CN111688824A - Control method, device, equipment, medium and vehicle for towing vehicle - Google Patents
Control method, device, equipment, medium and vehicle for towing vehicle Download PDFInfo
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- CN111688824A CN111688824A CN201910196305.7A CN201910196305A CN111688824A CN 111688824 A CN111688824 A CN 111688824A CN 201910196305 A CN201910196305 A CN 201910196305A CN 111688824 A CN111688824 A CN 111688824A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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Abstract
The invention provides a control method, a control device, control equipment, a control medium and a control vehicle for a trailer vehicle, wherein the method comprises the steps of determining a reference speed of a traction vehicle according to the curvature of a path of the position of the trailer vehicle, the road surface parameter of the position, the parameter of the traction vehicle and the parameter of a towed vehicle; and controlling the traction vehicle to run according to the speed less than or equal to the reference speed, so that the traction vehicle drives the towed vehicle to run. The invention can ensure the running safety of the unmanned trailer vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method, a control device, control equipment, control media and a vehicle for a trailer vehicle.
Background
In the field of vehicle transportation, the popularity of towing vehicles as the most efficient transportation means is high compared to other vehicle transportation means.
Conventional trailer vehicles are manually controlled, i.e. manually driven. However, the operation cost of the manually driven trailer vehicle is high, and as the technology develops, the unmanned trailer vehicle becomes possible. For an unmanned trailer vehicle, safety of vehicle control, speed control, and the like become main factors. Due to the structural particularity of the trailer vehicle, the traditional vehicle control technology is difficult to directly copy for use.
Therefore, how to ensure the driving safety of the unmanned trailer vehicle is particularly important.
Disclosure of Invention
The invention provides a control method, a control device, control equipment, a control medium and a control vehicle for a trailer vehicle, and aims to ensure the running safety of an unmanned trailer vehicle.
In a first aspect, the present invention provides a control method for a trailer vehicle, the trailer vehicle comprising: a towing vehicle and a towed vehicle; the method comprises the following steps:
determining a reference speed of the towing vehicle according to the curvature of the path of the position of the towing vehicle, the road surface parameter of the position, the parameter of the towing vehicle and the parameter of the towed vehicle;
and controlling the traction vehicle to run according to the speed less than or equal to the reference speed, so that the traction vehicle drives the towed vehicle to run.
In a second aspect, the present invention provides a control apparatus for a trailer vehicle, the trailer vehicle comprising: a towing vehicle and a towed vehicle; the control device includes:
the determining module is used for determining the reference speed of the traction vehicle according to the path curvature of the position of the traction vehicle, the road surface parameter of the position, the parameter of the traction vehicle and the parameter of the towed vehicle;
and the control module is used for controlling the traction vehicle to run according to the speed less than or equal to the reference speed, so that the traction vehicle drives the towed vehicle to run.
In a third aspect, the present invention also provides a control apparatus for a trailer vehicle, comprising: a memory and a processor; the memory is connected with the processor;
the memory to store program instructions;
the processor is configured to implement the control method for a trailer vehicle of the first aspect described above when the program instructions are executed.
In a fourth aspect, the present invention may also provide a trailer vehicle comprising: a control device, a towing vehicle and a towed vehicle;
the control device is connected with the traction vehicle, and the traction vehicle is connected with the towed vehicle; the control apparatus is the control apparatus provided in the third aspect.
In a fifth aspect, the present invention may also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method for a towed vehicle of the first aspect described above.
The invention provides a control method, a control device, control equipment, a control medium and a control vehicle for a trailer vehicle. According to the method, the determined reference speed is the reference speed for stable running of the trailer vehicle according to the path curvature of the position of the trailer vehicle, the road surface parameter of the position, the parameter of the traction vehicle of the trailer vehicle and the parameter of the towed vehicle, and then the speed which is less than or equal to the reference speed is adopted to control the trailer vehicle to run, so that the accurate control of the speed of the trailer vehicle can be realized, the safe and stable running of the trailer vehicle is effectively ensured, and the safety of the unmanned trailer vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic illustration of a trailer vehicle to which embodiments of the present invention are applicable;
FIG. 2 is a flow chart of a control method for a trailer vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of another control method for a trailer vehicle provided by an embodiment of the present invention;
FIG. 4 is a flow chart of yet another control method for a trailer vehicle provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of turning radius, included angle, and the relationship between a towing vehicle and a towed vehicle during a turn provided by an embodiment of the present invention;
FIG. 6 is a flow chart of yet another control method for a trailer vehicle provided in accordance with an embodiment of the present invention;
FIG. 7 is a flow chart of yet another control method for a trailer vehicle provided in accordance with an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control device for a trailer vehicle according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control apparatus for a trailer vehicle according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a trailer vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", third "and the like in the various parts of the embodiments and drawings are used for distinguishing similar objects and not necessarily for describing a particular order or sequence. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The method flow diagrams of the embodiments of the invention described below are merely exemplary and do not necessarily include all of the contents and steps, nor do they necessarily have to be performed in the order described. For example, some steps may be broken down and some steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The functional blocks in the block diagrams referred to in the embodiments of the present invention described below are only functional entities and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processors and/or microcontrollers.
