CN111319625A - Vehicle travel control system, vehicle, traction system, and vehicle travel control method - Google Patents
Vehicle travel control system, vehicle, traction system, and vehicle travel control method Download PDFInfo
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- CN111319625A CN111319625A CN202010236184.7A CN202010236184A CN111319625A CN 111319625 A CN111319625 A CN 111319625A CN 202010236184 A CN202010236184 A CN 202010236184A CN 111319625 A CN111319625 A CN 111319625A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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Abstract
The invention provides a vehicle running control system, a vehicle, a traction system and a vehicle running control method. Wherein, vehicle control system that traveles includes: one end of the traction piece is connected with the vehicle, and the extending distance of the other end of the traction piece relative to the vehicle is adjustable; the distance detection device is used for detecting the extending distance of the traction piece relative to the vehicle; and the controller is connected with the distance detection device and can control the running state of the vehicle according to a detection signal of the distance detection device. The vehicle running control system provided by the invention can flexibly and accurately control the running state of the vehicle according to the extending distance of the traction piece relative to the vehicle, and is simple to operate and convenient to drive.
Description
Technical Field
The invention relates to the technical field of vehicle running control, in particular to a vehicle running control system, a vehicle, a traction system and a vehicle running control method.
Background
The existing vehicle running control method mainly comprises two modes of manned driving and unmanned remote control, wherein the manned driving means that a driver sits in a cab and the vehicle is controlled to run by a steering wheel, gears, an accelerator, a brake and the like; the unmanned remote control method is that an operator remotely controls the vehicle in the sight distance through a remote controller, or the remote controller is matched with a camera, a display screen, a radio station and the like to remotely control the vehicle in the beyond sight distance.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a vehicle travel control system.
A second aspect of the invention proposes a vehicle.
A third aspect of the present disclosure is directed to a traction system.
A fourth aspect of the invention proposes a vehicle travel control method.
In view of this, a first aspect of the present invention provides a vehicle travel control system including: one end of the traction piece is connected with the vehicle, and the extending distance of the other end of the traction piece relative to the vehicle is adjustable; the distance detection device is used for detecting the extending distance of the traction piece relative to the vehicle; and the controller is connected with the distance detection device and can control the running state of the vehicle according to a detection signal of the distance detection device.
The invention provides a vehicle running control system, which comprises a traction piece, a distance detection device and a controller, wherein the controller is connected with the distance detection device, one end of the traction piece is connected with a vehicle, the extending distance of the other end of the traction piece relative to the vehicle is adjustable, the extending distance of the traction piece relative to the vehicle is detected through the distance detection device, and the controller controls the running state of the vehicle according to a detection signal of the distance detection device, so that the running state of the vehicle can be flexibly and accurately controlled according to the extending distance of the traction piece relative to the vehicle.
Furthermore, the driving state of the vehicle comprises parking, neutral, forward driving, backward driving and the like, the vehicle is flexibly and accurately controlled to be in different driving states according to the extending distance of the traction piece relative to the vehicle, the structure is simple, the production cost is favorably reduced, meanwhile, the tedious operation of driving the vehicle or operating a remote controller by a driver is omitted, the operation is simple, in addition, the driver needs to concentrate attention and have related experience because the driver drives the vehicle or operates the remote controller, therefore, the requirement on the driver is higher, the traction driving mode provided by the application only needs to control the driving state of the vehicle according to the extending distance of the traction piece relative to the vehicle, no requirement is provided for the driver, therefore, the traction driving mode is easy to drive and is suitable for popularization and application. Further, the distance detection device is provided on the vehicle.
In addition, the vehicle running control system according to the above aspect of the present invention may further include the following additional features:
in the above technical solution, further, the method further includes: the angle detection device is used for detecting the swing angle of the traction piece relative to the vehicle; the controller is connected with the angle detection device and can control the steering state of the vehicle according to a detection signal of the angle detection device.
In the technical scheme, the vehicle running control system further comprises an angle detection device, the controller is connected with the angle detection device, the swing angle of the traction piece relative to the vehicle is detected through the angle detection device, and the controller controls the steering state of the vehicle according to a detection signal of the angle detection device, so that the vehicle can be flexibly and accurately controlled to steer according to the rotation of the traction piece relative to the vehicle body, and the vehicle running control system is simple in operation and convenient to drive.
In particular, the pivot angle of the towing means relative to the vehicle is understood to mean that a straight line parallel to the direction of travel of the vehicle and passing through the midpoint of the end of the towing means connected to the vehicle defines the centre line, and the angle between the centre line and the line between the midpoint of the end of the towing means remote from the vehicle and the midpoint of the end of the towing means connected to the vehicle defines the pivot angle of the free end of the towing means relative to the vehicle. Further, the angle detection device is provided on the vehicle.
Furthermore, the traction piece is matched with the distance detection device and the angle detection device, so that the driving state of the vehicle can be controlled, the steering state of the vehicle can also be controlled, the structure is simple, the production cost is favorably reduced, and the driving control accuracy is favorably provided.
In any of the above technical solutions, further, the distance detecting device is one of the following: rotary encoders, distance sensors; and/or the angle detection device is one of the following: an angle sensor, a rotary encoder; and/or the traction element comprises a traction rope or a traction chain.
In this technical solution, the distance detection device is a rotary encoder or a distance sensor, and may be another distance detection device that meets the requirements.
