CN110733568A - Steering method and system of crawler-type unmanned rescue vehicle and storage medium - Google Patents
Steering method and system of crawler-type unmanned rescue vehicle and storage medium Download PDFInfo
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- CN110733568A CN110733568A CN201911075109.0A CN201911075109A CN110733568A CN 110733568 A CN110733568 A CN 110733568A CN 201911075109 A CN201911075109 A CN 201911075109A CN 110733568 A CN110733568 A CN 110733568A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
Abstract
The invention discloses a steering method, a system and a storage medium of crawler-type unmanned rescue vehicles, wherein the steering method of the crawler-type unmanned rescue vehicles comprises the steps of obtaining the current position, the current advancing direction and the target position of a vehicle, determining a target advancing track according to the current position, the current advancing direction and the target position, generating an advancing command according to the target advancing track, and sending the advancing command to a vehicle-mounted terminal so that the vehicle can be controlled to advance along the target advancing track when the vehicle-mounted terminal receives the advancing command.
Description
Technical Field
The invention relates to the technical field of traffic, in particular to a steering method, a steering system and a storage medium for crawler-type unmanned rescue vehicles.
Background
The technology of the unmanned vehicle is mature, the unmanned vehicle can be used for daily traffic travel and can also be used as a rescue vehicle and the like, types of tracked vehicles generally adopt two steering modes, namely a German reverse driving steering mode, type of the tracked vehicles generally depends on the reversing of driving wheels at two sides to enable the vehicles to rotate around a central point and have less abrasion to the track, and type of the tracked vehicles depend on the stopping of the rotation of a driving wheel at one side and the driving wheel at the other side to advance so as to achieve the steering of the vehicles, but the loss of the track and the road surface is serious.
In the prior art, the tracked vehicle is not flexible in steering control by means of a mechanical mode, and the tracked vehicle is driven by a driver, so that the time consumption of steering operation is easily prolonged, and the accuracy of the steering operation is reduced.
Disclosure of Invention
The invention mainly aims to provide a steering method, a steering system and a storage medium of crawler-type unmanned rescue vehicles, and aims to solve the problems that steering of a traditional crawler-type vehicle depends on experience of a driver, time consumption of steering operation is easily prolonged, and accuracy of the steering operation is reduced.
In order to achieve the purpose, the invention provides a steering method of crawler-type unmanned rescue vehicles, which comprises the following steps:
obtaining a current position, a current traveling direction and a target position of a vehicle;
determining a target travel track of the vehicle according to the current position, the current travel direction and the target position;
and generating a traveling instruction according to the target traveling track, and sending the traveling instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle is controlled to travel along the target traveling track when the vehicle-mounted terminal receives the traveling instruction.
Optionally, the step of determining a target travel track of the vehicle according to the current position, the current travel direction and the target position includes:
determining a target traveling direction of the vehicle according to the current position and the target position;
when the current direction of travel and the target direction of travel are not true, determining a steering angle of the vehicle based on the current direction of travel and the target direction of travel;
and determining a target travel track of the vehicle according to the current position, the target position and the steering angle.
Optionally, when the current traveling direction and the target traveling direction are not , the step of determining the steering angle of the vehicle according to the current traveling direction and the target traveling direction includes:
when the current direction of travel and the target direction of travel are not true, determining a calculated steering angle for the vehicle based on the current direction of travel and the target direction of travel;
obtaining obstacle information in the current environment of the vehicle;
obtaining a steering correction value according to the obstacle information;
and determining the steering angle of the vehicle according to the steering correction value and the calculated steering angle.
Optionally, the obstacle information includes at least of the number of obstacles, the height of obstacles, the type of obstacles, the distribution positions of obstacles, and the distribution area range of obstacles.
Optionally, the step of determining a target travel track of the vehicle according to the current position, the target position and the steering angle comprises:
determining the pre-travel distance of the vehicle before steering according to the steering angle;
and determining a target traveling track of the vehicle according to the current position, the target position, the steering angle and the pre-travel distance.