The method provided by the embodiment of the invention is suitable for the trailer vehicle, and is used for controlling the running of the trailer vehicle and realizing the unmanned driving of the trailer vehicle. It should be noted that since the driverless trailer vehicle does not need to be controlled by a person through a steering wheel, the travel control of the trailer vehicle can be realized by the driverless technology, and the driver seat or the driver seat may be occupied or unoccupied, which does not respond to the forward running of the trailer vehicle.
A trailer vehicle may generally include: the traction vehicle can be connected with the towed vehicle to tow the towed vehicle, so that the towed vehicle can run under the driving of the towing vehicle. The traction mode of the trailer vehicle is front-wheel drive traction or rear-wheel drive traction, if the traction mode of the trailer vehicle is front-wheel drive traction, the tractor vehicle of the trailer vehicle can be the head of the trailer vehicle, also called front vehicle or trailer, and the towed vehicle of the trailer vehicle can be the rear vehicle of the trailer vehicle, also called trailer; if the towing manner of the towing vehicle is a rear-drive towing manner, the towing vehicle of the towing vehicle may be a rear vehicle of the towing vehicle, and the towed vehicle of the towing vehicle may be a head of the towing vehicle.
Depending on the function, the trailer vehicle may include a trailer truck, also known as a trailer truck, a trailer caravan, and the like, wherein the trailer truck may include: trailer container cars, trailer tank cars, and the like. The method provided by the embodiment of the invention is suitable for the trailer vehicles with various functions.
Fig. 1 is a schematic diagram of a trailer vehicle to which an embodiment of the present invention is applied. As shown in fig. 1, the trailer vehicle may include: a towing vehicle 11 and a towed vehicle 12. In the example of fig. 1, the towing garage 11 may be referred to as a front truck or trailer and the towed vehicle 12 may be referred to as a rear truck or trailer. It should be noted that fig. 1 is only one possible example of the trailer vehicle, and the structure of the trailer vehicle to which the embodiment of the present invention is applied is not limited to that shown in fig. 1.
The following describes a control method, a control device, a controller, a trailer vehicle, and a storage medium for the trailer vehicle according to embodiments of the present invention with reference to a plurality of examples. Fig. 2 is a flowchart of a control method for a trailer vehicle according to an embodiment of the present invention. The control method for the trailer vehicle can be executed by a server, and can also be executed by vehicle-mounted equipment such as a vehicle terminal or a vehicle central control device of the trailer vehicle. The server can be a server which is connected with the trailer vehicle and used for controlling the trailer vehicle; the vehicle terminal can be a vehicle-mounted terminal device which is installed on the vehicle when the vehicle leaves a factory, a vehicle-mounted terminal device which is installed on the vehicle in an external connection mode, and an electronic device which is located on the vehicle. As described below, the control method executed by the vehicle terminal or the in-vehicle device is exemplified, and the method executed by the server is similar and will not be described herein again.
The control method shown in fig. 2 may be applied to the trailer vehicle shown in fig. 1, and may be a trailer vehicle having another configuration. As shown in fig. 2, a control method for a towed vehicle may include:
s201, determining the reference speed of the towing vehicle according to the path curvature of the position of the towing vehicle, the road surface parameter of the position, the parameter of the towing vehicle and the parameter of the towed vehicle.
The method can acquire the path curvature of the position and the road surface parameters of the position according to the position of the trailer vehicle. In this embodiment, the trail vehicle may be tracked to obtain the position information of the trail vehicle, that is, the position information of the position of the trail vehicle in real time.