The angle detection device can be an angle sensor or a rotary encoder, and can also be other angle detection devices meeting requirements.
The traction element includes a traction rope or a traction chain, the extension distance of the traction rope and the traction chain is retractable, and the traction element may also include other components as long as the traction element can be configured to be retractable in the extension distance and achieve the above-mentioned functions of the present application.
According to a second aspect of the present invention, there is provided a vehicle comprising: a drive section; and the vehicle running control system according to any one of the above-described aspects, wherein the controller is connected to the driving portion, and the controller controls the running state of the vehicle through the driving portion according to a detection signal of the distance detection device.
The vehicle provided by the invention comprises a driving part and the vehicle running control system of any technical scheme, wherein the controller is connected with the driving part and controls the running state of the vehicle through the driving part according to a detection signal of the distance detection device.
According to a third aspect of the present invention, there is provided a traction system comprising: a traction part; and the vehicle of any preceding claim, wherein the traction portion is configured to adjust a protrusion distance of the traction member relative to the vehicle.
The traction system provided by the invention comprises the traction part and the vehicle in any technical scheme, wherein the traction part is configured to adjust the extending distance of the traction piece relative to the vehicle.
According to a fourth aspect of the present invention, there is provided a vehicle running control method, the vehicle being the vehicle according to the above-described aspect, the vehicle running control method comprising: detecting a protrusion distance of the traction member relative to the vehicle; and controlling the running state of the vehicle according to the extension distance.
The invention provides a vehicle running control method, wherein the vehicle is provided with a vehicle running control system, and the vehicle running control method comprises the following steps: the vehicle running state is controlled according to the extension distance by detecting the extension distance of the traction piece relative to the vehicle, so that the vehicle running state can be flexibly controlled according to the extension distance of the traction piece relative to the vehicle, the operation is simple, the driving is convenient, and the method is suitable for popularization and application.
Furthermore, the driving state of the vehicle comprises parking, neutral, forward driving, backward driving and the like, the vehicle is flexibly and accurately controlled to be in different driving states according to the extending distance of the traction piece relative to the vehicle, the structure is simple, the production cost is favorably reduced, meanwhile, the tedious operation of driving the vehicle or operating a remote controller by a driver is omitted, the operation is simple, in addition, the driver needs to concentrate attention and have related experience because the driver drives the vehicle or operates the remote controller, therefore, the requirement on the driver is higher, the traction driving mode provided by the application only needs to control the driving state of the vehicle according to the extending distance of the traction piece relative to the vehicle, no requirement is provided for the driver, therefore, the traction driving mode is easy to drive and is suitable for popularization and application.
In any of the above technical solutions, further, the method further includes: detecting a swing angle of the traction member relative to the vehicle; and controlling the steering state of the vehicle according to the swing angle.
In the technical scheme, the vehicle steering state is controlled according to the swing angle by detecting the swing angle of the traction piece relative to the vehicle, so that the vehicle can be flexibly and accurately controlled to rotate relative to the vehicle body according to the rotation of the traction piece, the operation is simple, and the driving is convenient.
Furthermore, the traction piece can control the running state of the vehicle and the steering state of the vehicle, has simple structure, is beneficial to reducing the production cost and is beneficial to providing the accuracy of driving control.
In any of the above technical solutions, further, the step of controlling the driving state of the vehicle according to the extension distance specifically includes: controlling the vehicle to be in a parking state based on the fact that the extending distance is in a first preset interval; controlling the vehicle to be in a neutral state based on the extending distance being in a second preset interval; controlling the vehicle to move forwards based on the fact that the extending distance is in a third preset interval; wherein, the second preset interval is larger than the first preset interval and smaller than the third preset interval.
In this technical solution, a specific solution is provided for controlling the running state of the vehicle in accordance with the protrusion distance. Controlling the vehicle to be in a parking state based on the fact that the extending distance is in a first preset interval, wherein the extending distance of the traction piece is in the first preset interval, and controlling the vehicle to be in a parking gear to stop and further enable the vehicle to be in the parking state; controlling the vehicle to be in a neutral position based on the fact that the extending distance is in a second preset interval, and the second preset interval is larger than the first preset interval, wherein the extending distance of the traction piece is in the second preset interval at the moment, the extending distance of the traction piece is larger than the extending distance of the traction piece during parking at the moment, the vehicle is controlled to be in the neutral position, and the vehicle stops; and controlling the vehicle to move forwards based on the fact that the extending distance is in a third preset interval, wherein the third preset interval is larger than the second preset interval, the extending distance of the traction piece is in the third preset interval at the moment, the extending distance of the traction piece is larger than the extending distance of the traction piece when the extending distance of the traction piece is neutral, and the vehicle is controlled to move forwards to ensure that the vehicle moves forwards. And the vehicle is in different running states such as parking, neutral position and forward running according to different extending distances of the traction piece, and the operation is convenient.
In any of the above technical solutions, further, the method further includes: the extending distance is reduced to a fourth interval under the condition of reducing the extending distance, and the vehicle is controlled to run backwards; the fourth interval is larger than the first preset interval and smaller than the second preset interval.
