CN112078585B - Unmanned longitudinal motion control mode switching method, device, equipment and medium - Google Patents
Unmanned longitudinal motion control mode switching method, device, equipment and medium Download PDFInfo
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- CN112078585B CN112078585B CN202011012077.2A CN202011012077A CN112078585B CN 112078585 B CN112078585 B CN 112078585B CN 202011012077 A CN202011012077 A CN 202011012077A CN 112078585 B CN112078585 B CN 112078585B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
Abstract
A slope-based unmanned longitudinal motion control mode switching method is applied to an unmanned mine car, the longitudinal motion control mode of the unmanned mine car comprises three driving modes of driving, braking and sliding, wherein the sliding driving mode is a motion mode of the unmanned mine car when the unmanned mine car is switched between the braking mode and the driving mode, and the method comprises the following steps: acquiring the gradient of a road section where the unmanned mine car is currently located; when the driving mode of the unmanned mine car is switched currently, calculating a pedal opening interval of the current sliding driving mode of the unmanned mine car based on the gradient; and controlling the unmanned mine car to dynamically switch the driving mode according to the pedal opening interval of the sliding driving mode calculated in real time at present. The sliding driving mode introduced in the method simulates the operation of a real driver, plays a good role in buffering the torque impact generated by the unmanned mine car in the process of switching the driving modes, can enable the unmanned mine car to run more stably, and reduces the abrasion of the car.
Description
Technical Field
The disclosure relates to the field of unmanned mine cars, in particular to a method and a device for switching an unmanned longitudinal motion control mode based on gradient, an electronic device and a computer readable storage medium.
Background
In recent years, the unmanned mine car technology has become a research hotspot in the fields of mining area industrial electrification and informatization. At present, most unmanned longitudinal control controls a brake-by-wire subsystem and a throttle-by-wire subsystem through a central controller, controls the coordination work of a throttle and a brake, realizes the following of longitudinal speed, and ensures that a vehicle can stably run at an expected speed.
However, the longitudinal control mode of the existing unmanned mine car technology only distinguishes two modes of braking and driving, so that the unmanned mine car can only be seamlessly switched between the two modes, and the unmanned mine car is easy to generate overshoot or insufficiency of an accelerator and a brake in control, so that the smoothness of vehicle running is poor; meanwhile, as the brake is frequent in the working process of the unmanned mine car, the abrasion of the car is large, and the oil consumption is increased; in addition, when the central controller controls the longitudinal motion of the unmanned mine car, the influence of the gradient on the speed of the car is not considered, and the adaptability of a control algorithm is poor.
Disclosure of Invention
In view of the above problems, the invention provides a method, a device, an electronic device and a computer readable storage medium for switching a slope-based unmanned longitudinal motion control mode, so that the longitudinal control of an unmanned mine car is more stable, and the oil consumption of the unmanned mine car is reduced.
The invention provides a slope-based unmanned longitudinal motion control mode switching method, which is applied to an unmanned mine car, wherein the longitudinal motion control mode of the unmanned mine car comprises three driving modes of driving, braking and sliding, wherein the sliding driving mode is a motion mode of the unmanned mine car when the unmanned mine car is switched between the braking mode and the driving mode, and comprises the following steps: acquiring the gradient of a road section where the unmanned mine car is currently located; when the unmanned mine car is switched to the driving mode, calculating a pedal opening interval of the current sliding driving mode of the unmanned mine car based on the gradient; and controlling the unmanned mine car to dynamically switch the driving mode according to the pedal opening interval of the sliding driving mode calculated in real time at present.
Optionally, the braking, coasting and driving three driving modes respectively correspond to a pedal opening degree interval, wherein the pedal opening degree interval corresponding to the coasting driving mode is located between the pedal opening degree intervals corresponding to the braking driving mode and the driving mode, and the pedal opening degree interval corresponding to the coasting driving mode is dynamically changed.
Optionally, when the unmanned mining vehicle switches the driving mode, calculating a pedal opening interval of the current coasting driving mode of the unmanned mining vehicle based on the gradient comprises: judging the driving state of the unmanned mine car according to the driving mode of the unmanned mine car in the last time period and the gradient; calculating a desired pedal opening interval for the coasting drive mode based on the driving state and the gradient; and compensating the expected pedal opening interval based on the expected acceleration, the minimum acceleration threshold value and the maximum acceleration threshold value when the unmanned mine car switches the driving modes to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car.
