder to execute braking action until the distance between the following vehicle and the corresponding UWB tag is larger than the threshold value; and when the distance between the following vehicle and the corresponding UWB tag is greater than a threshold value, the vehicle-mounted VCU controls the following vehicle to follow the followed target to be followed to a target position.
3. The multimode operable follower method of claim 2, wherein: in the third step, if the following target is allowed to be replaced midway, after braking by a user, the UWB tag ID of the new following target after replacement is input into the man-machine interaction interface at any time.
4. the multimode operable follower method of claim 2, wherein: one frequency period is 10-50 ms.
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| CN113253766A (en) * | 2021-05-12 | 2021-08-13 | 长城汽车股份有限公司 | Automatic following method and automatic following system for loading vehicle and loading vehicle |
| EP3865967A1 (en) * | 2020-02-11 | 2021-08-18 | Cart Technology, S.L. | Trolley-based following system |
| CN114745697A (en) * | 2022-03-22 | 2022-07-12 | 同济大学 | Ultra-wideband technology-based vehicle formation communication system and method |
| WO2022247457A1 (en) * | 2021-05-24 | 2022-12-01 | 长城汽车股份有限公司 | Following vehicle control method and apparatus, electronic device, and readable storage medium |
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