In the technical scheme, based on the fact that the extending distance is reduced, namely the extending distance is reduced from the third interval to the second interval, or the extending distance is reduced from the second interval to the first interval, or the extending distance is reduced in the first interval, the second interval and the third interval, when the extending distance is reduced to the fourth interval which is larger than the first preset interval and smaller than the second preset interval, the process that the extending distance is reduced from the second preset interval to the first preset interval is described, namely the vehicle reaches a neutral position after experiencing a parking state, if the extending distance is reduced to the fourth interval between the second preset interval and the first preset interval, the vehicle is controlled to run backwards through the extending distance of the traction piece, and the operation is convenient. In any of the above technical solutions, further, the method further includes: based on the fact that the extending distance is within a third preset interval, a preset value is arranged in the third preset interval, and based on the fact that the extending distance is smaller than the preset value, the running speed of the vehicle is in direct proportion to the extending distance; based on the protrusion distance being greater than or equal to the preset value, the vehicle travels at the maximum speed.
In the technical scheme, when the extending distance is within a third preset interval, the vehicle is in a forward driving state at the moment, a preset value is set in the third preset interval, namely the preset value is within the range of the third interval, when the extending distance is smaller than the preset value, the driving speed of the vehicle is in direct proportion to the extending distance, namely the extending distance is between the minimum value of the third interval and the preset value, the forward driving speed of the vehicle is increased along with the increase of the extending distance, the forward driving speed of the vehicle is reduced along with the reduction of the extending distance, the flexibility of the forward driving speed of the vehicle is improved, the requirements of driving speeds of different road conditions can be met, the practicability is high, and the application range of a product is expanded.
When the extending distance is larger than or equal to the preset value, namely the extending distance is equal to the preset value or is between the preset value and the maximum value of the third preset interval, the vehicle travels forwards at the maximum traveling speed, so that the maximum forward traveling speed of the vehicle is limited by the preset value, the traveling safety of the vehicle is effectively guaranteed, and the practicability is high.
Furthermore, the forward running speed of the vehicle is adjusted according to the extending distance of the traction piece in the third preset interval through the preset value in the third preset interval, the operation is simple, the practicability is high, and the method is suitable for popularization and application.
In any of the above technical solutions, further, the step of controlling the steering state of the vehicle according to the swing angle specifically includes: based on the yaw angle being greater than 0 °, the vehicle is controlled to steer so that the yaw angle is equal to 0 °.
In this technical solution, a specific solution is provided for controlling the steering state of the vehicle in accordance with the swing angle. Based on the fact that the swing angle is larger than 0 degrees, the vehicle is controlled to steer to enable the swing angle to be equal to 0 degrees, namely when the swing angle of the free end of the traction piece relative to the vehicle is larger than 0 degrees, the vehicle is controlled to steer to enable the swing angle of the free end of the traction piece relative to the vehicle to be equal to 0 degrees, and steering action of the vehicle is completed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic block diagram of a vehicle travel control system provided according to an embodiment of the invention;
FIG. 2 shows a schematic block diagram of a vehicle provided in accordance with an embodiment of the invention;
FIG. 3 illustrates a schematic block diagram of a traction system provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic flowchart showing a vehicle running system control method according to a first embodiment of the invention;
fig. 5 is a schematic flowchart showing a vehicle running system control method according to a second embodiment of the invention;
fig. 6 is a schematic flowchart showing a vehicle running system control method according to a third embodiment of the invention;
fig. 7 is a schematic flowchart showing a vehicle running system control method according to a fourth embodiment of the invention;
FIG. 8 illustrates a schematic diagram of the operation of the traction system according to one embodiment of the present invention;
FIG. 9 illustrates a schematic diagram of the traction element extension distance versus vehicle gear according to one embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to fig. 3 and fig. 8 is:
100 vehicle running control system, 110 traction member, 120 distance detection device, 130 controller, 140 angle detection device, 150 detection device, 200 vehicle, 210 running part, 300 traction system, 310 traction part and 400 ground.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A vehicle running control system 100, a vehicle 200, a traction system 300, and a vehicle running control method according to some embodiments of the present invention are described below with reference to fig. 1 to 9.
Example one
As shown in fig. 1, according to a first aspect of the present invention, there is provided a vehicle running control system 100, comprising a towing member 110, a distance detecting device 120 and a controller 130, wherein one end of the towing member 110 is connected to a vehicle 200, and the other end is adjustable in extension distance with respect to the vehicle 200; the distance detection device 120 is used for detecting the protruding distance of the towing member 110 relative to the vehicle 200; the controller 130 is connected to the distance detection device 120, and can control the running state of the vehicle 200 according to a detection signal of the distance detection device 120.
Specifically, one end of the traction member 110 is connected with the vehicle 200, the extending distance of the other end relative to the vehicle 200 is adjustable, the extending distance of the traction member 110 relative to the vehicle 200 is detected by the distance detection device 120, and the controller 130 controls the running state of the vehicle 200 according to a detection signal of the distance detection device 120, so that the running state of the vehicle 200 can be flexibly and accurately controlled according to the extending distance of the traction member 110 relative to the vehicle 200, the operation is simple, the driving is convenient, and on the basis of the existing manned and unmanned driving modes, a new driving mode, namely a traction driving mode is provided, and the traction driving mode is suitable for popularization and application.