Optionally, the determining the driving state of the unmanned mining vehicle according to the driving mode of the unmanned mining vehicle in the last time period and the magnitude of the gradient includes: if the unmanned mine car is in a downhill state currently and in a braking driving mode within a last time period, the unmanned mine car is in a first driving state; if the unmanned tramcar is in an uphill state currently and is in a braking mode in the last time period, the unmanned tramcar is in a second driving state; if the unmanned tramcar is in an uphill state currently and is in a non-braking mode in the last time period, the unmanned tramcar is in a third driving state; and if the unmanned mine car is in the downhill state currently and is in the non-braking mode in the last time period, the unmanned mine car is in a fourth driving state.
Optionally, the calculating a desired pedal opening interval for the coasting drive mode based on the driving state and the gradient comprises: setting the expected pedal opening degree interval corresponding to the first driving state, the second driving state, the third driving state and the fourth driving state as [ s ]i，0]I is 1, 2, 3, 4, and the maximum threshold and the minimum threshold of the section of the desired pedal opening degree corresponding to the first driving state, the second driving state, the third driving state and the fourth driving state are respectively li-up、 li-lowP represents the gradient, f (p) represents a correlation function of the gradient and the desired pedal opening interval, aiAnd a calculation coefficient indicating a desired pedal opening degree section corresponding to the first driving state, the second driving state, the third driving state and the fourth driving state, wherein:
si＝min(li-up，max(ai·f(p)，li-low))，i＝1，2，3，4。
optionally, the acceleration based on the expected acceleration when the unmanned tramcar switches driving modes, the acceleration minimum threshold value, and the accelerationAnd (3) compensating the expected pedal opening interval by using a maximum speed threshold value to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car, wherein the actual pedal opening interval comprises: let f (a)respect) A compensation value representing the desired pedal opening interval, arespectRepresenting said desired acceleration, amaxIndicating a maximum threshold value of acceleration, aminRepresents a minimum threshold value of acceleration, c1、c2Representing the calculated coefficients, then:
optionally, the method comprises: when the expected acceleration is negative and is smaller than the minimum acceleration threshold value, subtracting the compensation value from the lower limit value of the expected pedal opening interval to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car; and when the expected acceleration is positive and is greater than the maximum acceleration threshold value, adding the compensation value to the lower limit value of the expected pedal opening interval to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car.
The disclosure also provides in another aspect a grade-based unmanned longitudinal motion control mode switching device, comprising the method of the first aspect, including: the slope obtaining module is used for obtaining the slope of the road section where the unmanned mine car is located currently; the pedal opening interval obtaining module is used for calculating a pedal opening interval of the current sliding driving mode of the unmanned mine car based on the gradient when the unmanned mine car switches the driving mode; and the pedal control module is used for controlling the unmanned mine car to dynamically switch the driving modes according to the pedal opening interval of the sliding driving mode calculated in real time at present.
Another aspect of the present disclosure also provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing the steps of any of the gradient-based unmanned longitudinal motion control mode switching methods of the first aspect.
The disclosure also provides, in another aspect, a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for gradient-based unmanned longitudinal motion control mode switching according to any one of the first aspect.
The method, the device, the electronic equipment and the computer-readable storage medium for switching the unmanned longitudinal motion control mode based on the gradient have the following advantages that:
(1) by adding a sliding driving mode in the driving mode and realizing dynamic switching among the modes by using the change of a ramp, the torque impact in the mode switching process is well buffered, the overshoot or the shortage of an accelerator and a brake are avoided in control, and the vehicle obtains better smoothness during driving.
(2) The introduction of the coasting driving mode replaces braking or accelerator under certain specific working conditions, so that the abrasion of the vehicle can be reduced, and the fuel consumption of the vehicle can be reduced.
(3) The pedal opening degree interval corresponding to the sliding driving mode is not a fixed value, and the change of the gradient is considered when the pedal opening degree interval corresponding to the sliding driving mode is calculated, so that the control algorithm has stronger adaptability to different working conditions.