Optionally, the step of generating a travel instruction according to the target travel track, and sending the travel instruction to a vehicle-mounted terminal of the vehicle, so that when the vehicle-mounted terminal receives the travel instruction, the vehicle is controlled to travel along the target travel track includes:
determining the steering speed of the vehicle according to the steering angle;
and generating a traveling instruction according to the target traveling track and the steering speed, and sending the traveling instruction to a driving system of the vehicle, so that the driving system drives the vehicle to travel along the target traveling track when receiving the traveling instruction.
Optionally, after the step of generating a travel instruction according to the target travel track and sending the travel instruction to the vehicle-mounted terminal of the vehicle, so that the vehicle-mounted terminal controls the vehicle to travel along the target travel track when receiving the travel instruction, the method further includes:
obtaining an actual travel track of the vehicle;
and when the actual travel track is not the same as the target travel track, generating a prompt instruction, and sending the prompt instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle-mounted terminal sends prompt information when receiving the travel instruction.
Optionally, before the step of obtaining the current position, the current traveling direction, and the target position of the vehicle, the method further includes:
receiving a starting request triggered by a vehicle-mounted terminal of the vehicle;
searching a pre-stored permission database, identifying the starting request, and acquiring a starting permission associated with the starting request;
and when the starting authority comprises a starting authority, generating a starting instruction according to the starting authority, and sending the starting instruction to the vehicle-mounted terminal so that the vehicle-mounted terminal can control the vehicle to start according to the starting instruction.
The invention also provides steering systems of the crawler-type unmanned rescue vehicle, which comprises a control device, wherein the control device comprises a memory, a processor and a steering program of the crawler-type unmanned rescue vehicle, the steering program of the crawler-type unmanned rescue vehicle is stored in the memory and can run on the processor, and the steering program of the crawler-type unmanned rescue vehicle is configured to realize the steps of the steering method of the crawler-type unmanned rescue vehicle.
The invention also provides storage media, wherein the storage media stores a steering program of the crawler-type unmanned rescue vehicle, and the steering program of the crawler-type unmanned rescue vehicle realizes the steps of the steering method of the crawler-type unmanned rescue vehicle when being executed by a processor.
According to the technical scheme provided by the invention, the current position, the current advancing direction and the target position of the vehicle are integrated, so that the target advancing track of the vehicle can be directly determined, the vehicle can advance according to the target advancing track, the running and steering continuity of the vehicle is ensured, and compared with the traditional steering technology depending on the experience of a driver, the method is beneficial to saving the time consumption generated by steering operation and reducing the error rate of the steering operation.
Drawings
Fig. 1 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a steering method of the tracked unmanned rescue vehicle according to the embodiment of the invention.
The objects, features, and advantages of the present invention are further described in with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the control device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the control arrangement shown in fig. 1 is not limiting and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, memory 1005, which is computer storage media, may include an operating system, a network communication module, a user interface module, and a steering program for a tracked unmanned rescue vehicle.
In the control apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting a vehicle-mounted terminal of a vehicle and performing data communication with the vehicle-mounted terminal; the user interface 1003 is mainly used for connecting a user terminal and performing data communication with the terminal; the processor 1001 and the memory 1005 in the control device of the invention can be arranged in the steering system of the crawler-type unmanned rescue vehicle, the steering system of the crawler-type unmanned rescue vehicle calls the steering program of the crawler-type unmanned rescue vehicle stored in the memory 1005 through the processor 1001 and executes the following operations:
obtaining a current position, a current traveling direction and a target position of a vehicle;
determining a target travel track of the vehicle according to the current position, the current travel direction and the target position;
and generating a traveling instruction according to the target traveling track, and sending the traveling instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle is controlled to travel along the target traveling track when the vehicle-mounted terminal receives the traveling instruction.
, the processor 1001 may invoke the steering program for the tracked unmanned rescue vehicle stored in the memory 1005 and also perform the following operations:
the step of determining a target travel trajectory of the vehicle based on the current position, the current direction of travel, and the target position comprises:
determining a target traveling direction of the vehicle according to the current position and the target position;
when the current direction of travel and the target direction of travel are not true, determining a steering angle of the vehicle based on the current direction of travel and the target direction of travel;
and determining a target travel track of the vehicle according to the current position, the target position and the steering angle.