Further, the driving state of the vehicle 200 includes parking, neutral, forward driving, backward driving, etc., and the driving state of the vehicle 200 is flexibly and accurately controlled to be in different driving states according to the extending distance of the traction member 110 relative to the vehicle 200, so the structure is simple, the production cost is reduced, meanwhile, the tedious operation of driving the vehicle or operating the remote controller by the driver is omitted, the operation is simple, and the requirement on the driver is high because the driver needs to concentrate on the attention and have related experience when driving the vehicle or operating the remote controller, and the traction driving mode provided by the present application only needs to control the driving state of the vehicle 200 according to the extending distance of the traction member 110 relative to the vehicle 200, and has no requirement on the driver, so the driving mode is easy and is suitable for popularization and application. Further, the distance detection device 120 is provided on the vehicle 200.
Specifically, when the extending distance of the traction element 110 relative to the vehicle 200 is within a first preset interval, the vehicle 200 is stopped by controlling the vehicle 200 to be in the parking position, so that the vehicle 200 is in the parking state; when the extending distance of the traction piece 110 relative to the vehicle 200 is within a second preset interval, the second preset interval is larger than the first preset interval, and the extending distance of the traction piece 110 relative to the vehicle 200 is larger than the extending distance of the traction piece 110 relative to the vehicle 200 when parking, the vehicle 200 is controlled to be in a neutral position, and the vehicle 200 stops; when the extending distance of the traction element 110 relative to the vehicle 200 is within a third preset interval, the third preset interval is larger than the second preset interval, and the extending distance of the traction element 110 relative to the vehicle 200 is larger than the neutral position, the vehicle 200 is controlled to move forwards to ensure that the vehicle 200 moves forwards; based on the fact that the extending distance of the traction element 110 relative to the vehicle 200 is reduced, when the extending distance of the traction element 110 relative to the vehicle 200 is reduced to a fourth interval, and the fourth interval is larger than the first preset interval and smaller than the second preset interval, it is described that in the process that the extending distance is reduced from the second preset interval to the first preset interval, namely, when the vehicle 200 reaches a neutral state after experiencing a parking state, if the extending distance of the traction element 110 relative to the vehicle 200 is reduced to the fourth interval, the vehicle 200 is controlled to run backwards, and the vehicle 200 is controlled to run backwards through the extending distance of the traction element 110, so that the operation is convenient. And further, the vehicle 200 is in different running states such as parking, neutral and forward running according to different extending distances of the traction piece 110, and the operation is convenient. Specifically, the first preset interval, the second preset interval, the third preset interval and the fourth preset interval are distance preset intervals.
Example two
As shown in fig. 1, in one embodiment of the present invention, a vehicle running control system 100 includes a towing member 110, a distance detecting device 120, a controller 130, and an angle detecting device 140, wherein the angle detecting device 140 is used for detecting a swing angle of the towing member 110 with respect to a vehicle; the controller 130 is connected to the angle detection device 140, and can control the steering state of the vehicle according to a detection signal of the angle detection device 140.
In this embodiment, the vehicle driving control system 100 further includes an angle detection device 140, the controller 130 is connected to the angle detection device 140, the swing angle of the towing member 110 relative to the vehicle 200 is detected by the angle detection device 140, and the controller 130 controls the steering state of the vehicle 200 according to the detection signal of the angle detection device 140, so that the vehicle 200 can be flexibly and accurately controlled to steer according to the rotation of the towing member 110 relative to the vehicle body, and the operation is simple and the driving is convenient.
Specifically, the pivot angle of the towing member 110 relative to the vehicle 200 may be understood as the pivot angle of the towing member 110 relative to the vehicle 200, where a straight line parallel to the forward traveling direction of the vehicle 200 and passing through the midpoint of the end of the towing member 110 connected to the vehicle is defined as a center line, and an included angle between a line connecting the midpoint of the end of the towing member 110 away from the vehicle 200 and the midpoint of the end of the towing member 110 connected to the vehicle 200 and the center line is defined as the pivot angle of the towing member 110 relative to the vehicle 200. The towing member 110 includes a fixed end and a free end, the fixed end of the towing member 110 is disposed on the vehicle 200, the free end of the towing member 110 is retractable relative to the fixed end, and the extending distance of the towing member 110 can be understood as the distance between the free end of the towing member 110 and the fixed end along the advancing direction of the vehicle 200, and can also be understood as the distance between the free end of the towing member 110 and the vehicle 200 along the advancing direction of the vehicle 200.
Specifically, based on the fact that the swing angle of the traction piece 110 relative to the vehicle 200 is larger than 0 °, the vehicle 200 is controlled to steer so that the swing angle is equal to 0 °, namely when the swing angle of the traction piece 110 relative to the vehicle 200 is larger than 0 °, the vehicle 200 is controlled to steer so that the swing angle of the traction piece 110 relative to the vehicle 200 is equal to 0 °, the steering action of the vehicle 200 is completed, and the operation is simple. Further, the angle detection device 140 is provided on the vehicle 200.
Furthermore, the traction member 110 is matched with the distance detection device 120 and the angle detection device 140, so that the driving state of the vehicle 200 can be controlled, the steering state of the vehicle 200 can also be controlled, the structure is simple, the production cost is reduced, and the driving control accuracy is improved.
Specifically, the distance detection device 120 is a rotary encoder or a distance sensor, and may be another distance detection device 120 that meets the requirement. The angle detecting device 140 may be an angle sensor or a rotary encoder, or may be another angle detecting device 140 that meets the requirement. The pulling element 110 comprises a pulling rope or a pulling chain, the extension distance of which is retractable, and the pulling element 110 may also comprise other components as long as they can be configured to be retractable and perform the above-mentioned functions of the present application.
Further, the distance detection device 120 and the angle detection device 140 may be integrated into one detection device 150, which is advantageous to simplify the structure.
EXAMPLE III
As shown in fig. 1, 2 and 8, according to a second aspect of the present invention, there is provided a vehicle 200 including a driving portion; and the vehicle running control system 100 of any of the above embodiments, wherein the controller 130 is connected to the driving part, and the controller 130 controls the running state of the vehicle through the driving part according to the detection signal of the distance detection device 120. Since the vehicle includes the vehicle driving control system 100 of any of the above embodiments, all the beneficial technical effects of the vehicle driving control system 100 are provided, which are not repeated herein.
Specifically, as shown in fig. 9, the driving portion may drive the vehicle to perform parking, neutral, forward running, reverse running, left steering, right steering, and the like.
Specifically, the vehicle 200 further includes a traveling unit 210, and the driving unit drives the traveling unit 210 to operate so as to enable the vehicle to be in different driving states and steering states.
Example four
As shown in fig. 1, 2, 3 and 8, according to a third aspect of the present invention, there is provided a traction system 300 comprising: a traction portion 310; and the vehicle 200 of any of the above embodiments, wherein the traction portion 310 is configured to adjust a protruding distance of the traction piece 110 with respect to the vehicle 200. Since the traction system 300 includes the vehicle 200 of any of the embodiments, all the beneficial technical effects of the vehicle are achieved, and are not described herein in detail.
Specifically, the towing part 310 may be a human, an animal, a mobile robot, a manned vehicle, an unmanned remote controlled vehicle, or the like, and the one end of the towing member 110 is disposed on the vehicle 200 having the vehicle driving control system 100, and the other end of the towing member 110 is disposed on one of the human, the animal, the mobile robot, the manned vehicle, or the unmanned remote controlled vehicle, so that the extending distance of the towing member 110 with respect to the vehicle 200 is adjusted by the human, the animal, the mobile robot, the manned vehicle, or the unmanned remote controlled vehicle, so that the vehicle 200 having the vehicle driving control system 100 can flexibly and accurately control the driving state of the vehicle 200 according to the extending distance of the towing member 110 with respect to the vehicle 200, and the operation is simple and the driving is convenient.
Further, the traction system 300 further includes a wireless sensor, and when the traction element 110 is disposed on the vehicle 200, the protrusion distance of the traction element 110 relative to the vehicle 200 can be detected by the wireless sensor, so as to adjust the running state of the vehicle 200 having the vehicle running control system 100. Wherein, wireless sensor is lidar sensor.
Specifically, the movement speed and the movement direction of the traction unit 310 may be sensed by a wireless sensor such as a laser radar or a millimeter wave radar, and the running state of the controlled vehicle may be controlled.
EXAMPLE five
According to a fourth aspect of the present invention, there is provided a vehicle running control method, fig. 4 is a flowchart illustrating the vehicle running control method according to the first embodiment of the present invention, the vehicle being the vehicle according to any one of the above embodiments, wherein the running control method includes:
step S402, detecting the extending distance of the traction piece relative to the vehicle;
in step S404, the running state of the vehicle is controlled according to the extension distance.
In detail, the vehicle is a vehicle having a vehicle travel control system, wherein the vehicle travel control method includes: the vehicle running state is controlled according to the extension distance by detecting the extension distance of the traction piece relative to the vehicle, so that the vehicle running state can be flexibly controlled according to the extension distance of the traction piece relative to the vehicle, the operation is simple, the driving is convenient, and the method is suitable for popularization and application.
Furthermore, the driving state of the vehicle comprises parking, neutral, forward driving, backward driving and the like, the vehicle is flexibly and accurately controlled to be in different driving states according to the extending distance of the traction piece relative to the vehicle, the structure is simple, the production cost is favorably reduced, meanwhile, the tedious operation of driving the vehicle or operating a remote controller by a driver is omitted, the operation is simple, in addition, the driver needs to concentrate attention and have related experience because the driver drives the vehicle or operates the remote controller, therefore, the requirement on the driver is higher, the traction driving mode provided by the application only needs to control the driving state of the vehicle according to the extending distance of the traction piece relative to the vehicle, no requirement is provided for the driver, therefore, the traction driving mode is easy to drive and is suitable for popularization and application.
EXAMPLE six
Fig. 5 is a flowchart showing a vehicle running control method of a second embodiment of the invention, the vehicle running control method including:
step S502, detecting the extending distance of the traction piece relative to the vehicle;
step S504, controlling the running state of the vehicle according to the extending distance;
step S506, detecting a swing angle of the traction piece relative to the vehicle;
and step S508, controlling the steering state of the vehicle according to the swing angle.
In this embodiment, the running state of the vehicle is controlled according to the protruding distance by detecting the protruding distance of the traction member with respect to the vehicle according to steps S502 and S504, so that the running state of the vehicle can be flexibly controlled according to the protruding distance of the traction member with respect to the vehicle; according to the steps S506 and S508, the steering state of the vehicle is controlled according to the swing angle by detecting the swing angle of the traction piece relative to the vehicle, so that the vehicle can be flexibly and accurately controlled to rotate according to the rotation of the traction piece relative to the vehicle body, the operation is simple, and the driving is convenient.
Furthermore, the traction piece can control the running state of the vehicle and the steering state of the vehicle, has simple structure, is beneficial to reducing the production cost and is beneficial to providing the accuracy of driving control.
Specifically, there is no requirement on the order of step S502 and step S506, step S502 and step S504 may be executed first, and then step S506 and step S508 may be executed, or step S506 and step S508 may be executed first, and then step S502 and step S504 are executed.
EXAMPLE seven
Fig. 6 shows a flowchart of a vehicle running control method of a third embodiment of the invention, the vehicle running control method including:
step S602, detecting the extending distance of the traction piece relative to the vehicle;
step S604, controlling the vehicle to be in a parking state based on the fact that the extending distance is in a first preset interval; controlling the vehicle to be in a neutral state based on the extending distance being in a second preset interval; controlling the vehicle to move forwards based on the fact that the extending distance is in a third preset interval; wherein the second preset interval is larger than the first preset interval and smaller than the third preset interval;
step S606, detecting the swing angle of the traction piece relative to the vehicle;
step S608, the steering state of the vehicle is controlled according to the swing angle.
In this embodiment, a specific solution is provided for controlling the running state of the vehicle in accordance with the protruding distance of the traction member with respect to the vehicle. Controlling the vehicle to be in a parking state based on the fact that the extending distance of the traction piece relative to the vehicle is in a first preset interval, and indicating that the extending distance of the traction piece is in the first preset interval; controlling the vehicle to be in a neutral position based on that the extending distance of the traction piece relative to the vehicle is in a second preset interval, the second preset interval is larger than the first preset interval, namely the lower limit value of the second preset interval is larger than the upper limit value of the first preset interval, and indicating that the extending distance of the traction piece is in the second preset interval at the moment, the extending distance of the traction piece is larger than the extending distance of the traction piece during parking, controlling the vehicle to be in the neutral position, and stopping the vehicle; and controlling the vehicle to move forwards based on the fact that the extending distance of the traction piece relative to the vehicle is in a third preset interval, wherein the third preset interval is larger than the second preset interval, namely the lower limit value of the third preset interval is larger than the upper limit value of the second preset interval, the extending distance of the traction piece is in the third preset interval at the moment, and the extending distance of the traction piece is larger than the extending distance of the traction piece when the extending distance of the traction piece is neutral, so that the vehicle is controlled to move forwards to ensure that the vehicle moves forwards. And the vehicle is in different running states such as parking, neutral position and forward running according to different extending distances of the traction piece, and the operation is convenient.
Further, when the extending distance of the traction piece relative to the vehicle is within a third preset interval, the vehicle is in a forward running state at the moment, a preset value is set in the third preset interval, namely the preset value is within the range of the third interval, when the extending distance of the traction piece relative to the vehicle is smaller than the preset value, the running speed of the vehicle is in direct proportion to the extending distance, namely the extending distance is between the minimum value of the third interval and the preset value, the forward running speed of the vehicle is increased along with the increase of the extending distance, the forward running speed of the vehicle is reduced along with the reduction of the extending distance, the flexibility of the forward running speed of the vehicle is improved, the requirements of driving speeds under different road conditions can be met, the practicability is high, and the application range of the product is expanded.
Based on the fact that the extending distance of the traction piece relative to the vehicle is larger than or equal to the preset value, namely when the extending distance is equal to the preset value or between the preset value and the maximum value of the third preset interval, the vehicle runs forwards at the maximum running speed, the maximum speed of the vehicle running forwards is limited through the preset value, the safety of the vehicle running is effectively guaranteed, and the practicability is high.
Furthermore, the forward running speed of the vehicle is adjusted according to the preset value in the third preset interval and the extending distance of the traction piece in the third preset interval relative to the vehicle, so that the operation is simple, the practicability is high, and the popularization and the application are suitable.
Furthermore, the vehicle steering state is controlled according to the swing angle by detecting the swing angle of the traction piece relative to the vehicle, so that the vehicle can be flexibly and accurately controlled to rotate relative to the vehicle body according to the rotation of the traction piece, the operation is simple, and the driving is convenient.
Specifically, there is no requirement on the order of step S602 and step S606, step S602 and step S604 may be executed first, and then step S606 and step S608 are executed, or step S606 and step S608 may be executed first, and then step S602 and step S604 are executed.
In one embodiment of the invention, further, the vehicle is controlled to run backwards based on the extension distance being reduced to a fourth section in the case of reduction of the extension distance; the fourth interval is larger than the first preset interval and smaller than the second preset interval.
In this embodiment, based on the fact that the extending distance of the towing member relative to the vehicle is reduced, that is, the extending distance of the towing member relative to the vehicle is reduced from the third section to the second section, or the extending distance is reduced from the second section to the first section, or the extending distance is reduced in the first section, the second section, or the third section, when the extending distance of the towing member relative to the vehicle is reduced to the fourth section, and the fourth section is greater than the first preset section and smaller than the second preset section, that is, the lower limit value of the fourth preset section is greater than the upper limit value of the first preset section, and the upper limit value of the fourth preset section is smaller than the lower limit value of the second preset section, it is described that in the process of reducing the extending distance of the towing member relative to the vehicle from the second preset section to the first preset section, that is, when the vehicle reaches the neutral state after undergoing, if the extending distance is reduced to the fourth section between the second preset section and the first preset section, the vehicle is controlled to run backwards to ensure that the vehicle runs backwards, the vehicle is controlled to run backwards through the extending distance of the traction piece, and the operation is convenient. Where rear and front are two opposite directions of travel, as shown in figure 9.