Drawings
For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:
FIG. 1 schematically illustrates a flow chart of a method for grade-based unmanned longitudinal motion control mode switching provided by an embodiment of the present disclosure;
fig. 2 schematically shows a flow chart of method step S120 shown in fig. 1;
fig. 3 schematically shows a diagram of several driving states determined in step S121 shown in fig. 2;
FIG. 4 is a schematic diagram schematically illustrating a specific step of step S123 in the method illustrated in FIG. 2;
FIG. 5 is a block diagram schematically illustrating a grade-based unmanned longitudinal motion control mode switching device provided by an embodiment of the present disclosure;
fig. 6 schematically shows a structure diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Some block diagrams and/or flow diagrams are shown in the figures. It will be understood that some blocks of the block diagrams and/or flowchart illustrations, or combinations thereof, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the instructions, which execute via the processor, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.
Accordingly, the techniques of this disclosure may be implemented in hardware and/or software (including firmware, microcode, etc.). In addition, the techniques of this disclosure may take the form of a computer program product on a computer-readable medium having instructions stored thereon for use by or in connection with an instruction execution system. In the context of this disclosure, a computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the instructions. For example, the computer readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the computer readable medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
Fig. 1 schematically shows a flowchart of a method for switching a gradient-based unmanned longitudinal motion control mode according to an embodiment of the present disclosure.
As shown in FIG. 1, the present disclosure provides a grade-based unmanned longitudinal motion control mode switching method applied to an unmanned mining vehicle, the unmanned mining vehicle longitudinal motion control mode comprises three driving modes of driving, braking and coasting, wherein the coasting driving mode is a motion mode of the unmanned mining vehicle when the unmanned mining vehicle switches between the braking mode and the driving mode, and comprises S110-S130.
It will be appreciated that the unmanned mine vehicle may be an unmanned mine card, an unmanned transport vehicle, a conventional vehicle with unmanned functionality, or the like.
In the embodiment of the disclosure, in order to enable the unmanned mine car to drive stably when the driving modes are switched, the vehicle undergoes a transition stage of a sliding driving mode when the two driving modes of braking and driving are switched, wherein the driving mode of the unmanned mine car is controlled by an accelerator, the braking and sliding driving modes are controlled by a brake, and the sliding time of the unmanned mine car when the driving modes are switched is controlled by adjusting the opening intervals of the accelerator and the brake, so that the speed change of the unmanned mine car is relatively smooth, the abrasion of the vehicle is reduced, frequent braking is avoided, and the oil consumption is reduced. The driving time and speed of the sliding driving mode of the unmanned mine car are adjusted by controlling the corresponding pedal opening interval.
In the embodiment of the disclosure, three driving modes, namely braking, coasting and driving, correspond to one pedal opening degree interval respectively, wherein the pedal opening degree interval corresponding to the coasting driving mode is located between the pedal opening degree intervals corresponding to the braking driving mode and the driving mode, and the lower limit value of the pedal opening degree interval corresponding to the coasting driving mode is dynamically changed.
In the disclosed embodiment, the drive driving mode is controlled by the throttle, and the brake driving mode and the coast driving mode are controlled by the brake. Alternatively, the accelerator and the brake may be combined into one pedal, and control of the three driving modes may be achieved through the one pedal. The opening intervals of the two pedals of the brake and the accelerator are combined into a total pedal opening interval, and the total pedal opening interval is set as [ bm, dm ], wherein bm and dm respectively represent the maximum pedal opening corresponding to the braking and driving modes, for example, if the opening intervals of the brake and the accelerator are both [ 0-100 ], the total pedal opening interval can be made as [ -100, 100], wherein [ -100, 0] represents the opening interval of the brake, [0, 100] represents the opening interval of the accelerator, and in the coasting driving mode, the accelerator opening is 0. Let s denote the lower limit of the pedal opening interval in the coasting drive mode and 0 denote the upper limit of the pedal opening interval in the coasting drive mode, the pedal opening intervals corresponding to the braking, coasting, and driving modes are [ bm, s ], [ s, 0], (0, dm), respectively. In the running process of the vehicle, the increase of the oil consumption and the unstable running of the vehicle are often caused by abusing a braking driving mode, so that the vehicle can run stably when the driving mode is switched, the opening degree interval of the brake pedal corresponding to the sliding driving mode is flexibly adjusted, the transition of the vehicle when the vehicle enters the braking driving mode can be more stable under the condition of ensuring the braking safety of the vehicle, and specifically, the lower limit value s of the pedal opening degree interval corresponding to the sliding driving mode can be flexibly adjusted according to the division of the pedal opening degree intervals corresponding to the braking, sliding and driving modes.