In one example, an acquisition request including position information of the position may be sent to the server according to the position of the trailer vehicle, and the curvature of the path of the position and the road surface parameter of the position returned by the server may be received. The server may be a map server or a server for an unmanned application corresponding to the trailer vehicle, etc. In another example, the curvature of the path at the location and the road surface parameters at the location may be obtained from a preset memory in the trailer vehicle or an external memory according to the location of the trailer vehicle.
Optionally, the parameters of the towing vehicle may include, for example: the mass of the towing vehicle and/or the wheelbase of the towing vehicle. Wherein the wheelbase of the towing vehicle may be the distance between the outermost axle of the towing vehicle and the connection point of the towing vehicle and the towed vehicle. The connection point of the towing vehicle and the towed vehicle may be, for example, a center point of the connection location of the towing vehicle and the towed vehicle.
The parameters of the towed vehicle may include, for example: a command of the towed vehicle and/or a wheelbase of the towed vehicle. Wherein the wheelbase of the towed vehicle may be the distance between the outermost axle of the towed vehicle and the connection point of the towing vehicle and the towed vehicle.
Optionally, the road surface parameters may include: road slope and/or road slope coefficient.
In one example, in the case of obtaining the curvature of the path at the location, the road surface parameter at the location, the parameter of the towing vehicle, and the parameter of the towed vehicle, a preset first speed formula may be used for calculation to obtain the reference speed of the towed vehicle. The predetermined first velocity formula may be used, for example, to characterize a relationship between the path curvature at the location, the road surface parameters at the location, the parameters of the towing vehicle, the parameters of the towed vehicle, and the velocity.
For example, if the road surface parameters include: road slope and road slope coefficient, the parameters of the towing vehicle including: the mass of the towing vehicle and the wheelbase of the towing vehicle, the parameters of the towed vehicle including: the mass of the towed vehicle and the wheelbase of the towed vehicle.
In the method, a speed formula shown in the following formula (1) can be adopted according to the path curvature of the position of the towing vehicle, the road surface parameter of the position, the parameter of the towing vehicle and the parameter of the towed vehicle to determine the reference speed of the towing vehicle.
Where v is the reference speed of the towing vehicle, m1Is the traction ofMass of the vehicle, m2Mu is the road gradient coefficient, g is the acceleration of gravity, α is the road gradient, l is the mass of the towing vehicle1For the wheelbase of the towing vehicle,/2K is the path curvature for the wheelbase of the towed vehicle.
In some other examples, the control method for the towed vehicle may further include obtaining a calculation parameter according to a part of the path curvature at the location, the road surface parameter at the location, the parameter of the towed vehicle, and obtaining the reference speed of the towed vehicle by using a preset formula according to the calculation parameter in combination with other parameters.
The portion of parameters may be one or a combination of parameters of curvature of the path at the location, road surface parameters at the location, parameters of the towing vehicle and parameters of the towed vehicle. Deriving a calculated parameter based on the partial parameter may include: performing a parameter operation based on the partial parameters to obtain the calculated parameters; and multiple parameter operations can be performed on the basis of the partial parameters to obtain the calculation parameters.
The S201 may be a stability speed plan of the trailer vehicle, and the reference speed obtained by using the S201 may be a reference speed for stable running of the trailer vehicle.
S202, controlling the traction vehicle to run according to the speed less than or equal to the reference speed so that the traction vehicle drives the towed vehicle to run.
Under the condition of determining the reference speed, the traction vehicle can be controlled to run according to any speed less than or equal to the reference speed, so that the traction vehicle drives the towed vehicle connected with the traction vehicle to run, and the stable and safe running of the towed vehicle can be effectively ensured.
According to the control method for the trailer vehicle provided by the embodiment of the invention, the reference speed of the trailer vehicle can be determined according to the path curvature of the position of the trailer vehicle, the road surface parameter of the position, the parameter of the traction vehicle of the trailer vehicle and the parameter of the towed vehicle of the trailer vehicle, and the towing vehicle is controlled to run according to the speed less than or equal to the reference speed, so that the towing vehicle drives the towed vehicle to run. According to the method, the determined reference speed is the reference speed for stable running of the trailer vehicle according to the path curvature of the position of the trailer vehicle, the road surface parameter of the position, the parameter of the traction vehicle of the trailer vehicle and the parameter of the towed vehicle, and then the speed which is less than or equal to the reference speed is adopted to control the trailer vehicle to run, so that the accurate control of the speed of the trailer vehicle can be realized, the safe and stable running of the trailer vehicle is effectively ensured, and the safety of the unmanned trailer vehicle is improved.
