CN111522342B - Method and device for processing speed of engineering vehicle - Google Patents
Method and device for processing speed of engineering vehicle Download PDFInfo
- Publication number
- CN111522342B CN111522342B CN202010336701.8A CN202010336701A CN111522342B CN 111522342 B CN111522342 B CN 111522342B CN 202010336701 A CN202010336701 A CN 202010336701A CN 111522342 B CN111522342 B CN 111522342B
- Authority
- CN
- China
- Prior art keywords
- speed
- engineering vehicle
- vehicle
- deceleration
- calculating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 238000005096 rolling process Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a method and a device for processing the speed of an engineering vehicle, when the map limit speed difference of the engineering vehicle between two adjacent path points is greater than a threshold value, the speed of the engineering vehicle in an acceleration stage is respectively set, the speed of the engineering vehicle in a deceleration stage is set, and a braking buffer distance is calculated; calculating the control quantity of an accelerator pedal according to the speed of the engineering vehicle in the acceleration stage, and calculating the control quantity of a brake pedal according to the speed of the engineering vehicle in the deceleration stage and the braking buffer distance; and transmitting the control quantity of the accelerator pedal and the control quantity of the brake pedal to a PLC (programmable logic controller) to adjust the running speed of the engineering vehicle. According to the invention, the acceleration and deceleration process of the engineering vehicle in the advancing process is controlled, so that the advancing speed is ensured, the speed jump is effectively reduced, and the overall efficiency is improved.
Description
Technical Field
The invention relates to a speed processing method and device for an engineering vehicle, and belongs to the technical field of automatic driving of engineering vehicles.
Background
Different from conventional passenger vehicles, such as wide-body dump trucks, mining trucks, excavators and loaders, the engineering vehicles have huge volume and weight, and the adopted transmission system and steering system have certain particularity, so that mine moving equipment has the characteristics of large inertia, large system delay, large load change and the like. In addition, the working environment of the mine construction site is severe, the road surface condition is complex, and a large amount of continuous climbing, turning, uneven road surfaces and the like exist. Therefore, the characteristics of the whole vehicle and the driving environment are more complicated than those of the conventional road vehicle. Therefore, the control difficulty of the equipment is increased, and the control algorithm is required to have better adaptivity and robustness. The walking control of the mining equipment mainly comprises transverse steering control and longitudinal speed control.
The longitudinal speed control in the traveling process of the engineering vehicle is more special than that of a conventional passenger vehicle, such as: the electric drive mine card is provided with an electric brake pedal and a mechanical brake pedal which can alternately play roles under different working conditions, so that more factors need to be considered in the speed control process. For an electrically driven traveling device, due to insufficient driving/braking force at high speed, the speed must be reduced to a lower value before a downhill with a large slope, otherwise speed runaway may be caused, and further danger may occur.
The existing speed control technology has the following defects:
(1) Safety is not considered, and risk of dangerous accidents is caused;
(2) The vehicle kinematics and vehicle dynamics are not considered, the method for planning and controlling the speed is simple, and the method is only suitable for shuttle vehicles running in a stereoscopic warehouse or industrial trucks in factory workshop scenes and is not suitable for other engineering vehicles applied under complex road conditions.
Disclosure of Invention
The purpose is as follows: in order to solve the following problems: (1) With the electrically-driven traveling apparatus, because of insufficient driving or braking force at high speed, the speed control is not appropriate before a downhill with a large slope, causing the speed to be out of control, and further causing danger. (2) The speed control problem under various working conditions such as curves, control roads, uneven roads and the like is solved, and the self-adaptability and robustness of a control algorithm are low. The invention provides a method, a device and a system for processing the speed of an engineering vehicle.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method of speed processing of a work vehicle, comprising the steps of:
step 1: when the map limit speed difference of the engineering vehicle between two adjacent path points is greater than a threshold value, respectively setting the speed of the engineering vehicle in an acceleration stage, setting the speed of the engineering vehicle in a deceleration stage, and calculating a braking buffer distance;
step 2: calculating the control quantity of an accelerator pedal according to the speed of the engineering vehicle in the acceleration stage, and calculating the control quantity of a brake pedal according to the speed of the engineering vehicle in the deceleration stage and the braking buffer distance;
and 3, step 3: and sending the control quantity of the accelerator pedal and the control quantity of the brake pedal to a PLC (programmable logic controller) to adjust the running speed of the engineering vehicle.