Because the working environment of the unmanned mine car is a mining area, the environment is severe, the road is uneven, and because the gradient of the road in the mining area changes greatly, the driving and braking driving modes of the vehicle need to be adjusted continuously in the advancing process, so that the vehicle keeps relatively stable in the advancing process. Under the influence of the weight and the gradient of the unmanned mine car and the original driving mode of the unmanned mine car, the opening degree interval of the pedal corresponding to the sliding driving mode is flexibly changed under the condition that the gradient of the car is continuously changed, so that the car can run more stably and more oil is saved. The following describes in detail a method S110 to S130 for switching a slope-based unmanned longitudinal motion control mode according to the present disclosure.
And S110, acquiring the gradient of the current road section where the unmanned mine car is located.
In the embodiment of the disclosure, the gradient of the road section where the unmanned tramcar is currently located can be defined according to the angle of the traveling direction of the unmanned tramcar relative to the sea level, namely in the traveling direction of the vehicle, the road surface slope has a descending trend in altitude, and is regarded as a downhill; the road surface slope with the rising altitude is regarded as an ascending slope. The gradient value is obtained in real time by an inertial navigation system installed on the vehicle or by pre-storing map data and is converted into the gradient value under a vehicle coordinate system
And S120, when the driving mode of the unmanned mine car is switched, calculating a pedal opening interval of the current sliding driving mode of the unmanned mine car based on the gradient.
Specifically, step S120 includes S121 to S123.
And S121, judging the driving state of the unmanned mine car according to the driving mode and the gradient of the unmanned mine car in the last time period.
Considering that the unmanned tramcar is influenced by the component force of the gravity of the tramcar in the forward direction or the backward direction of the tramcar in the process of getting on and off the slope, the pedal opening intervals corresponding to the sliding driving modes are different in various situations from the viewpoint of reducing the oil consumption. Specifically, the following cases are included.
Case 1: if the vehicle is currently in a downhill slope and the previous period is in the braking mode, the lower limit value s1 of the pedal opening interval corresponding to the coasting driving mode should be larger.
Under the condition that the vehicle is in a downhill slope, the component force of the gravity of the vehicle is power for the vehicle to move forward, so that if the vehicle is in a braking mode in the previous period and the vehicle is to exit the braking mode at present, the sliding interval can be properly enlarged, the braking is cancelled in advance, and the vehicle speed is improved by the component force of the gravity during downhill sliding.
Case 2: if the vehicle is currently on an uphill slope and the previous period is in the braking mode, the lower limit value s2 of the pedal opening interval corresponding to the coasting driving mode at the moment should be smaller.
When the vehicle is on an uphill slope, the component force of the gravity of the vehicle is resistance to the forward and the forward of the vehicle, so that if the vehicle is in the braking mode in the previous period and the vehicle is to exit the braking mode currently, the coasting driving mode can be transited, and the coasting interval can be properly reduced.
Case 3: if the vehicle is currently on an uphill slope and the previous period is in the non-braking mode, the lower limit value s3 of the pedal opening interval corresponding to the coasting driving mode at the moment is larger.
When the vehicle is on an uphill slope, the component force of the gravity of the vehicle is resistance to the forward and the backward of the vehicle, so that if the vehicle is in a non-braking mode in the previous period and the vehicle is to enter a braking mode at present, the vehicle needs to decelerate by depending on the resistance, and therefore the sliding interval can be enlarged, and the braking can be intervened later or not.
Case 4: if the vehicle is currently in a downhill slope and the previous period is in the non-braking mode, the lower limit value s4 of the pedal opening interval corresponding to the coasting driving mode should be smaller.
When the vehicle is moving downhill, the component force of the gravity of the vehicle is a motive force for the vehicle to move forward, and therefore, if the vehicle is in the non-braking mode in the previous period and the vehicle is currently going to enter the braking mode, the coasting period needs to be narrowed, and the vehicle is required to enter the braking mode as soon as possible.
In the embodiment of the disclosure, the pedal opening interval of the sliding driving mode corresponding to the sliding driving mode is adjusted correspondingly according to the current running state of the unmanned mine car during mode switching. Specifically, referring to fig. 3, S1211 to S1214 are included.