On the basis of the control method for the trailer vehicle shown in fig. 2, the embodiment of the invention can also provide a control method for the trailer vehicle. Fig. 3 is a flowchart of another control method for a trailer vehicle according to an embodiment of the present invention. The control method for the trailer vehicle shown in fig. 3 may be one possible implementation example of determining the reference speed in the control method for the trailer vehicle shown in fig. 2 described above. Optionally, in the control method in S201, determining the reference speed of the towing vehicle according to the curvature of the path where the towing vehicle is located, the road surface parameter of the location, the parameter of the towing vehicle, and the parameter of the towed vehicle may include:
s301, according to the curvature of the path, the turning radius of the trailer vehicle is determined by adopting the preset corresponding relation between the curvature and the turning radius.
The turning radius may be the distance between the towing vehicle's point of attachment to the towed vehicle and the towed vehicle in the towing vehicle, and the center of gyration of the towing vehicle.
In this method, the turning radius of the towed vehicle can be determined from the curvature of the path by using the correspondence between the curvature and the turning radius shown in the following equation (2).
R1/k formula (2)
Where R is the turning radius of the towing vehicle and k is the path curvature.
S302, determining the reference speed of the trailer vehicle according to the turning radius of the trailer vehicle, the road surface parameter, the parameter of the towing vehicle and the parameter of the towed vehicle.
In one example of this embodiment, the reference speed of the towing vehicle may be calculated using a preset second speed formula based on the turning radius of the towing vehicle, the road surface parameter, the parameters of the towing vehicle, and the parameters of the towed vehicle. The predetermined second speed formula may be used, for example, to characterize the relationship between the turning radius, the road surface parameter, the parameter of the towing vehicle, the parameter of the towed vehicle, and the speed.
For example, if the road surface parameters include: road grade and road grade factor, the parameter of the towing vehicle comprising a mass of the towing vehicle, the parameter of the towed vehicle comprising a mass of the towed vehicle.
In the method, a reference speed of the towing vehicle may be determined based on the turning radius, the road surface parameter, the mass of the towing vehicle, and the mass of the towed vehicle using a second speed formula shown in the following formula (3).
Wherein v is1V, which is the speed of the towing vehicle and also the reference speed of the towing vehicle. v. of2＝v1cos λ, v of2Is the speed of the towed vehicle. m is1M is the mass of the towing vehicle2Mu is the road slope coefficient, g is the gravitational acceleration, α is the road slope, and R is the turning radius of the towing vehicle.
λ may be the angle between the towing vehicle and the towed vehicle. And lambda can determine the included angle between the towing vehicle and the towed vehicle by adopting the preset corresponding relation between the turning radius and the included angle shown in the following formula (4) according to the turning radius, the wheelbase of the towing vehicle and the wheelbase of the towed vehicle.
Wherein R is the turning radius of the trailer vehicle, l1For the wheelbase of the towing vehicle,/2Is the wheelbase of the towed vehicle.
The formula (3) may be determined, for example, according to a preset vehicle stable running rule. The vehicle stable running rule may be, for example, as shown in the following equation (5).
The description of the relevant parameters in equation (5) may be similar to the description of the parameters in equation (3) above, and will not be repeated herein.
In another mode, the control method for the trailer vehicle may further obtain a calculation parameter according to some of the turning radius, the road surface parameter of the location, the parameter of the towing vehicle, the parameter of the towed vehicle, and the like, and obtain the reference speed of the trailer vehicle by using a preset formula according to the calculation parameter in combination with other parameters.
The portion of parameters may be one or a combination of more of the turning radius, the road surface parameter of the location, the parameters of the towing vehicle and the towed vehicle. Deriving a calculated parameter based on the partial parameter may include: performing a parameter operation based on the partial parameters to obtain the calculated parameters; and multiple parameter operations can be performed on the basis of the partial parameters to obtain the calculation parameters.