, the processor 1001 may invoke the steering program for the tracked unmanned rescue vehicle stored in the memory 1005 and also perform the following operations:
the determining a steering angle of the vehicle according to the current traveling direction and the target traveling direction when the current traveling direction and the target traveling direction are not includes:
when the current direction of travel and the target direction of travel are not true, determining a calculated steering angle for the vehicle based on the current direction of travel and the target direction of travel;
obtaining obstacle information in the current environment of the vehicle;
obtaining a steering correction value according to the obstacle information;
and determining the steering angle of the vehicle according to the steering correction value and the calculated steering angle.
, the processor 1001 may invoke the steering program for the tracked unmanned rescue vehicle stored in the memory 1005 and also perform the following operations:
the obstacle information includes at least of the number of obstacles, the height of the obstacles, the category of the obstacles, the distribution positions of the obstacles, and the distribution area range of the obstacles.
, the processor 1001 may invoke the steering program for the tracked unmanned rescue vehicle stored in the memory 1005 and also perform the following operations:
the step of determining a target travel trajectory of the vehicle based on the current position, the target position, and the steering angle comprises:
determining the pre-travel distance of the vehicle before steering according to the steering angle;
and determining a target traveling track of the vehicle according to the current position, the target position, the steering angle and the pre-travel distance.
, the processor 1001 may invoke the steering program for the tracked unmanned rescue vehicle stored in the memory 1005 and also perform the following operations:
the step of generating a travel instruction according to the target travel track and sending the travel instruction to a vehicle-mounted terminal of the vehicle so that the vehicle-mounted terminal controls the vehicle to travel along the target travel track when receiving the travel instruction comprises the following steps:
determining the steering speed of the vehicle according to the steering angle;
and generating a traveling instruction according to the target traveling track and the steering speed, and sending the traveling instruction to a driving device of the vehicle, so that the driving device drives the vehicle to travel along the target traveling track when receiving the traveling instruction.
, the processor 1001 may invoke the steering program for the tracked unmanned rescue vehicle stored in the memory 1005 and also perform the following operations:
after the step of generating a travel instruction according to the target travel track and sending the travel instruction to the vehicle-mounted terminal of the vehicle so that the vehicle-mounted terminal controls the vehicle to travel along the target travel track when receiving the travel instruction, the method further comprises the following steps:
obtaining an actual travel track of the vehicle;
and when the actual travel track is not the same as the target travel track, generating a prompt instruction, and sending the prompt instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle-mounted terminal sends prompt information when receiving the travel instruction.
, the processor 1001 may invoke the steering program for the tracked unmanned rescue vehicle stored in the memory 1005 and also perform the following operations:
before the step of obtaining the current position, the current traveling direction and the target position of the vehicle, the method further comprises the following steps:
receiving a starting request triggered by a vehicle-mounted terminal of the vehicle;
searching a pre-stored permission database, identifying the starting request, and acquiring a starting permission associated with the starting request;
and when the starting authority comprises a starting authority, generating a starting instruction according to the starting authority, and sending the starting instruction to the vehicle-mounted terminal so that the vehicle-mounted terminal can control the vehicle to start according to the starting instruction.
According to the technical scheme provided by the invention, the current position, the current advancing direction and the target position of the vehicle are integrated, so that the target advancing track of the vehicle can be directly determined, the vehicle can advance according to the target advancing track, the running and steering continuity of the vehicle is ensured, and compared with the traditional steering technology depending on the experience of a driver, the method is beneficial to saving the time consumption generated by steering operation and reducing the error rate of the steering operation.
Based on the hardware structure, the embodiment of the steering method of the crawler-type unmanned rescue vehicle is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a steering method of the tracked unmanned rescue vehicle according to an embodiment of the present invention.
In the embodiment, the steering method of the crawler-type unmanned rescue vehicle comprises the following steps:
step S10: obtaining a current position, a current traveling direction and a target position of a vehicle;
the crawler-type unmanned rescue vehicle further comprises a positioning device, a vehicle-mounted map and an attitude instrument, wherein the positioning device, the vehicle-mounted map and the attitude instrument are all in the prior art, the positioning device is a GPS positioning system and can position the real-time position of the vehicle, namely the current position is obtained, the vehicle-mounted map provides a user operation interface for a user to inquire or manually input the target position, and the attitude instrument is fixedly installed on a vehicle body and used for sensing the real-time attitude value of the vehicle, and the real-time attitude value comprises the current traveling direction.