Specifically, the extension distance of the traction member relative to the vehicle may be gradually increased or gradually decreased, that is, the extension distance of the traction member relative to the vehicle may be increased from a first preset interval to a second preset interval, from the second preset interval to a third preset interval, or from the third preset interval to the second preset interval, from the second preset interval to a fourth interval, and from the fourth interval to the first preset interval, wherein after the extension distance of the traction member relative to the vehicle is in the second preset interval, if the extension distance of the traction member is increased to the third preset interval, the vehicle is controlled to move forward, and if the extension distance of the traction member is decreased to the fourth preset interval, the vehicle is controlled to move backward. It can be understood that when the extending distance of the traction element is increased from the first preset interval to the fourth preset interval, the vehicle does not respond and is still in the parking state.
Example eight
Fig. 7 shows a flowchart of a vehicle running control method of a fourth embodiment of the invention, the vehicle running control method including:
step S702, detecting the extending distance of the traction piece relative to the vehicle;
step S704, controlling the vehicle to be in a parking state based on the fact that the extending distance is in a first preset interval; controlling the vehicle to be in a neutral state based on the extending distance being in a second preset interval; controlling the vehicle to move forwards based on the fact that the extending distance is in a third preset interval; wherein the second preset interval is larger than the first preset interval and smaller than the third preset interval;
step S706, detecting the swing angle of the traction piece relative to the vehicle;
in step S708, based on the yaw angle being greater than 0 °, the vehicle is controlled to turn such that the yaw angle is equal to 0 °.
This embodiment provides a concrete solution of controlling the turning state of the vehicle according to the swing angle on the basis of the seventh embodiment. Based on the fact that the swing angle is larger than 0 degrees, the vehicle is controlled to steer to enable the swing angle to be equal to 0 degrees, namely when the swing angle of the traction piece relative to the vehicle is larger than 0 degrees, the vehicle is controlled to steer to enable the swing angle of the traction piece relative to the vehicle to be equal to 0 degrees, steering action of the vehicle is completed, and operation is simple.
Specifically, when the swing angle of the traction piece relative to the vehicle is α & gt 0 degrees, and the swing angle is located on the right side of the center line, the traction piece swings to the right α, and the swing angle after steering is equal to 0 degrees through controlling the vehicle to steer to the right α, so that the steering accuracy of the vehicle is guaranteed.
Furthermore, the vehicle steering state is controlled according to the swing angle by detecting the swing angle of the traction piece relative to the vehicle, so that the vehicle can be flexibly and accurately controlled to rotate relative to the vehicle body according to the rotation of the traction piece, the operation is simple, and the driving is convenient.
Specifically, there is no requirement on the sequence of step S702 and step S706, step S702 and step S704 may be executed first, and then step S706 and step S708 may be executed, or step S706 and step S708 may be executed first, and then step S702 and step S704 are executed.
Example nine
In a specific embodiment, as shown in fig. 8 and 9, the traction system 300 includes a traction part 310 and a vehicle 200, the traction part 310 is a person to be towed, the vehicle 200 is provided with a traction element 110, the traction element 110 includes a traction rope, one end of the traction rope is connected to the vehicle, the other end of the traction rope is connected to the person to be towed, the vehicle 200 is provided with a detection device 150, which includes a distance detection device 120 for measuring a protrusion distance of the traction rope, such as a rope sensor or a rotary encoder, and an angle detection device 140 for detecting a swing angle of the traction rope with respect to the vehicle (i.e., a left and right swing angle of the traction rope), such as a rotation angle sensor, the vehicle further includes a controller 130 and a traveling part 210, and is configured to control a working state of the traveling part 210 through a driving part, and further.
During the driving of the vehicle 200 on the ground 400, a human tractor pulls the traction rope, and the pull rope sensor and the rotation angle sensor detect the extending distance of the traction rope relative to the vehicle 200 and the swing angle of the traction rope relative to the vehicle 200 in real time. As the extension distance of the traction rope with respect to the vehicle 200 gradually increases, when the extension distance x of the traction rope with respect to the vehicle 200 is in a first preset interval, such as a length interval of 0 to x1, wherein x1 is greater than 0, that is, when 0 < x1, the vehicle 200 is in the parking position and the vehicle 200 is stopped; when the extending distance x of the traction rope relative to the vehicle 200 is in a second preset interval, for example, the second preset interval is a length interval from x2 to x3, wherein x1 is greater than x2 and is greater than x3, namely x2 is greater than x and is less than or equal to x3, the vehicle 200 is in a neutral position, and the vehicle 200 stops; when the extending distance of the traction rope relative to the vehicle 200 is in a third preset interval, for example, the third preset interval is a length interval of x3 to x5, wherein x3 < x5, that is, x3 < x5, the vehicle is in a forward gear, and the vehicle 200 advances; further, in the third preset interval, a preset value x4 is set, when the protrusion distance x is between x3 and x4, namely x3 < x4, the forward running speed of the vehicle 200 is proportional to the protrusion distance of the traction rope, namely, as the protrusion distance of the traction rope continues to increase, the given running speed of the vehicle 200 increases; the vehicle 200 reaches a maximum given travel speed when the protrusion distance is between x4, or x4 to x5, i.e., x4 ≦ x < x 5.