According to the control method provided by the embodiment of the invention, the turning radius of the trailer vehicle can be determined according to the curvature of the path and the corresponding relation between the preset curvature and the turning radius, and the reference speed of the trailer vehicle is determined according to the turning radius of the trailer vehicle, the road surface parameter, the parameter of the traction vehicle and the parameter of the towed vehicle for carrying out the running control of the traction vehicle, so that the accurate control of the speed of the trailer vehicle is realized, the safe and stable running of the trailer vehicle is effectively ensured, and the safety of the unmanned trailer vehicle is improved.
On the basis of the control method for the trailer vehicle shown in fig. 3, the embodiment of the invention can also provide a control method for the trailer vehicle. Fig. 4 is a flowchart of another control method for a trailer vehicle according to an embodiment of the present invention. The control method for a towed vehicle shown in fig. 4 may be one possible implementation example of determining a reference speed in the control method shown in fig. 3 described above. Optionally, in the control method in S302, determining the reference speed of the towing vehicle according to the turning radius of the towing vehicle, the road surface parameter, the parameter of the towing vehicle, and the parameter of the towed vehicle may include:
s401, according to the turning radius, determining an included angle between the traction vehicle and the towed vehicle by adopting a preset corresponding relation between the turning radius and the included angle.
In the method, the corresponding relation between the preset turning radius and the included angle is adopted according to the turning radius, the partial parameters of the traction vehicle and the partial parameters of the towed vehicle, and the included angle between the traction vehicle and the towed vehicle is determined. The partial parameter may be, for example, the wheelbase.
For example, fig. 5 is a schematic diagram of turning radius, included angle, and distance between a towing vehicle and a towed vehicle during turning according to an embodiment of the present invention.
As shown in fig. 5, when a towing vehicle including the towing vehicle 11 and the towed vehicle 12 travels on a reference path, an angle λ shown in fig. 5 exists between the towing vehicle 11 and the towed vehicle 12. The connection point between the towing vehicle 11 and the towed vehicle 12 in the towing vehicle may be point a as shown in fig. 5. The swing end of the trailer vehicle may be point O as shown in fig. 5, and the turning radius R may be the distance between points a and O in fig. 5.
The wheelbase of the towing vehicle 11 may be the distance l between the outermost axle of the towing vehicle 11 and the point of the connection point a as shown in fig. 51(ii) a The wheelbase of the towing vehicle 12 may be the outermost axle of the towed vehicle 11 shown in FIG. 5 and the connection point ADistance between points l2. According to fig. 5, it is also possible that the mass of the towing vehicle 11 is m1The towed vehicle 12 may have a mass of m2. The speed of the towing vehicle in the towing vehicle on the reference path may be v1The speed of the towed vehicle on the reference path may be v2。
Based on fig. 5, the correspondence between the turning radius and the included angle can be obtained.
In the method, the corresponding relationship between the preset turning radius and the included angle shown in the above formula (4) can be used for determining the included angle between the towing vehicle and the towed vehicle according to the turning radius, the wheelbase of the towing vehicle and the wheelbase of the towed vehicle.
S402, determining the reference speed of the trailer vehicle according to the included angle, the road surface parameter, the parameter of the traction vehicle and the parameter of the towed vehicle.
In one implementation, the reference speed may be determined according to the included angle, the road surface parameter, another part of parameters of the towing vehicle, and another part of parameters of the towed vehicle by using the preset third speed formula. The further partial parameter may be, for example, quality.
In the method, the reference speed may be determined, for example, using a third speed formula shown in the following formula (6) based on the angle, the road surface parameter, the mass of the towing vehicle, and the mass of the towed vehicle.
Where v is the reference speed of the towing vehicle, m1M is the mass of the towing vehicle2Mu is the road gradient coefficient, g is the gravitational acceleration, α is the road gradient, k is the path curvature, and λ is the angle between the towing vehicle and the towed vehicle, for the mass of the towing vehicle.
The formula (6) may be determined, for example, according to a preset vehicle stable running rule. The vehicle stable running rule may be, for example, as shown in the following equation (7).
The description of the relevant parameters in equation (7) may be similar to the description of the parameters in equation (6) above, and will not be repeated here.
In another implementation, the reference speed of the towing vehicle may be derived from the turning radius, the included angle, the road surface parameter, the mass of the towing vehicle, and the mass of the towed vehicle using a second speed formula shown in equation (3) above.