An apparatus for processing speed of a working vehicle, characterized in that: the system comprises the following modules:
a speed setting module: the method is used for respectively setting the speed of the engineering vehicle in an acceleration stage and the speed of the engineering vehicle in a deceleration stage when the map limit speed difference of the engineering vehicle between two adjacent path points is greater than a threshold value, and calculating the braking buffer distance;
a control amount calculation module: calculating the control quantity of an accelerator pedal according to the speed of the engineering vehicle in the acceleration stage, and calculating the control quantity of a brake pedal according to the speed of the engineering vehicle in the deceleration stage and the braking buffer distance;
a PLC control module: and sending the control quantity of the accelerator pedal and the control quantity of the brake pedal to a PLC (programmable logic controller) to adjust the running speed of the engineering vehicle.
Preferably, the speed of the engineering vehicle in the acceleration stage is set as a speed set value v xref Setting the speed of the engineering vehicle in the deceleration stage and calculating the braking buffer distance, and the method comprises the following specific steps:
setting the maximum braking deceleration value allowed by the engineering vehicle as a blimit Brake delay time of t del Calculating the current speed v of the engineering vehicle x Braking distance l required to complete parking x ：
Wherein: delta is a mass conversion coefficient of the engineering vehicle; m is the mass of the engineering vehicle; f t Is a driving force; f f Is rolling resistance; f w Is the air resistance; k is a radical of a Is a compensation coefficient; u is an integral coefficient;
will l x As the pre-aiming distance, finding out the serial number n from the current point to the first pre-aiming path point which satisfies the following formula:
wherein: x is the number of i X-axis coordinate value of ith path point; y is i The y-axis coordinate value of the ith path point; x is the number of i-1 The x-axis coordinate value of the ith-1 path point; y is i-1 The y-axis coordinate value of the ith-1 path point;
calculating the speed difference of two adjacent waypoints in all the preview distances according to the preview distance and the preview waypoints, wherein the rear waypoint in the two waypoints with the maximum speed difference is a map speed-limiting catastrophe, and the serial number is i xmax ；
Calculating the current vehicle speed v x Speed-limited abrupt point i to map xmax Velocity set value v xref-imax Braking buffer distance l xmax ；
Wherein: delta is a mass conversion coefficient of the engineering vehicle; m is the mass of the engineering vehicle; f t Is a driving force; f f Is rolling resistance; f w Is the air resistance; k is a radical of formula a Is a compensation factor; u is an integral coefficient; v. of xref-imax Speed set value v corresponding to finger speed abrupt change point xref 。
Preferably, the step of calculating the control quantity of the brake pedal according to the speed of the engineering vehicle and the braking buffer distance in the deceleration stage comprises the following steps:
when e is vx >0 and d i2max ≤l xmax Control amount p of brake pedal edal The formula is as follows:
wherein, a ref Target deceleration for the work vehicle; a is tmax Maximum deceleration at the current vehicle speed; Δ p of edal Correcting the coefficients for experience; d i2max Is the current point to i xmax The distance of the points; e.g. of a cylinder vx ＝v x -v xref-imax ；
a ref ＝min(e vx ·k ev ,a xalim )
Wherein k is bv A deceleration buffer factor; a is xalim The maximum deceleration allowed by the engineering vehicle.
Preferably, the speed set value v xref The calculation formula is as follows:
wherein e is y Is the y-axis position deviation distance; the delta psi is a course deviation; k is a radical of v Is a deviation compensation coefficient; l s The distance between the central points of the front axle and the rear axle of the engineering vehicle is indicated; v. of xlim The preliminary velocity is programmed.