S1211, if the unmanned mine car is in the downhill state currently and in the braking driving mode in the last time period, the unmanned mine car is in the first driving state;
s1212, if the unmanned tramcar is in an uphill state currently and is in a braking mode in a last time period, the unmanned tramcar is in a second driving state;
s1213, if the unmanned tramcar is in an uphill state currently and is in a non-braking mode in the last time period, the unmanned tramcar is in a third driving state;
s1214, if the unmanned mine car is in the downhill state currently and in the non-braking mode in the last time period, the unmanned mine car is in the fourth driving state.
And S122, calculating the expected pedal opening interval of the coasting driving mode based on the upper limit value, the lower limit value and the gradient of the preset pedal opening interval.
In the embodiment of the present disclosure, the pedal opening intervals corresponding to the three driving modes of braking, coasting, and driving are [ bm, s), [ s, 0] respectively]、(0，dm]The pedal-off opening interval can be confirmed only by acquiring the lower limit value of the preset pedal opening interval of the sliding fossil mode. The specific calculation of the threshold value of the lower limit value of the desired pedal opening interval in the coasting drive mode is to determine the case 1 calculation coefficient a according to the above-mentioned principle1Case 2 calculating coefficient a2Case 3 calculating coefficient a3Case 4 calculating coefficient a4And a function f (p) related to the slope p.
Note that, in order to restrict the coasting period to be excessively large when the gradient is large and to be excessively small when the gradient is small, the upper and lower limits are restricted for the threshold value of the lower limit value of the desired pedal opening degree period in each case. Wherein, the upper limit of the threshold corresponding to the case 1 is l1-upLower limit of l1-low(ii) a Case 2 corresponds to an upper threshold limit of l2-upLower limit of l2-low(ii) a Case 3 corresponds to an upper threshold limit of l3-upLower limit of l3-low(ii) a Case 4 corresponds to an upper threshold limit of l4-upLower limit of l4-low。
Setting the desired pedal opening degree interval corresponding to the first driving state, the second driving state, the third driving state and the fourth driving state as [ s ]i，0]I is 1, 2, 3, 4, and the maximum threshold value and the minimum threshold value of the desired pedal opening degree section corresponding to the first driving state, the second driving state, the third driving state, and the fourth driving state are respectively li-up、li-lowP represents the gradient, f (p) represents the correlation function of the gradient with the desired pedal opening interval, aiAnd a calculation coefficient indicating a desired pedal opening degree section corresponding to the first driving state, the second driving state, the third driving state and the fourth driving state, wherein:
si＝min(li-up，max(ai·f(p)，li-low))，i＝1，2，3，4。
the pedal opening interval corresponding to the current sliding driving mode of the unmanned mine car is [ s ]i，0]。
And S123, compensating the expected pedal opening interval based on the expected acceleration, the minimum acceleration threshold value and the maximum acceleration threshold value when the driving mode of the unmanned mine car is switched, and obtaining the actual pedal opening interval of the current sliding driving mode of the unmanned mine car.
Let f (a)respect) A compensation value representing a desired pedal opening interval, arespectIndicates a desired acceleration, amaxIndicating a maximum threshold value of acceleration, aminRepresents a minimum threshold value of acceleration, c1、c2Representing the calculated coefficients, then:
referring to fig. 4, the compensation of the desired pedal opening interval is divided into two cases S1231 and S1232.
And S1231, when the expected acceleration is negative and is smaller than the minimum acceleration threshold value, subtracting the compensation value from the lower limit value of the expected pedal opening interval to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car.
And S1232, when the expected acceleration is positive and is greater than the maximum acceleration threshold value, adding the compensation value to the lower limit value of the expected pedal opening interval to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car.
It should be noted that, for a load-carrying vehicle, especially for an unmanned mining vehicle, the weight difference between the no-load and the full-load is large, and therefore, the sliding interval calculation parameters can be respectively taken according to the loading condition of the vehicle, so that the control algorithm can obtain a good operation effect under different conditions.
And S130, controlling the unmanned mine car to dynamically switch the driving mode according to the pedal opening interval of the sliding driving mode calculated in real time at present.
In the embodiment of the disclosure, after the pedal opening degree interval of the sliding driving mode of the current unmanned mine car is calculated, when the driving mode of the unmanned mine car is switched, the duration of the sliding driving mode changes along with the pedal opening degree interval, the speed change of the unmanned mine car is more stable, and the unmanned mine car can more stably save oil when the driving mode and the braking mode are switched.