According to the control method provided by the embodiment of the invention, the included angle between the traction vehicle and the towed vehicle can be determined according to the turning radius and the corresponding relation between the preset turning radius and the included angle, and the reference speed of the towed vehicle is determined according to the included angle, the road surface parameter, the parameter of the traction vehicle and the parameter of the towed vehicle for carrying out the running control of the traction vehicle, so that the accurate control of the speed of the towed vehicle is realized, the safe and stable running of the towed vehicle is effectively ensured, and the safety of the unmanned towed vehicle is improved.
On the basis of the control method for the trailer vehicle shown in fig. 2, the embodiment of the invention can also provide a control method for the trailer vehicle. Fig. 6 is a flowchart of a control method for a trailer vehicle according to another embodiment of the present invention. The control method for the trailer vehicle shown in fig. 6 may be another possible implementation example of the determination of the reference speed in the control method for the trailer vehicle shown in fig. 2 described above. Optionally, in the control method in S201, determining the reference speed of the towing vehicle according to the curvature of the path where the towing vehicle is located, the road surface parameter of the location, the parameter of the towing vehicle, and the parameter of the towed vehicle may include:
s601, determining an included angle between the traction vehicle and the towed vehicle according to the path curvature and the corresponding relation between the preset curvature and the included angle.
In the method, the corresponding relation between the preset curvature and the included angle is adopted according to the path curvature, the partial parameters of the traction vehicle and the partial parameters of the towed vehicle, and the included angle between the traction vehicle and the towed vehicle is determined. The partial parameter may be, for example, the wheelbase.
For example, in the method, the included angle between the towing vehicle and the towed vehicle may be determined according to the curvature of the path, the wheelbase of the towing vehicle, and the wheelbase of the towed vehicle, by using the correspondence between the curvature and the included angle shown in the following formula (8).
Wherein l1For the wheelbase of the towing vehicle,/2K is the path curvature and lambda is the angle between the towing vehicle and the towed vehicle.
S602, determining the reference speed of the trailer vehicle according to the included angle, the road surface parameter, the parameter of the traction vehicle and the parameter of the towed vehicle.
In the method, the reference speed may be determined, for example, based on the angle, the road surface parameter, the mass of the towing vehicle, and the mass of the towed vehicle, using a third speed formula shown in the above formula (6).
According to the control method provided by the embodiment of the invention, the included angle between the traction vehicle and the towed vehicle can be determined according to the path curvature and the corresponding relation between the preset curvature and the included angle, and the reference speed of the towed vehicle is determined according to the included angle, the road surface parameter, the parameter of the traction vehicle and the parameter of the towed vehicle for driving control of the traction vehicle, so that the accurate control of the speed of the towed vehicle is realized, the safe and stable driving of the towed vehicle is effectively ensured, and the safety of the unmanned towed vehicle is improved.
On the basis of the control method for the trailer vehicle shown in any one of fig. 2-6, the embodiment of the invention can also provide a control method for the trailer vehicle. Fig. 7 is a flowchart of a control method for a trailer vehicle according to another embodiment of the present invention. The control method shown in fig. 7 may be an example of controlling the traction vehicle to travel according to a reference speed. As shown in fig. 7, controlling the towing vehicle to travel according to the speed less than or equal to the reference speed in S202 as shown above may include:
s701, obtaining the speed to be controlled according to the reference speed and a preset weighting coefficient, wherein the weighting coefficient is larger than 0 and smaller than or equal to 1.
And S702, controlling the traction vehicle to run according to the minimum speed in the speed to be controlled and the preset limit vehicle speed.
In the method, for example, the reference speed and the weighting coefficient may be multiplied to obtain the speed to be controlled, so that the speed to be controlled is less than or equal to the reference speed. The weighting factor may also be referred to as a factor of safety. The vehicle speed limit may be, for example, a speed limit on a road where the trailer vehicle is located, that is, a maximum hourly speed for limiting travel on the road.
For example, the method may determine a final reference speed using an equation shown in the following equation (9) according to the reference speed, a preset weighting coefficient, and the limit vehicle speed, and control the towing vehicle to travel using the control speed.
vref＝min(vη，vlimit) Formula (9)
Wherein v isrefFor the final reference velocity, min (-) is a function of the minimum, v is the reference velocity of the towed vehicle obtained by any of the methods described above η is the weighting factor, 0<η≤1。vlimitIs the limit value.