Step S20: determining a target travel track of the vehicle according to the current position, the current travel direction and the target position;
in this embodiment, the driving route of the vehicle can be roughly determined according to a connection line between the current position and the target position on a map interface, and when the driving state of the vehicle along the driving route is simulated, the vehicle is embodied on the driving route in the form of a moving point, and cannot accurately indicate the steering operation of the vehicle, at this time, the driving route can be divided into a plurality of segments, and considering the current traveling direction is equivalent to introducing a tangent of the driving route with the moving point as an end point, and an included angle between the tangent and each segment can accurately indicate an angle at which the vehicle needs to be steered.
Step S30: and generating a traveling instruction according to the target traveling track, and sending the traveling instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle is controlled to travel along the target traveling track when the vehicle-mounted terminal receives the traveling instruction.
In view of the above, since the target travel track is dynamically changed, the travel instruction also needs to be generated immediately along with the target travel track; the generation, compiling and packaging methods of the travel instruction can refer to the prior art; when the vehicle-mounted terminal receives the data packet carrying the traveling instruction, the data packet can be decoded and executed according to a preset rule. Because the target traveling track is generated and executed by calculation of a computer and other precise instruments, compared with manual experience operation, the track-type unmanned rescue vehicle has the advantages of higher processing speed and more accurate processing result, and is more suitable for instant steering and traveling of the track-type unmanned rescue vehicle.
, in this embodiment, the step S20 includes:
s21: determining a target traveling direction of the vehicle according to the current position and the target position;
s22, when the current advancing direction and the target advancing direction are not , determining the steering angle of the vehicle according to the current advancing direction and the target advancing direction;
s23: and determining a target travel track of the vehicle according to the current position, the target position and the steering angle.
It should be noted that the target traveling direction may be determined according to the current position and the target position, and at this time, if the current traveling direction is consistent with the target traveling direction , it is indicated that the current traveling route of the vehicle is accurate, and the vehicle may travel directly according to the current traveling direction without performing a steering operation, but if the current traveling direction is not consistent with the target traveling direction , it is indicated that the vehicle is about to deviate from an accurate traveling route, and a steering operation is required.
Since the steering of the vehicle requires a large movement space, in the present embodiment, the step S22 includes:
s221, when the current advancing direction and the target advancing direction are not , determining a calculated steering angle of the vehicle according to the current advancing direction and the target advancing direction;
s222: obtaining obstacle information in the current environment of the vehicle;
s223: obtaining a steering correction value according to the obstacle information;
s224: and determining the steering angle of the vehicle according to the steering correction value and the calculated steering angle.
However, if the current environment of the vehicle is not enough to provide a space for the vehicle to steer, even if the accurate calculated steering angle is obtained, the vehicle cannot steer well, and at this time, in order to improve the success rate of the steering operation, the control device may detect whether the vehicle steering requirement is met within an area range with the current position of the vehicle as the center and a radius of 30 meters by using, for example, a vehicle-mounted ultrasonic radar, where the 30 meters do not limit the detection distance of the ultrasonic radar, and in other embodiments, the detection distance may be set to be greater than or less than 30 meters according to actual conditions, and no description is made here by .
The method comprises the steps of obtaining obstacle information of a vehicle, wherein the obstacle information comprises at least of the number of obstacles, the height of the obstacles, the types of the obstacles, the distribution positions of the obstacles and the distribution area range of the obstacles, indicating that the vehicle directly moves forward or turns if no obstacle exists in the area range taking the current position of the vehicle as the center of a circle and taking 30 meters as the radius, judging that the number of the obstacles is less if the obstacles exist and the obstacles are dead objects which are static and cannot move by themselves, indicating that the current environment is suitable for the vehicle to turn if the height of the obstacles is lower, such as the height of the obstacles is lower than the chassis or the height of the vehicle does not influence the stable running or the turning of the vehicle, or distributing the obstacles is more concentrated, or indicating that the current environment is suitable for the vehicle to turn if the distribution area range of the obstacles is smaller, at the moment, indicating that the vehicle directly turns and runs, or indicating that the vehicle runs directly turns, or otherwise indicating that the obstacle information needs to remind a user of turning smoothly, and indicating that the vehicle can move around the obstacle.