In the above method, the control mode may not be divided by the desired pedal opening, the target acceleration may be selected, and then the target acceleration threshold value for the coasting drive mode may be obtained based on the gradient and the calculation coefficient and compensated for.
The invention provides a slope-based unmanned longitudinal motion control mode switching method, a sliding driving mode is added into a driving mode, dynamic switching between modes is realized by using change of a slope, a good buffering effect is realized on torque impact in the mode switching process, overshoot or insufficiency of an accelerator and a brake is avoided in control, so that a vehicle obtains better smoothness during running, the sliding driving mode is introduced to replace the brake or the accelerator under certain specific working conditions, the abrasion of the vehicle can be reduced, the oil consumption of the vehicle is reduced, a pedal opening range corresponding to the sliding driving mode is not a fixed value, and the change of the slope is considered during calculation of the pedal opening range corresponding to the sliding driving mode, so that the adaptability of a control algorithm to different working conditions is stronger.
As shown in fig. 5, the present disclosure provides a grade-based unmanned longitudinal motion control mode switching device, including: the device comprises a gradient obtaining module 210, a pedal opening degree interval obtaining module 220 and a pedal control module 230.
And the gradient obtaining module 210 is used for obtaining the gradient of the current road section where the unmanned mine car is located.
And a pedal opening interval obtaining module 220, configured to calculate a pedal opening interval of the current sliding driving mode of the unmanned mining vehicle based on the gradient when the driving mode of the unmanned mining vehicle is switched.
And the pedal control module 230 is used for controlling the unmanned mine car to dynamically switch the driving modes according to the pedal opening degree interval of the sliding driving mode calculated in real time at present.
The slope-based unmanned longitudinal motion control mode switching device provided by the present disclosure has the same beneficial effects as the above-mentioned slope-based unmanned longitudinal motion control mode switching method, and is not described herein again.
It is understood that the gradient acquisition module 210, the pedal opening interval acquisition module 220, and the pedal control module 230 may be implemented in a single module, or any one of the modules may be divided into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to an embodiment of the present invention, at least one of the slope obtaining module 210, the pedal opening interval obtaining module 220, and the pedal control module 230 may be at least partially implemented as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or implemented in a suitable combination of three implementations of software, hardware, and firmware. Alternatively, at least one of the gradient acquisition module 210, the pedal opening interval acquisition module 220, and the pedal control module 230 may be at least partially implemented as a computer program module that, when executed by a computer, may perform the functions of the respective modules.
Fig. 6 schematically shows a block diagram of an electronic device provided in an embodiment of the present disclosure.
As shown in fig. 6, the electronic device described in this embodiment includes: the electronic device 300 includes a processor 310, a computer-readable storage medium 320. The electronic device 300 may perform the method described above with reference to fig. 3 to enable detection of a particular operation.
In particular, processor 310 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 310 may also include on-board memory for caching purposes. The processor 310 may be a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure described with reference to fig. 1.
Computer-readable storage medium 320 may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The computer-readable storage medium 320 may include a computer program 321, which computer program 321 may include code/computer-executable instructions that, when executed by the processor 310, cause the processor 310 to perform a method flow such as that described above in connection with fig. 1 and any variations thereof.
The computer program 321 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 321 may include one or more program modules, including 321A, modules 321B, … …, for example. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, which when executed by the processor 310, enable the processor 310 to execute the method flows described above in connection with fig. 1-2, for example, and any variations thereof.
According to the embodiment of the invention, when the gradient obtaining module 210, the pedal opening interval obtaining module 220 and the pedal control module 230 are executed, the corresponding operations described above can be realized.
The present disclosure also provides a computer-readable medium, which may be embodied in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer readable medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.