Preferably, the preliminary velocity planning value v xlim The calculation formula is as follows:
v xlim ＝min(v xlimκ ,v xlimΦ ,v xassign )·k c
wherein v is xlimκ Maximum reference speed of the waypoint; v. of xlimΦ Is the highest speed allowed at road bank angle Φ; v. of xass i gn Limiting the speed for the map;
wherein the content of the first and second substances,
kappa is the curvature of the path point, a ylim Is an allowable lateral acceleration limit;
wherein, P e Power for the drive motor; n is k The number of the motors is; i all right angle m Is the wheel edge reduction ratio; f. of w Is the rolling resistance coefficient; pi is the circumference ratio; m is the vehicle mass; g is the acceleration of gravity.
Has the beneficial effects that: according to the method and the device for processing the speed of the engineering vehicle, the acceleration and deceleration process of the engineering vehicle in the advancing process is controlled, so that the advancing speed is ensured, the speed jump is effectively reduced, and the overall efficiency is improved.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of map waypoints;
FIG. 3 is a schematic structural diagram of a control device of the engineering vehicle;
fig. 4 is a schematic structural diagram of a control system of the engineering vehicle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 2, an operator parks an engineering vehicle in a designated walking area, and then tracks and drives the engineering vehicle according to a map collected or issued in advance, where the map is a set of waypoints and the waypoints have information such as serial numbers, map limit speeds, gears, and the like.
A method of speed processing of a work vehicle, comprising the steps of:
step 1: based on safety, calculating a preliminary speed planning value v according to the curvature and the inclination angle of each path point and the limiting speed of the map xlim 。
1.1 curvature k and permissible lateral acceleration limit a depending on the respective path point on the reference path ylim Calculating the maximum reference velocity v of each path point xlimκ ：
1.2 calculate the maximum allowable speed v at road inclination Φ xlimΦ ：
1.3 calculate preliminary velocity plansValue v xlim ：
v xlim ＝min(v xlimκ ,v xlimΦ ,v xassign )·k c
In the formula:
——v xassign limiting the speed for the map;
——P e power for driving the motor;
——n k the number of the motors is;
——i m is a wheel edge reduction ratio;
——f w is the rolling resistance coefficient;
-pi is the circumferential ratio;
-m is the vehicle mass;
-g is the acceleration of gravity;
the calculated speed is ideally multiplied by a redundancy factor K C (values less than 1, set by test and operating conditions).
And 2, step: planning the value v according to the preliminary speed xlim Calculating the speed set value v of each path point of the engineering vehicle xref 。
When the deviation of the position and the course of the engineering vehicle exceeds a certain boundary and the deviation does not tend to be reduced, in order to ensure the safety, the engineering vehicle is subjected to speed reduction processing, and a speed set value v after the speed reduction processing is calculated xref ：
In the formula (I), the compound is shown in the specification,
——e y is the y-axis position deviation distance;
- Δ ψ is the heading bias;
——k v a deviation compensation coefficient;
——l s the distance between the central points of the front axle and the rear axle of the engineering vehicle is indicated;
and 3, step 3: when the speed difference of the engineering vehicle is larger than a threshold value according to the map limit between two adjacent path points, the problem of sudden speed change exists, and the phenomenon of sudden acceleration or braking of the engineering vehicle is caused. The engineering vehicle control is carried out according to sudden acceleration or braking respectively.
3.1 the limiting speed of the map between two adjacent points enters an acceleration stage from low speed to high speed, and the target value can be gradually reached through continuous acceleration; setting the speed value of the engineering vehicle between two adjacent points as a speed set value v xref 。
3.2 when the map speed between two adjacent points is changed from high speed to low speed, the map enters a deceleration stage, for example, the speed is limited from a flat road section to a downhill section, and if the speed is not reduced in advance, the map is maintained at high speed when the downhill is caused, so that the risks of untimely braking, overlarge braking distance, easy collision and the like can be caused. Therefore, the braking buffer distance must be determined before the map between two adjacent points of the speed limits the sudden change of the speed, and the braking deceleration is started when the engineering vehicle enters the braking buffer distance. Determining a braking buffer distance according to speed set values before and after the speed catastrophe point;
if the maximum braking deceleration value allowed by the engineering vehicle is a blimit Brake delay time of t del Then the engineering vehicle is driven from the current speed v x The braking distance required to come to a full stop is:
wherein:
delta is a conversion coefficient of the mass of the engineering vehicle;
-m is the engineering vehicle mass;
——F t is a driving force;
——F f is rolling resistance;
——F w is the air resistance;
——k a is a compensation coefficient;
-u is an integration coefficient.