, the step S23 includes:
s231: determining the pre-travel distance of the vehicle before steering according to the steering angle;
s232: and determining a target traveling track of the vehicle according to the current position, the target position, the steering angle and the pre-travel distance.
According to the above operation, after the steering angle currently required by the vehicle is determined, a predetermined pre-travel distance is also required to be reserved for the steering operation of the vehicle, so that the vehicle can be steered after moving a predetermined distance within the pre-travel distance, and the direct steering is avoided, thereby causing great wear to the track of the vehicle.
, the step S30 includes:
s31: determining the steering speed of the vehicle according to the steering angle;
s32: and generating a traveling instruction according to the target traveling track and the steering speed, and sending the traveling instruction to a driving device of the vehicle, so that the driving device drives the vehicle to travel along the target traveling track when receiving the traveling instruction.
However, based on the complexity of road conditions, the steering angle of the vehicle can be large or small each time, and if the steering speed is set to be a fixed value, the vehicle cannot be applied to various changing road conditions, so in this embodiment, a correlation can be established between the steering speed and the steering angle, for example, if the steering angle is large, the difference between the steering speed and the running speed is large, the control device instructs the vehicle to gradually decelerate so as to ensure the stability of the running and the steering, otherwise, if the steering angle is small, the steering speed is small compared to the running speed, and the control device instructs the vehicle to directly decelerate so as to improve the efficiency of speed regulation.
, after the step S30, the method further includes:
s41: obtaining an actual travel track of the vehicle;
and S42, when the actual travel track is not equal to the target travel track , generating a prompt instruction, and sending the prompt instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle-mounted terminal sends prompt information when receiving the travel instruction.
In the actual traveling process of the vehicle, a deviation may easily occur between the actual traveling track of the vehicle and the target traveling track due to a complex terrain and a sudden situation, and if the deviation is not found in time, the vehicle may gradually deviate from the target position, so in this embodiment, the vehicle monitors the actual traveling track in real time, and prompts the vehicle-mounted terminal or the user when the deviation occurs between the actual traveling track and the target traveling track; meanwhile, the control device corrects the deviation between the actual travel track and the target travel track in real time to ensure the continuous travel and steering of the vehicle.
, before the step S10, the method further includes:
s01: receiving a starting request triggered by a vehicle-mounted terminal of the vehicle;
s02: searching a pre-stored permission database, identifying the starting request, and acquiring a starting permission associated with the starting request;
s03: and when the starting authority comprises a starting authority, generating a starting instruction according to the starting authority, and sending the starting instruction to the vehicle-mounted terminal so that the vehicle-mounted terminal can control the vehicle to start according to the starting instruction.
Because the crawler-type unmanned rescue vehicle is an unmanned vehicle, when a user triggers a starting request based on the vehicle-mounted terminal, the starting request comprises identity information or password information for verifying the user; the control device verifies the starting request in the permission database, inquires and obtains associated starting permissions, and due to the fact that users with different identities, different posts and different positions have different permitted permissions, for example, a technician in charge of monitoring driving conditions has the permissions of starting, steering and the like of the crawler-type unmanned rescue vehicle, but a person in charge of material loading and unloading does not have the permissions, the vehicle is controlled to start only when the obtained starting permissions comprise the starting permissions, and then subsequent continuous advancing and continuous steering operations can be carried out, and the driving safety of the crawler-type unmanned rescue vehicle is improved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
- The steering method of the crawler-type unmanned rescue vehicle of is characterized by comprising the following steps:obtaining a current position, a current traveling direction and a target position of a vehicle;determining a target travel track of the vehicle according to the current position, the current travel direction and the target position;and generating a traveling instruction according to the target traveling track, and sending the traveling instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle is controlled to travel along the target traveling track when the vehicle-mounted terminal receives the traveling instruction.