Claims (7)
1. A method for switching a slope-based unmanned longitudinal motion control mode, which is applied to an unmanned mining vehicle, wherein the longitudinal motion control mode of the unmanned mining vehicle comprises three driving modes of driving, braking and coasting, wherein the coasting driving mode is a motion mode of the unmanned mining vehicle when the unmanned mining vehicle is switched between the braking mode and the driving mode, and is characterized by comprising the following steps of:
acquiring the gradient of a road section where the unmanned mine car is currently located;
when the unmanned mine car is switched to the driving mode, calculating a pedal opening interval of the current sliding driving mode of the unmanned mine car based on the gradient;
controlling the unmanned mine car to dynamically switch driving modes according to the pedal opening interval of the sliding driving mode calculated in real time at present;
wherein when the unmanned mining vehicle switches the driving mode, calculating a pedal opening interval of the current sliding driving mode of the unmanned mining vehicle based on the gradient comprises the following steps:
judging the driving state of the unmanned mine car according to the driving mode of the unmanned mine car in the last time period and the gradient;
calculating a desired pedal opening interval for the coasting drive mode based on the driving state and the gradient;
compensating the expected pedal opening interval based on the expected acceleration, the minimum acceleration threshold value and the maximum acceleration threshold value when the unmanned mine car switches the driving modes to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car;
according to the driving mode of the unmanned mine car in the last time period and the gradient, judging the driving state of the unmanned mine car comprises the following steps:
if the unmanned mine car is in a downhill state currently and in a braking driving mode within a last time period, the unmanned mine car is in a first driving state;
if the unmanned tramcar is in an uphill state currently and is in a braking mode in the last time period, the unmanned tramcar is in a second driving state;
if the unmanned tramcar is in an uphill state currently and is in a non-braking mode in the last time period, the unmanned tramcar is in a third driving state;
if the unmanned mine car is in a downhill state currently and is in a non-braking mode in the last time period, the unmanned mine car is in a fourth driving state;
the calculating a desired pedal opening interval for the coasting drive mode based on the driving state and the gradient includes:
setting the expected pedal opening degree interval corresponding to the first driving state, the second driving state, the third driving state and the fourth driving state as [ s ]i，0]I is 1, 2, 3, 4, and the maximum threshold and the minimum threshold of the section of the desired pedal opening degree corresponding to the first driving state, the second driving state, the third driving state and the fourth driving state are respectively li-up、li-lowP represents the gradient, f (p) represents a correlation function of the gradient and the desired pedal opening interval, aiA calculation coefficient representing the first driving state, the second driving state, the third driving state, and the fourth driving state, then:
si＝min(li-up，max(ai·f(p)，li-low))，i＝1，2，3，4。
2. the method according to claim 1, wherein the three driving modes of braking, coasting and driving are each corresponding to a pedal opening interval, wherein the pedal opening interval corresponding to the coasting driving mode is located between the pedal opening intervals corresponding to the braking driving mode and the driving mode, and the lower limit value of the pedal opening interval corresponding to the coasting driving mode is dynamically changed.
3. The method of claim 1, wherein the compensating the desired pedal opening interval based on the desired acceleration, the minimum threshold acceleration, and the maximum threshold acceleration when the unmanned mining vehicle switches driving modes comprises:
calculating a compensation value of the expected pedal opening interval based on the expected acceleration, the minimum acceleration threshold value and the maximum acceleration threshold value when the unmanned tramcar switches the driving mode;
when the expected acceleration is negative and is smaller than the minimum acceleration threshold value, subtracting the compensation value from the lower limit value of the expected pedal opening interval to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car;
and when the expected acceleration is positive and is greater than the maximum acceleration threshold value, adding the compensation value to the lower limit value of the expected pedal opening interval to obtain the actual pedal opening interval of the current sliding driving mode of the unmanned mine car.
4. The method of claim 3, wherein calculating the compensation value for the desired pedal opening interval based on the desired acceleration, the minimum threshold acceleration, and the maximum threshold acceleration for the unmanned mining vehicle when switching drive modes comprises:
let f (a)respect) A compensation value representing the desired pedal opening interval, arespectRepresenting said desired acceleration, amaxIndicating a maximum threshold value of acceleration, aminRepresents a minimum threshold value of acceleration, c1、c2Representing the calculated coefficients, then:
5. a grade based unmanned longitudinal motion control mode switching device comprising a method according to any of claims 1 to 4, comprising:
the slope obtaining module is used for obtaining the slope of the road section where the unmanned mine car is located currently;
the pedal opening interval obtaining module is used for calculating a pedal opening interval of the current sliding driving mode of the unmanned mine car based on the gradient when the unmanned mine car switches the driving mode;
and the pedal control module is used for controlling the unmanned mine car to dynamically switch the driving modes according to the pedal opening interval of the sliding driving mode calculated in real time at present.
6. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, performs the steps of the grade based unmanned longitudinal motion control mode switching method according to any of claims 1 to 4.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for gradient-based unmanned longitudinal motion control mode switching according to any one of claims 1 to 4.
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