Will l x As the preview distance, finding out the serial number n of a preview path point from the current point to the first point meeting the following formula:
wherein:
——x i x-axis coordinate value of ith path point;
——y i the y-axis coordinate value of the ith path point;
——x i-1 the x-axis coordinate value of the ith-1 path point;
——y i-1 is the y-axis coordinate value of the ith-1 th path point.
Calculating the speed difference of two adjacent waypoints in all the preview distances according to the preview distance and the preview waypoints, wherein the later point of the two waypoints with the maximum speed difference is a map speed discontinuity point, and the serial number is i xmax ；
Calculating the current vehicle speed v x To map speed discontinuity i xmax Velocity set value v xref-imax Braking buffer distance l xmax ；
I.e. entry path point i xmax L of xmax And when the range is within, braking deceleration is started.
Delta is a conversion coefficient of the mass of the engineering vehicle;
-m is the engineering vehicle mass;
——F t is a driving force;
——F f is rolling resistance;
——F w is the air resistance;
——k a is a compensation factor;
-u is an integration coefficient;
——v xref-imax speed set value v corresponding to finger speed abrupt change point xref ；
And 4, step 4: determining the control quantity of an accelerator pedal according to the actual speed of the acceleration engineering vehicle, and calculating the control quantity of a brake pedal according to the speed of the engineering vehicle in the deceleration stage and the braking buffer distance;
wherein when e vx >0 and d i2max ≤l xmax Control amount p of brake pedal edal The formula is as follows:
wherein, a ref Target deceleration for the work vehicle; a is tmax Maximum deceleration at the current vehicle speed; Δ p edal Correcting the coefficients for experience; d is a radical of i2max Is the current point to i xmax The distance of the points; e.g. of a cylinder vx ＝v x -v xref-imax ；
a ref ＝min(e vx ·k ev ,a xalim )
Wherein k is bv A deceleration buffer factor; a is xalim The maximum deceleration allowed by the engineering vehicle.
And 5: and the control quantity of the accelerator pedal and the control quantity of the brake pedal are sent to the PLC to adjust the running speed of the engineering vehicle.
Example 1:
as shown in fig. 3 and 4, a wheel speed sensor is installed on the side of a rear wheel driving motor for measuring the vehicle speed, an industrial personal computer is installed in an electric control cabinet of a vehicle body for speed planning and speed control, a PLC (programmable logic controller) is used for realizing the control of an accelerator pedal and a brake pedal, a set of inertial navigation equipment is used for realizing the detection of the position of an engineering vehicle, and all the equipment are connected through a wire harness.