- 2. The method for steering a tracked unmanned rescue vehicle of claim 1, wherein the step of determining a target travel trajectory for the vehicle based on the current position, the current direction of travel and the target position comprises:determining a target traveling direction of the vehicle according to the current position and the target position;when the current direction of travel and the target direction of travel are not true, determining a steering angle of the vehicle based on the current direction of travel and the target direction of travel;and determining a target travel track of the vehicle according to the current position, the target position and the steering angle.
- 3. The method for steering a tracked unmanned rescue vehicle of claim 2, wherein the step of determining the steering angle of the vehicle based on the current direction of travel and the target direction of travel when the current direction of travel and the target direction of travel are not comprises:when the current direction of travel and the target direction of travel are not true, determining a calculated steering angle for the vehicle based on the current direction of travel and the target direction of travel;obtaining obstacle information in the current environment of the vehicle;obtaining a steering correction value according to the obstacle information;and determining the steering angle of the vehicle according to the steering correction value and the calculated steering angle.
- 4. The method for turning a tracked unmanned rescue vehicle of claim 3, wherein the obstacle information comprises at least of the number of obstacles, the height of the obstacles, the type of the obstacles, the location of the obstacle distribution, and the range of the area of the obstacle distribution.
- 5. The method for steering a tracked unmanned rescue vehicle of claim 2, wherein the step of determining the target travel trajectory of the vehicle from the current position, the target position and the steering angle comprises:determining the pre-travel distance of the vehicle before steering according to the steering angle;and determining a target traveling track of the vehicle according to the current position, the target position, the steering angle and the pre-travel distance.
- 6. The steering method of the tracked unmanned rescue vehicle according to claim 2, wherein the step of generating a travel instruction according to the target travel track and sending the travel instruction to a vehicle-mounted terminal of the vehicle so that the vehicle-mounted terminal can control the vehicle to travel along the target travel track when receiving the travel instruction comprises the following steps:determining the steering speed of the vehicle according to the steering angle;and generating a traveling instruction according to the target traveling track and the steering speed, and sending the traveling instruction to a driving system of the vehicle, so that the driving system drives the vehicle to travel along the target traveling track when receiving the traveling instruction.
- 7. The steering method for the tracked unmanned rescue vehicle according to claim 1, wherein the step of generating a travel instruction according to the target travel track and sending the travel instruction to a vehicle-mounted terminal of the vehicle so that the vehicle-mounted terminal controls the vehicle to travel along the target travel track when receiving the travel instruction further comprises the following steps:obtaining an actual travel track of the vehicle;and when the actual travel track is not the same as the target travel track, generating a prompt instruction, and sending the prompt instruction to a vehicle-mounted terminal of the vehicle, so that the vehicle-mounted terminal sends prompt information when receiving the travel instruction.
- 8. The method for steering a tracked unmanned rescue vehicle of claim 1, wherein the step of obtaining the current position, the current direction of travel and the target position of the vehicle is preceded by the further step of:receiving a starting request triggered by a vehicle-mounted terminal of the vehicle;searching a pre-stored permission database, identifying the starting request, and acquiring a starting permission associated with the starting request;and when the starting authority comprises a starting authority, generating a starting instruction according to the starting authority, and sending the starting instruction to the vehicle-mounted terminal so that the vehicle-mounted terminal can control the vehicle to start according to the starting instruction.
- A steering system of a tracked unmanned rescue vehicle, characterized in that the steering system of the tracked unmanned rescue vehicle comprises a control device, the control device comprises a memory, a processor and a steering program of the tracked unmanned rescue vehicle stored on the memory and operable on the processor, the steering program of the tracked unmanned rescue vehicle is configured to realize the steps of the steering method of the tracked unmanned rescue vehicle according to any of claims 1 to 8.
- Storage medium , characterized in that it has stored thereon a program for steering a tracked unmanned rescue vehicle, which program, when executed by a processor, carries out the steps of a method for steering a tracked unmanned rescue vehicle according to any of claims 1 to 8.
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| CN113370721A (en) * | 2021-07-29 | 2021-09-10 | 中国人民解放军国防科技大学 | Control strategy and system for three-axis unmanned vehicle to deal with field special tasks |
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