According to the control method for the trailer vehicle, the speed to be controlled is obtained through the reference speed and a preset weighting coefficient, and the minimum speed is selected from the speed to be controlled and the vehicle speed limit to serve as the final reference speed for controlling the trailer vehicle, wherein the weighting coefficient is larger than 0 and smaller than or equal to 1. According to the method, under the condition of determining the reference speed, the weighting coefficient and the limiting speed are combined, so that quadratic programming of the reference speed is realized, accurate control of the speed of the trailer vehicle is realized, safe and stable running of the trailer vehicle is effectively guaranteed, and the safety of the unmanned trailer vehicle is improved.
The following is an embodiment of the apparatus of the present invention, which can be used to implement the above-mentioned embodiment of the method of the present invention, and the implementation principle and technical effects are similar.
Fig. 8 is a schematic structural diagram of a control device for a trailer vehicle according to an embodiment of the present invention. The trailer vehicle comprises: a towing vehicle and a towed vehicle. The control device can be applied to vehicle terminals of the trailer vehicles or vehicle-mounted equipment such as vehicle central control and the like in a software and/or hardware mode, and can also be realized on a server which is used for establishing connection with the trailer vehicles and is used for controlling the trailer vehicles in a software and/or hardware mode; but may be implemented on any other device that may be used to control a towing vehicle. As shown in fig. 8, the control device 80 for a towed vehicle of the present embodiment may include:
the determining module 81 is configured to determine the reference speed of the towing vehicle according to the curvature of the path at the location of the towing vehicle, the road surface parameter at the location, the parameter of the towing vehicle, and the parameter of the towed vehicle.
And the control module 82 is used for controlling the traction vehicle to run according to the speed less than or equal to the reference speed, so that the traction vehicle drives the towed vehicle to run.
Optionally, the determining module 81 is specifically configured to determine, according to the curvature of the path, a turning radius of the towed vehicle by using a preset correspondence between the curvature and the turning radius; a reference speed of the towing vehicle is determined based on the turning radius of the towing vehicle, the road surface parameter, the parameter of the towing vehicle, and the parameter of the towed vehicle.
Optionally, the determining module 81 is specifically configured to determine, according to the turning radius, an included angle between the towing vehicle and the towed vehicle by using a preset correspondence between the turning radius and the included angle; and determining the reference speed of the trailer vehicle according to the included angle, the road surface parameter, the parameter of the traction vehicle and the parameter of the towed vehicle.
Optionally, the determining module 81 is specifically configured to determine an included angle between the towing vehicle and the towed vehicle according to the curvature of the path and by using a preset correspondence between the curvature and the included angle; and determining the reference speed of the trailer vehicle according to the included angle, the road surface parameter, the parameter of the traction vehicle and the parameter of the towed vehicle.
Optionally, the control module 82 is specifically configured to obtain the speed to be controlled according to the reference speed and a preset weighting coefficient, where the weighting coefficient is greater than 0 and less than or equal to 1; and controlling the traction vehicle to run according to the minimum speed in the speed to be controlled and the preset limit vehicle speed.
Optionally, the parameters of the towing vehicle include: the mass of the towing vehicle and/or the wheelbase of the towing vehicle; the parameters of the towed vehicle include: the mass of the towed vehicle and/or the wheelbase of the towed vehicle.
Optionally, the road surface parameters include: road grade and/or road adhesion coefficient.
Optionally, the control device 80 for the trailer vehicle may also perform other operations in any one of the control methods for the trailer vehicle in fig. 2 to 7, which are specifically referred to above and will not be described herein again.
Fig. 9 is a schematic structural diagram of a control device for a trailer vehicle according to an embodiment of the present invention. As shown in fig. 9, the control apparatus 90 for a trailer vehicle of the present embodiment includes: a memory 91 and a processor 92. The memory 91 is connected to the processor 92 via a bus.
A memory 91 for storing program instructions.
A processor 92 for executing any of the control methods described above with respect to fig. 2-7 for a towing vehicle when the program instructions are executed.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program can be executed by the processor 92 described in the foregoing fig. 9 to implement the control method for a trailer vehicle in any one of fig. 2 to fig. 7.
Embodiments of the present invention may also provide a trailer vehicle. Fig. 10 is a schematic structural diagram of a trailer vehicle according to an embodiment of the present invention. As shown in fig. 10, the trailer vehicle 100 may include: the system comprises a control device 101, a traction vehicle 102 and a standby traction vehicle 103, wherein the control device 101 is connected with the traction vehicle 102 and used for controlling the traction vehicle to run. The towing vehicle 102 is connected to the towed vehicle 103, so that the towing vehicle 102 drives the towed vehicle 103 to travel.