When the extension distance x of the traction rope relative to the vehicle 200 is gradually reduced, namely the traction rope is gradually retracted, the extension distance x of the traction rope relative to the vehicle 200 is retracted to a fourth preset interval, the fourth preset interval is a length interval from x2 to x3, namely x2 is greater than x and is less than or equal to x3, the vehicle 200 returns to the neutral position again, and the vehicle 200 stops moving; when the extension distance x of the traction rope relative to the vehicle 200 is retracted to a length range from x1 to x2, namely x is more than or equal to x2 and less than x3, the vehicle 200 is in a reverse gear, and the vehicle 200 slowly moves backwards; the extension distance x of the traction rope relative to the vehicle 200 is retracted in a length interval of 0 to x1, namely when 0 < x1, the vehicle 200 returns to the parking position again, and the vehicle 200 stops. Wherein the arrow to the right in fig. 9 represents an increase in the extension of the traction element relative to the vehicle 200 and the arrow to the left represents a decrease in the extension of the traction element relative to the vehicle 200.
Further, this application can realize that vehicle 200 gos forward, stops, retreat the gear switching and give the speed of a motor vehicle and adjust through the haulage personnel drag haulage rope, according to the change of haulage rope for the reach of vehicle 200, and haulage rope horizontal hunting arouses the change of the corner value of angle sensor in the traction sensor, realizes that vehicle 200 turns left or turns right, convenient operation, and the suitability is strong, and requires lowly to the haulage personnel, is suitable for popularization and application.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle travel control system characterized by comprising:
the traction piece is connected with the vehicle at one end, and the extending distance of the other end of the traction piece relative to the vehicle is adjustable;
a distance detection device for detecting the protrusion distance of the traction member with respect to the vehicle;
and the controller is connected with the distance detection device and can control the running state of the vehicle according to a detection signal of the distance detection device.
2. The vehicle travel control system according to claim 1, characterized by further comprising:
angle detection means for detecting a swing angle of the traction member with respect to the vehicle;
the controller is connected with the angle detection device and can control the steering state of the vehicle according to a detection signal of the angle detection device.
3. The vehicle running control system according to claim 2,
the distance detection device is one of the following: rotary encoders, distance sensors; and/or the presence of a gas in the gas,
the angle detection device is one of the following: an angle sensor, a rotary encoder; and/or the presence of a gas in the gas,
the traction member comprises a traction rope or a traction chain.
4. A vehicle, characterized by comprising:
a drive section; and
the vehicle running control system according to any one of claims 1 to 3, wherein the controller is connected to the drive portion, the controller controlling a running state of the vehicle by the drive portion in accordance with a detection signal of the distance detection means.
5. A traction system, comprising:
a traction part; and
the vehicle of claim 4, wherein the towing portion is configured to adjust a reach of the tow member relative to the vehicle.
6. A vehicle running control method of a vehicle according to claim 4, characterized by comprising:
detecting a protrusion distance of the traction member relative to the vehicle;
and controlling the running state of the vehicle according to the extending distance.
7. The vehicle travel control method according to claim 6, characterized by further comprising:
detecting a swing angle of the traction member relative to the vehicle;
and controlling the steering state of the vehicle according to the swing angle.
8. The vehicle travel control method according to claim 6, wherein the step of controlling the travel state of the vehicle in accordance with the extension distance specifically includes:
controlling the vehicle to be in a parking state based on the fact that the extending distance is in a first preset interval;
controlling the vehicle to be in a neutral state based on the protruding distance being in a second preset interval;
controlling the vehicle to move forwards on the basis that the extending distance is in a third preset interval;
the second preset interval is larger than the first preset interval and smaller than the third preset interval.
9. The vehicle travel control method according to claim 8, characterized by further comprising:
controlling the vehicle to run backwards based on the fact that the extension distance is reduced to a fourth interval under the condition that the extension distance is reduced;
the fourth interval is larger than the first preset interval and smaller than the second preset interval; and/or the presence of a gas in the gas,
based on the fact that the protruding distance is within a third preset interval, a preset value is arranged in the third preset interval, and based on the fact that the protruding distance is smaller than the preset value, the running speed of the vehicle is in direct proportion to the protruding distance;
and based on the protruding distance being greater than or equal to the preset value, the vehicle runs at the maximum speed.
10. The vehicle travel control method according to claim 7, wherein the step of controlling the steering state of the vehicle in accordance with the yaw angle specifically includes:
controlling the vehicle to turn such that the yaw angle is equal to 0 ° based on the yaw angle being greater than 0 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010236184.7A CN111319625A (en) | 2020-03-30 | 2020-03-30 | Vehicle travel control system, vehicle, traction system, and vehicle travel control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010236184.7A CN111319625A (en) | 2020-03-30 | 2020-03-30 | Vehicle travel control system, vehicle, traction system, and vehicle travel control method |
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| CN111319625A true CN111319625A (en) | 2020-06-23 |
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| CN202010236184.7A Pending CN111319625A (en) | 2020-03-30 | 2020-03-30 | Vehicle travel control system, vehicle, traction system, and vehicle travel control method |
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Cited By (1)
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| CN113031601A (en) * | 2021-03-03 | 2021-06-25 | 重庆兰德适普信息科技有限公司 | Automatic driving-based traction method and system |
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