PLC reads real-time speed v of engineering vehicle by wheel speed sensor x Sending the obtained speed information to an industrial personal computer through a CAN bus; the industrial personal computer reads the position information of the engineering vehicle output by the inertial navigation equipment, wherein the position information comprises coordinate values and course values; the industrial personal computer carries out speed planning and control algorithm realization according to the collected map path information, calculates the target speed of the engineering vehicle, and finally outputs oil according to the actual vehicle speed fed back by the PLC controllerControl amounts of a door pedal and a brake pedal; the PLC controller performs actual adjustment.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A method of speed handling of a work vehicle, characterized by: the method comprises the following steps:
step 1: when the speed difference of the map limiting speeds of the engineering vehicle between two adjacent path points is larger than a threshold value, respectively setting the speed of the engineering vehicle in an acceleration stage, setting the speed of the engineering vehicle in a deceleration stage, and calculating a braking buffer distance;
step 2: calculating the control quantity of an accelerator pedal according to the speed of the engineering vehicle in the acceleration stage, and calculating the control quantity of a brake pedal according to the speed of the engineering vehicle in the deceleration stage and the braking buffer distance;
and 3, step 3: the control quantity of the accelerator pedal and the control quantity of the brake pedal are sent to a PLC (programmable logic controller) to adjust the running speed of the engineering vehicle;
the speed of the engineering vehicle in the acceleration stage is set as a speed set value v xref The method comprises the following steps of setting the speed of the engineering vehicle in the deceleration stage and calculating the braking buffer distance:
setting the maximum allowable braking deceleration value of the engineering vehicle as a blimit The braking delay time is t del Calculating the current speed v of the engineering vehicle x Braking distance l required to complete parking x ：
Wherein: delta is a mass conversion coefficient of the engineering vehicle; m is the mass of the engineering vehicle; f t Is a driving force; f f Is rolling resistance; f w Is the air resistance; k is a radical of a To compensate for the coefficient(ii) a u is an integral coefficient;
will l x As the pre-aiming distance, finding out the serial number n from the current point to the first pre-aiming path point which satisfies the following formula:
wherein: x is the number of i X-axis coordinate value of ith path point; y is i Is the y-axis coordinate value of the ith path point; x is the number of i-1 The x-axis coordinate value of the ith-1 path point; y is i-1 The y-axis coordinate value of the ith-1 path point;
calculating the speed difference of two adjacent path points in all the preview distances according to the preview distance and the preview path point, wherein the rear one of the two path points with the maximum speed difference is a map speed limiting catastrophe point, and the serial number is i xmax ；
Calculating the current vehicle speed v x Speed-limited abrupt point i to map xmax Velocity set value v of xref-imax Braking buffer distance l xmax ；
Wherein: delta is a mass conversion coefficient of the engineering vehicle; m is the mass of the engineering vehicle; f t Is a driving force; f f Is rolling resistance; f w Is the air resistance; k is a radical of formula a Is a compensation coefficient; u is an integral coefficient; v. of xref-imax Speed set value v corresponding to finger speed abrupt change point xref ；
The method comprises the following steps of calculating the control quantity of a brake pedal according to the speed of the engineering vehicle and the braking buffer distance in the deceleration stage, and specifically comprises the following steps:
when e is vx >0 and d i2max ≤l xmax Control amount p of brake pedal edal The formula is as follows:
wherein, a ref Target deceleration for the work vehicle; a is tmax Maximum deceleration at the current vehicle speed; Δ p edal The coefficient is corrected for experience; d i2max Is the current point to i xmax The distance of the points; e.g. of a cylinder vx ＝v x -v xref-imax ；
a ref ＝min(e vx ·k ev ,a xalim )
Wherein k is bv A damping factor for deceleration; a is a xalim The maximum deceleration allowed by the engineering vehicle.
2. The method for processing the speed of the engineering vehicle according to claim 1, wherein: the speed set value v xref The calculation formula is as follows:
wherein e is y Is the y-axis position deviation distance; delta psi is the course deviation; k is a radical of v A deviation compensation coefficient; l s The distance between the central points of the front axle and the rear axle of the engineering vehicle is indicated; v. of xlim The preliminary velocity is programmed.
3. The method for processing the speed of the engineering vehicle according to claim 2, wherein: the preliminary velocity planning value v xlim The calculation formula is as follows:
v xlim ＝min(v xlimκ ,v xlimΦ ,v xassign )·k c
wherein v is xlimκ Maximum reference speed of the waypoint; v. of xlimΦ Is the highest speed allowed at road bank angle Φ; v. of xass i gn Limiting the speed for the map;
wherein the content of the first and second substances,
kappa is the curvature of the path point, a ylim Is an allowable lateral acceleration limit;
wherein, P e Power for the drive motor; n is a radical of an alkyl radical k The number of the motors is; i.e. i m Is the wheel edge reduction ratio; f. of w Is the rolling resistance coefficient; pi is the circumference ratio; m is the vehicle mass; g is the gravitational acceleration.