The control device 101 may be the control device 90 shown in fig. 9 described above.
The control device 101 may be a vehicle terminal, an electronic device, or a device such as a vehicle center control of the towing vehicle, which can be used to perform travel control on the towing vehicle 102.
The control device, the apparatus, the storage medium, and the trailer vehicle according to the embodiments of the present invention may be configured to execute other operations in any one of the control methods for the trailer vehicle in fig. 2 to 7, which are described above specifically and will not be described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A control method for a trailer vehicle, the trailer vehicle comprising: a towing vehicle and a towed vehicle; the method comprises the following steps:
determining a reference speed of the towing vehicle according to the curvature of the path of the position of the towing vehicle, the road surface parameter of the position, the parameter of the towing vehicle and the parameter of the towed vehicle;
and controlling the traction vehicle to run according to the speed less than or equal to the reference speed, so that the traction vehicle drives the towed vehicle to run.
2. The method of claim 1, wherein determining the reference speed of the towing vehicle based on the curvature of the path at the location of the towing vehicle, the road surface parameters at the location, the parameters of the towing vehicle, and the parameters of the towed vehicle comprises:
determining the turning radius of the trailer vehicle by adopting a preset corresponding relation between the curvature and the turning radius according to the path curvature;
determining a reference speed of the towing vehicle based on the turning radius of the towing vehicle, the road surface parameter, the parameter of the towing vehicle, and the parameter of the towed vehicle.
3. The method of claim 2, wherein determining the reference speed of the towing vehicle based on the turning radius of the towing vehicle, the road surface parameter, the parameter of the towing vehicle, and the parameter of the towed vehicle comprises:
determining an included angle between the traction vehicle and the towed vehicle by adopting a preset corresponding relation between the turning radius and the included angle according to the turning radius;
and determining the reference speed of the trailer vehicle according to the included angle, the road surface parameters, the parameters of the traction vehicle and the parameters of the towed vehicle.
4. The method of claim 1, wherein determining the reference speed of the towing vehicle based on the curvature of the path at the location of the towing vehicle, the road surface parameters at the location, the parameters of the towing vehicle, and the parameters of the towed vehicle comprises:
determining an included angle between the traction vehicle and the towed vehicle according to the path curvature and by adopting a preset corresponding relation between the curvature and the included angle;
and determining the reference speed of the trailer vehicle according to the included angle, the road surface parameters, the parameters of the traction vehicle and the parameters of the towed vehicle.
5. Method according to any one of claims 1 to 4, characterized in that said controlling the traction vehicle to travel according to a speed less than or equal to said reference speed comprises:
obtaining a speed to be controlled according to the reference speed and a preset weighting coefficient, wherein the weighting coefficient is greater than 0 and less than or equal to 1;
and controlling the traction vehicle to run according to the minimum speed in the speed to be controlled and the preset limit vehicle speed.
6. The method according to any one of claims 1-4, wherein the parameters of the towing vehicle include: a mass of the towing vehicle and/or a wheelbase of the towing vehicle; the parameters of the towed vehicle include: the mass of the towed vehicle and/or the wheelbase of the towed vehicle.
7. The method according to any one of claims 1-4, wherein the road surface parameters include: road grade and/or road adhesion coefficient.
8. A control apparatus for a trailer vehicle, the trailer vehicle comprising: a towing vehicle and a towed vehicle; the control device includes:
the determining module is used for determining the reference speed of the traction vehicle according to the path curvature of the position of the traction vehicle, the road surface parameter of the position, the parameter of the traction vehicle and the parameter of the towed vehicle;
and the control module is used for controlling the traction vehicle to run according to the speed less than or equal to the reference speed, so that the traction vehicle drives the towed vehicle to run.
9. A control apparatus for a trailer vehicle, comprising: a memory and a processor; the memory is connected with the processor;
the memory to store program instructions;
the processor, when the program instructions are executed, is configured to implement the method of controlling a trailer vehicle of any one of claims 1 to 7.
10. A trailer vehicle, comprising: a control device, a towing vehicle and a towed vehicle;
the control device is connected with the traction vehicle, and the traction vehicle is connected with the towed vehicle;
the control apparatus is the control apparatus of claim 9 above.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling a trailer vehicle according to any one of claims 1 to 7.
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