4. An apparatus for processing speed of a working vehicle, characterized in that: the system comprises the following modules:
a speed setting module: the method comprises the steps that when the speed difference of the map limiting speeds of the engineering vehicle between two adjacent path points is larger than a threshold value, the speed of the engineering vehicle in an acceleration stage is respectively set, the speed of the engineering vehicle in a deceleration stage is set, and a braking buffer distance is calculated;
a control amount calculation module: calculating the control quantity of an accelerator pedal according to the speed of the engineering vehicle in the acceleration stage, and calculating the control quantity of a brake pedal according to the speed of the engineering vehicle in the deceleration stage and the braking buffer distance;
a PLC control module: the control quantity of the accelerator pedal and the control quantity of the brake pedal are sent to a PLC (programmable logic controller) to adjust the running speed of the engineering vehicle;
the speed of the engineering vehicle in the acceleration stage is set as a speed set value v xref Setting the speed of the engineering vehicle in the deceleration stage and calculating the braking buffer distance, and the method comprises the following specific steps:
setting the maximum allowable braking deceleration value of the engineering vehicle as a blimit Brake delay time of t del Calculating the current speed v of the engineering vehicle x Braking distance l required to complete parking x ：
Wherein: delta is a mass conversion coefficient of the engineering vehicle; m is the mass of the engineering vehicle; f t Is a driving force; f f Is rolling resistance; f w Is the air resistance; k is a radical of formula a Is a compensation coefficient; u is an integral coefficient;
will l x As the pre-aiming distance, finding out the serial number n from the current point to the first pre-aiming path point which satisfies the following formula:
wherein: x is the number of i X-axis coordinate value of ith path point; y is i Is the y-axis coordinate value of the ith path point; x is the number of i-1 The x-axis coordinate value of the ith-1 path point; y is i-1 The y-axis coordinate value of the ith-1 path point;
calculating the speed difference of two adjacent path points in all the preview distances according to the preview distance and the preview path point, wherein the rear one of the two path points with the maximum speed difference is a map speed limiting catastrophe point, and the serial number is i xmax ；
Calculating the current vehicle speed v x Speed-to-map-limit discontinuity i xmax Velocity set value v xref-imax Braking buffer distance l xmax ；
Wherein: delta is a mass conversion coefficient of the engineering vehicle; m is the mass of the engineering vehicle; f t Is a driving force; f f Is rolling resistance; f w Is the air resistance; k is a radical of a Is a compensation factor; u is an integral coefficient; v. of xref-imax Speed set value v corresponding to finger speed abrupt change point xref ；
The method comprises the following steps of calculating the control quantity of a brake pedal according to the speed of the engineering vehicle and the braking buffer distance in the deceleration stage, and specifically comprises the following steps:
when e is vx >0 andd i2max ≤l xmax control amount p of brake pedal edal The formula is as follows:
wherein, a ref Target deceleration for the work vehicle; a is tmax Maximum deceleration at the current vehicle speed; Δ p edal The coefficient is corrected for experience; d i2max Is the current point to i xmax The distance of the points; e.g. of a cylinder vx ＝v x -v xref-imax ；
a ref ＝min(e vx ·k ev ,a xalim )
Wherein k is bv A deceleration buffer factor; a is xalim The maximum deceleration allowed by the engineering vehicle.
5. The device for processing the speed of the engineering vehicle according to claim 4, wherein: said speed set value v xref The calculation formula is as follows:
wherein e is y Is the y-axis position deviation distance; delta psi is the course deviation; k is a radical of v Is a deviation compensation coefficient; l. the s The distance between the central points of the front axle and the rear axle of the engineering vehicle is indicated; v. of xlim And planning the value for the initial speed.
6. The device for processing the speed of the engineering vehicle according to claim 5, wherein: the preliminary velocity planning value v xlim The calculation formula is as follows:
v xlim ＝min(v xlimκ ,v xlimΦ ,v xassign )·k c
wherein v is xlimκ Maximum reference speed of the waypoint; v. of xlimΦ In order to be at the road inclination angle phi,the maximum speed allowed; v. of xassign Limiting the speed for the map;
wherein the content of the first and second substances,
κ is the curvature of the path point, a ylim Is an allowable lateral acceleration limit;
wherein, P e Power for the drive motor; n is a radical of an alkyl radical k The number of the motors is; i.e. i m Is the wheel edge reduction ratio; f. of w Is the rolling resistance coefficient; pi is the circumference ratio; m is the vehicle mass; g is the acceleration of gravity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010336701.8A CN111522342B (en) | 2020-04-24 | 2020-04-24 | Method and device for processing speed of engineering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010336701.8A CN111522342B (en) | 2020-04-24 | 2020-04-24 | Method and device for processing speed of engineering vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111522342A CN111522342A (en) | 2020-08-11 |
| CN111522342B true CN111522342B (en) | 2022-12-09 |
Family
ID=71904572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010336701.8A Active CN111522342B (en) | 2020-04-24 | 2020-04-24 | Method and device for processing speed of engineering vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111522342B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6315696B2 (en) * | 2014-09-29 | 2018-04-25 | 日立建機株式会社 | Transportation vehicle stop position calculation device |
| US10108197B2 (en) * | 2015-12-08 | 2018-10-23 | Ford Global Technologies, Llc | Deceleration determination of a vehicle |
| US10272924B2 (en) * | 2016-12-19 | 2019-04-30 | Baidu Usa Llc | Determining control characteristics for an autonomous driving vehicle |
| DE102017116421A1 (en) * | 2017-07-20 | 2019-01-24 | Deutsche Post Ag | Method and control device for an autonomous and / or semi-autonomous transport vehicle |
| CN110989569B (en) * | 2019-11-20 | 2022-06-14 | 华为技术有限公司 | Vehicle running control method and related equipment |
-
2020
- 2020-04-24 CN CN202010336701.8A patent/CN111522342B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111522342A (en) | 2020-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102107660B (en) | Motion control unit for vehicle based on jerk information | |
| US7860653B2 (en) | Obstacle avoidance control apparatus | |
| US7472766B2 (en) | Regeneration control system | |
| CN109080500B (en) | Self-adaptive parking and starting assisting control method for distributed driving cross-country vehicle | |
| WO2018074048A1 (en) | Vehicle movement control device, vehicle movement control method, and vehicle movement control program | |
| CN102712318B (en) | Vehicle control device | |
| CN109080627B (en) | Method for controlling lateral force during turning driving of unmanned vehicle | |
| EP2712780B1 (en) | Method and apparatus for performing driving assistance | |
| CN107145147A (en) | A kind of vehicle low speed automatic Pilot collision prevention method and system | |
| CN105492279A (en) | Electric vehicle control system | |
| US20090102145A1 (en) | Braking/Driving Control Apparatus and Vehicle having the Apparatus | |
| CN104512405A (en) | Method and apparatus for performing driving assistance | |
| US20120221209A1 (en) | Accelerator pedal erroneous operation responding apparatus and storage medium | |
| KR20200017571A (en) | Lateral control parameter correction apparatus and method for autonomous vehicle | |
| US9205866B2 (en) | Steering control apparatus and method | |
| JP4876617B2 (en) | Vehicle behavior control device | |
| JP4626550B2 (en) | Vehicle turning behavior control device | |
| CN113581210B (en) | Automatic driving longitudinal motion control method suitable for congestion car following working condition | |
| CN111522342B (en) | Method and device for processing speed of engineering vehicle | |
| JP2020011555A (en) | Rank travel system | |
| CN113291293A (en) | Method and system for controlling driving mode based on vehicle body stability | |
| JP2019189187A (en) | Travel track design method and vehicle motion control device | |
| CN113147735B (en) | Differential braking/driving coordination rollover prevention control system and control method thereof | |
| CN114620029A (en) | Method, apparatus and computer program product for adjusting speed during parking | |
| JP3817892B2 (en) | Vehicle travel control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |