CN112572420B - Articulated vehicle parking control method and device and articulated vehicle - Google Patents
Articulated vehicle parking control method and device and articulated vehicle Download PDFInfo
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- CN112572420B CN112572420B CN202011542450.5A CN202011542450A CN112572420B CN 112572420 B CN112572420 B CN 112572420B CN 202011542450 A CN202011542450 A CN 202011542450A CN 112572420 B CN112572420 B CN 112572420B
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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
- B60W30/06—Automatic manoeuvring for parking
Abstract
The embodiment of the application relates to the technical field of vehicle parking, and provides an articulated vehicle parking control method and device and an articulated vehicle, wherein the method comprises the following steps: determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle; determining steering parameters of the vehicle based on the vehicle head mass center parameter and the articulation angular velocity of the vehicle; and controlling the vehicle to park to the parking point based on the steering parameter of the vehicle. The articulated angular velocity of the vehicle is acquired based on the two articulated angle sensors which are already arranged on the articulated vehicle, so that the articulated angular velocity can be quickly and accurately acquired, smooth parking is realized through control logic, the control error is small, and the accurate parking position is realized.
Description
Technical Field
The application relates to the technical field of vehicle parking, in particular to a method and a device for controlling articulated vehicle parking and an articulated vehicle.
Background
The method for assisting the reverse parking of the articulated vehicle in the prior art comprises the following steps: recording a predetermined number of positions of the first articulated vehicle for the specified path; recording articulation angles of each articulation joint of the articulated vehicle at a predetermined number of positions; recording the orientation of the first articulated vehicle at a predetermined number of positions; saving the record value of the designated path in a memory; calculating a swept area of the first articulated vehicle for the specified path by using the recorded values and the size information of the articulated vehicle; and controlling steering of the articulated vehicle using the swept area when the articulated vehicle is reversing along the specified path such that the articulated vehicle does not extend outside the swept area during reversing. However, the method needs to record the hinge angles of a predetermined number of positions in advance, and the hinge angles are not easy to measure, so that the operation is complicated, and the labor cost is high.
Disclosure of Invention
The application provides a parking control method and device for an articulated vehicle and the articulated vehicle, so as to realize accurate parking.
The application provides an articulated vehicle parking control method, which comprises the following steps:
determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle;
determining a steering parameter of the vehicle based on the head centroid parameter and the articulation angular velocity of the vehicle;
and controlling the vehicle to park to a parking spot based on the steering parameter of the vehicle.
According to the parking control method for the articulated vehicle, the determining of the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle comprises the following steps:
collecting a first hinge angle set and a second hinge angle set through angle sensors respectively arranged at two ends of a hinge shaft of a vehicle;
determining a first angular velocity based on the first set of articulation angles and a second angular velocity based on the second set of articulation angles;
determining an articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.
According to the parking control method for the articulated vehicle, the method for collecting the first articulation angle set and the second articulation angle set through the angle sensors respectively arranged at two ends of the articulation shaft of the vehicle comprises the following steps:
acquiring a first hinge angle through a hinge angle sensor arranged at one end of a hinge shaft at intervals of a first preset time interval, and putting the first hinge angle into the first hinge angle set;
and acquiring a second hinge angle through a hinge angle sensor arranged at the other end of the hinge shaft at a second preset time interval, and putting the second hinge angle into the second hinge angle set.
According to the present application, an articulated vehicle parking control method, wherein a first angular velocity is determined based on a first set of articulation angles, and a second angular velocity is determined based on a second set of articulation angles, comprises:
determining first initial angular velocities based on the difference value of every two adjacent angle values in the first hinge angle set and the first preset time interval, and filtering each first initial angular velocity to obtain the first angular velocity;
and determining second initial angular velocities based on the difference value of every two adjacent angle values in the second hinge angle set and the second preset time interval, and filtering each second initial angular velocity to obtain the second angular velocity.
According to the articulated vehicle parking control method provided by the application, the determining of the steering parameter of the vehicle based on the head mass center parameter and the articulation angular velocity of the vehicle comprises the following steps:
determining a vehicle head hinge point parameter based on a vehicle head mass center parameter;
determining a mass center parameter of the tail of the vehicle based on the vehicle head hinge point parameter and the vehicle hinge angular velocity;
determining a steering parameter of the vehicle based on the centroid parameter of the vehicle tail.
According to the articulated vehicle parking control method provided by the application, the vehicle head mass center parameter comprises the following steps: the position of locomotive barycenter, the speed of locomotive barycenter, the course angle of locomotive barycenter and the course angular velocity of locomotive barycenter, locomotive pin joint parameter includes: the position of a vehicle head hinge point, the speed of the vehicle head hinge point, the course angle of the vehicle head hinge point and the course angular speed of the vehicle head hinge point;
based on the locomotive barycenter parameter, confirm the locomotive pin joint parameter, include:
converting the position of the center of mass of the vehicle head and the speed of the center of mass of the vehicle head in a lever arm compensation mode to obtain the position of a vehicle head hinge point and the speed of the vehicle head hinge point;
and taking the course angle of the vehicle head mass center as the course angle of the vehicle head hinge point, and taking the course angular speed of the vehicle head mass center as the course angular speed of the vehicle head hinge point.
According to the articulated vehicle parking control method provided by the application, the mass center parameter of the tail of the vehicle comprises the following steps: the position of the mass center of the tail of the vehicle, the speed of the mass center of the tail of the vehicle, the course angle of the mass center of the tail of the vehicle and the course angular speed of the mass center of the tail of the vehicle;
based on locomotive pin joint parameter to and the articulated angular velocity of vehicle, acquire the barycenter parameter of the rear of a vehicle, include:
based on the course angle of the vehicle head hinging point, the course angular speed of the vehicle head hinging point and the hinging angular speed of the vehicle, acquiring the course angle of the vehicle tail hinging point and the course angular speed of the vehicle tail hinging point;
taking the position of the car head hinge point as the position of the car tail hinge point, and taking the speed of the car head hinge point as the speed of the car tail hinge point;
and converting the position of the tail hinging point and the speed of the tail hinging point by adopting a lever arm compensation mode to obtain the position of the tail mass center and the speed of the tail mass center, taking the course angle of the tail hinging point as the course angle of the tail mass center, and taking the course angular speed of the tail hinging point as the course angular speed of the tail mass center.
According to the articulated vehicle parking control method provided by the application, the method for obtaining the course angle of the car tail articulated point and the course angular velocity of the car tail articulated point based on the course angle of the car head articulated point, the course angular velocity of the car head articulated point and the articulation angular velocity of the car comprises the following steps:
taking the sum of the course angle of the head hinge point and the hinge angular speed of the vehicle as the course angle of the tail hinge point;
and taking the sum of the course angular speed of the vehicle head hinge point and the hinge angular speed of the vehicle as the course angular speed of the vehicle tail hinge point.
According to the articulated vehicle parking control method provided by the application, the step of obtaining the steering parameter of the vehicle based on the barycenter parameter of the tail of the vehicle comprises the following steps:
determining a position error based on the position of the tailstock center of mass and the position of a preset reference point;
determining a speed error based on the speed of the tailstock center of mass and the speed of a preset reference point;
determining a steering parameter of the vehicle based on the position error and the speed error.
The present application further provides an articulated vehicle parking control device, including:
according to the articulated vehicle parking control device provided by the application, the angular velocity obtaining unit is used for determining the articulated angular velocity of the vehicle based on the articulated angles acquired by the angle sensors respectively arranged at the two ends of the articulated shaft of the vehicle;
the steering parameter acquisition unit is used for determining the steering parameters of the vehicle based on the vehicle head mass center parameter and the articulation angular velocity of the vehicle;
and the parking unit is used for controlling the vehicle to park to a parking point based on the steering parameter of the vehicle.
According to an articulated vehicle parking control apparatus provided by the present application, the angular velocity obtaining unit includes:
the first acquisition unit is used for acquiring a first hinge angle set and a second hinge angle set through angle sensors respectively arranged at two ends of a hinge shaft of the vehicle;
a second acquisition unit configured to determine a first angular velocity based on the first set of articulation angles and a second angular velocity based on the second set of articulation angles;
a third obtaining unit configured to determine an articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.
According to the present application, there is provided an articulated vehicle parking control apparatus, the steering parameter obtaining unit including:
the first parameter acquisition unit is used for determining a head hinge point parameter based on the head centroid parameter;
the second parameter acquisition unit is used for determining a mass center parameter of the tail of the vehicle based on the vehicle head hinge point parameter and the vehicle hinge angular velocity;
and the third parameter acquisition unit is used for determining the steering parameters of the vehicle based on the barycenter parameters of the tail of the vehicle.
The application also provides an articulated vehicle comprising the articulated vehicle parking control device according to any one of the embodiments.
The present application further provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the articulated vehicle parking control method according to any one of the above aspects when executing the computer program.
The present application further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the articulated vehicle parking control method according to any of the above-mentioned.
According to the articulated vehicle parking control method and device and the articulated vehicle, the articulation angular velocity of the vehicle is determined based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle; determining steering parameters of the vehicle based on the vehicle head mass center parameter and the articulation angular velocity of the vehicle; and controlling the vehicle to park to the parking point based on the steering parameter of the vehicle. The articulated angular velocity of the vehicle is acquired based on the two articulated angle sensors which are already arranged on the articulated vehicle, so that the articulated angular velocity can be quickly and accurately acquired, smooth parking is realized through control logic, the control error is small, and the accurate parking position is realized.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of an articulated vehicle parking control method provided by the present application;
FIG. 2 is a schematic flow chart diagram illustrating an embodiment of step 110 of the articulated vehicle parking control method provided herein;
fig. 3 is a schematic flow chart diagram illustrating an embodiment of step 111 in the articulated vehicle parking control method provided in the present application;
fig. 4 is a schematic flow chart diagram illustrating an embodiment of step 112 of the articulated vehicle parking control method provided by the present application;
fig. 5 is a schematic flow chart diagram illustrating an embodiment of step 120 of the articulated vehicle parking control method provided by the present application;
fig. 6 is a flowchart illustrating an embodiment of step 121 in the articulated vehicle parking control method provided in the present application;
FIG. 7 is a schematic view of the centroid of the headstock and the pivot point provided by the present application;
FIG. 8 is a schematic flow chart diagram illustrating an embodiment of step 122 of the articulated vehicle parking control method provided herein;
FIG. 9 is a schematic view of the nose center of mass, the tail center of mass, and the nose hinge point provided by the present application;
fig. 10 is a schematic flow chart diagram illustrating an embodiment of step 122a in the articulated vehicle parking control method provided in the present application;
fig. 11 is a schematic flow chart diagram illustrating an embodiment of step 123 of the articulated vehicle parking control method provided in the present application;
FIG. 12 is a schematic view of the configuration of an articulated vehicle park control as provided herein;
FIG. 13 is a schematic structural view of an angular velocity acquisition unit of the articulated vehicle park control apparatus provided herein;
FIG. 14 is a schematic structural view of a first acquisition unit of the articulated vehicle park control apparatus provided herein;
FIG. 15 is a schematic structural view of a steering parameter acquisition unit of the articulated vehicle park control provided herein;
FIG. 16 is a schematic diagram of a first parameter acquisition unit of the articulated vehicle park control apparatus provided herein;
FIG. 17 is a schematic diagram of a second parameter acquisition unit of the articulated vehicle park control apparatus provided herein;
FIG. 18 is a schematic diagram of a third computing unit of the articulated vehicle park control provided by the present application;
FIG. 19 is a schematic view of a third parameter obtaining unit of the articulated vehicle parking control apparatus provided herein;
fig. 20 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
The method for assisting the reverse parking of the articulated vehicle in the prior art comprises the following steps: recording a predetermined number of positions of the first articulated vehicle for the specified path; recording articulation angles of each articulation joint of the articulated vehicle at a predetermined number of positions; recording the orientation of the first articulated vehicle at a predetermined number of positions; saving the record value of the designated path in a memory; calculating a swept area of the first articulated vehicle for the specified path by using the recorded values and the size information of the articulated vehicle; and controlling steering of the articulated vehicle using the swept area when the articulated vehicle is reversing along the specified path such that the articulated vehicle does not extend outside the swept area during reversing. However, the method needs to record the hinge angles of a predetermined number of positions in advance, and the hinge angles are not easy to measure, so that the operation is more complicated, and the labor cost is higher.
In view of the above, the present application provides an articulated vehicle parking control method, as shown in fig. 1, including the steps of:
In this step, it should be noted that the articulated vehicle refers to a wheeled vehicle and a tracked vehicle which are composed of two or more vehicle bodies connected together by an articulated device, and the vehicle bodies can be relatively moved on a horizontal plane or a vertical longitudinal (or transverse) plane by using a special hydraulic mechanism. It changes the advancing direction by the mutual rotation of the connecting rings between the car bodies. Since articulated vehicles do not have steering axles and steering wheels, the steering thereof is exclusively effected by means of a yaw movement of the front body about the articulation body, it is necessary for the articulated vehicle to control the parking of the articulated vehicle by means of the articulation angular velocity of the vehicle.
In the embodiment, two ends of the hinge shaft are respectively provided with the hinge angle sensor, and the first hinge angle set and the second hinge angle set are respectively obtained based on the two hinge angle sensors, for example, a plurality of vehicle hinge angles can be obtained through the hinge angle sensor at one end of the hinge shaft according to a preset condition, and the plurality of vehicle hinge angles form the first hinge angle set; the preset condition may be that the vehicle hinge angle is obtained at equal time intervals (for example, the vehicle hinge angle is obtained at every 5 ms), or the vehicle hinge angle is obtained incrementally at time intervals (for example, the vehicle hinge angle is obtained at an interval of 1ms for the first time, at an interval of 2ms for the second time, at an interval of 3ms for the third time, and so on at an interval of N ms for the nth time), which is not specifically limited in this embodiment. And similarly, a plurality of vehicle hinge angles are acquired according to a preset condition through the hinge angle sensing at the other end of the hinge shaft, so that a second hinge angle set is formed.
It should be noted that, because angle sensor itself can have unstable factors such as measuring error, in order to avoid the influence of sensor itself to the measuring result, this embodiment acquires the hinge angle respectively through setting up two angle sensors to can avoid single sensor to acquire the measuring error that the angle caused because instrument itself, make the hinge angle result of acquireing more stable and accurate. Meanwhile, the angle sensor is directly arranged on the hinged shaft, does not depend on any mechanical structure, and has a large measuring range, so that the measuring result can be quickly and conveniently obtained. In addition, the present embodiment considers a specific structural space of the articulated shaft of the articulated vehicle, so that two angle sensors are provided, and a plurality of angle sensors may be provided if the space is sufficient.
And step 120, determining a steering parameter of the vehicle based on the vehicle head mass center parameter and the articulation angular speed of the vehicle.
In this step, the vehicle head centroid parameters may include: the position of the center of mass of the vehicle head, the speed of the center of mass of the vehicle head, the attitude of the center of mass of the vehicle head and the attitude angular speed of the center of mass of the vehicle head. Wherein, the position of barycenter includes longitude, latitude and height, and speed includes the speed of east, north, three direction in the sky, and the gesture can include course angle, pitch angle and roll angle, and gesture angular velocity includes: heading angular velocity, pitch angular velocity, and roll angular velocity. Because the inertial navigation is arranged on the existing articulated vehicle, and the positioning sensor is arranged at the head position of the vehicle, the parameters of the mass center of the head can be obtained through the positioning sensor and the inertial navigation. Based on the vehicle head mass center parameter and the articulation angular velocity of the vehicle, the steering parameter of the vehicle can be determined so that the vehicle can be accurately parked according to the steering parameter.
And step 130, controlling the vehicle to park to a parking point based on the steering parameter of the vehicle.
In the step, the relation between the position of the vehicle and the position of the parking point is judged in real time, the vehicle is controlled to steer according to steering parameters, and when the vehicle reaches the parking point, the vehicle is controlled to park, so that a positioning sensor is not required to be additionally arranged, the hinging angles of the positions with the preset number are not required to be recorded in advance, smooth parking is realized by utilizing the positioning sensor arranged on the existing vehicle head part and the angle sensor arranged on the hinging shaft, the control error is small, and the vehicle can accurately arrive at the parking point to park.
The articulated vehicle parking control method provided by the application determines the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle; determining steering parameters of the vehicle based on the vehicle head mass center parameter and the articulation angular velocity of the vehicle; and controlling the vehicle to park to the parking point based on the steering parameter of the vehicle. The articulated angular velocity of the vehicle is acquired based on the two articulated angle sensors which are already arranged on the articulated vehicle, so that the articulated angular velocity can be quickly and accurately acquired, smooth parking is realized through control logic, the control error is small, and the accurate parking position is realized.
Based on the above embodiment, as shown in fig. 2, step 110 includes:
and step 113, determining the articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.
In this embodiment, it should be noted that, since the articulation angle acquired by the angle sensor carries corresponding time information, the corresponding articulation angular velocity may be acquired based on "articulation angular velocity is equal to the articulation angle variation/time".
For example, the first set of articulation angles includes articulation angle α1、α2、α3、α4、α5、α6、α7、α8、α9、α10、α11And the time interval of two adjacent articulation angles is T, the corresponding angular velocity ω can be obtained as follows1＝(α2-α1)/T，ω2＝(α3-α2)/T，...，ω10＝(α11-α10) The corresponding angular velocity ω 'may be obtained as follows'1＝(α3-α1)/2T，ω’2＝(α4-α2)/2T，...，ω’9＝(α11-α9)/2T。
It can be seen that a plurality of articulation angular velocities can be obtained based on the first set of articulation angles, and then the plurality of articulation angular velocities are filtered (e.g., mean filtered), and the first angular velocity can be obtained. Similarly, a plurality of articulation angular velocities may be obtained based on the second set of articulation angles, and then the plurality of articulation angular velocities may be filtered (e.g., mean filtered), and a second angular velocity may be obtained.
In addition, since the first angular velocity and the second angular velocity are obtained based on the two angle sensors, the two angle sensors have different measurement accuracies under different conditions, for example, a certain angle sensor is damaged, the measurement accuracy is low, or the accuracy corresponding to a certain sensor model is high. Therefore, the present embodiment may determine the first angular velocity weight and the second angular velocity weight based on the measurement accuracy of the two angle sensors (for example, the articulation angular velocity weight corresponding to the angle sensor with higher measurement accuracy is higher), so as to obtain the articulation angular velocity of the vehicle, and may also use the average value of the first angular velocity and the second angular velocity as the articulation angular velocity of the vehicle.
Based on any of the above embodiments, as shown in fig. 3, step 111 includes:
111a, acquiring a first hinge angle through a hinge angle sensor arranged at one end of a hinge shaft at intervals of a first preset time interval, and putting the first hinge angle into a first hinge angle set;
and 111b, acquiring a second hinge angle through a hinge angle sensor arranged at the other end of the hinge shaft every second preset time interval, and putting the second hinge angle into the second hinge angle set.
In this embodiment, in order to accurately obtain the hinge angle of the vehicle, the first hinge angle set and the second hinge angle set are both formed by a plurality of hinge angles, that is, according to a first preset time interval, a plurality of groups of vehicle hinge angles are obtained by the hinge angle sensor disposed at one end of the hinge shaft, so as to obtain the first hinge angle set, and if according to the time interval T1, a plurality of groups of vehicle hinge angles are collected by the angle sensor. Similarly, the second set of articulation angles may be acquired by the angle sensor at time intervals T2 for groups of vehicle articulation angles.
It should be noted that the first preset time interval and the second preset time interval may be set according to a state of the angle sensor, where the first preset time interval may be the same as the second preset time interval, and this embodiment is not limited in this respect.
Based on any of the above embodiments, as shown in fig. 4, step 112 includes:
and 112b, determining second initial angular velocities based on the difference value of every two adjacent angle values in the second hinge angle set and the second preset time interval, and filtering each second initial angular velocity to obtain the second angular velocity.
In this step, it should be noted that the angle sensor converts the sensed measured angle into an available output angle signal, and an error code exists in the angle signal output by the angle sensor due to noise influence, and in order to ensure that the articulation angle of the vehicle can be accurately obtained, the angle signal output by the angle sensor needs to be filtered to remove the error code in the signal, that is, the first articulation angle set and the second articulation angle set are filtered respectively. The filtering process may include median filtering, mean filtering, smoothing filtering, low-pass filtering, and the like.
In this embodiment, if the first predetermined time interval is T1The first set of articulation angles comprises articulation angle alpha1、α2、α3、α4、α5、α6、α7、α8、α9、α10、α11Then, the corresponding first initial angular velocity ω can be obtained by, for example, mean filtering1＝(α2-α1)/T1，ω2＝(α3-α2)/T1，...，ω10＝(α11-α10)/T1Then the first angular velocity is ω ═ ω (ω ═ ω)1+ω2+...+ω10)/10. Similarly, if the first predetermined time interval is T2And the second set of articulation angles comprises articulation angle α'1、α’2、α’3、α’4、α’5、α’6、α’7、α’8、α’9、α’10、α’11Then the corresponding second initial angular velocity ω 'may be obtained as follows'1＝(α’2-α’1)/T2，ω’2＝(α’3-α’2)/T2，...，ω’10＝(α’11-α’10) /10, thenThe secondary angular velocity is ω '═ ω'1+ω’2+...+ω’10). Similarly, the first and second initial angular velocities may be obtained by performing other filtering processes (such as median filtering and low-pass filtering) on each of the first and second initial angular velocities. The embodiment preferably adopts median filtering, wherein the median filtering is to collect data of N periods, remove the maximum value and the minimum value in the data of the N periods, and take the average value of the rest data, so that the influence of accidental sensor data abnormality on the angular speed can be reduced. Therefore, the embodiment performs median filtering on the first hinge angle set and the second hinge angle set respectively based on the preset filtering length, so that not only can error codes in output signals of the angle sensor be filtered, but also the influence on the angular speed caused by accidental sensor data abnormality can be reduced, and the angular speed can be accurately and stably acquired. The preset filtering length may be set according to an actual situation, which is not specifically limited in this embodiment.
Based on any of the above embodiments, as shown in fig. 5, step 120 includes:
and step 123, determining the steering parameters of the vehicle based on the barycenter parameters of the tail of the vehicle.
In this embodiment, the vehicle head centroid parameters may include: the position of the center of mass of the vehicle head, the speed of the center of mass of the vehicle head, the attitude of the center of mass of the vehicle head and the attitude angular speed of the center of mass of the vehicle head. Wherein, the position of barycenter includes longitude, latitude and height, and speed includes the speed of east, north, sky three direction, and the gesture can include course angle, pitch angle and roll angle, and gesture angular velocity includes: course angular velocity, pitch angular velocity, and roll angular velocity.
On the basis of confirming the articulated point parameter of locomotive pin joint and the articulated angular velocity of vehicle, can acquire the parameter of rear of a vehicle pin joint, and then acquire the barycenter parameter of the rear of a vehicle according to the parameter of rear of a vehicle pin joint. Because the rear of a vehicle hinge point is on same rigid body with the rear of a vehicle barycenter, therefore the attitude angle of rear of a vehicle barycenter is the same with the attitude angle of rear of a vehicle pin joint, and the attitude angular velocity of rear of a vehicle barycenter is the same with the attitude angular velocity of rear of a vehicle pin joint, but the position of rear of a vehicle pin joint and the speed of rear of a vehicle pin joint need be converted respectively after, obtain the position of rear of a vehicle barycenter and the speed of rear of a vehicle barycenter.
On the basis of determining the centroid parameter of the tail of the vehicle, the steering parameter of the vehicle can be determined, and the vehicle can be accurately controlled to stop according to the steering parameter.
Based on any one of the above embodiments, the vehicle head centroid parameter includes: the position of locomotive barycenter, the speed of locomotive barycenter, the course angle of locomotive barycenter and the course angular velocity of locomotive barycenter, locomotive pin joint parameter includes: the position of a vehicle head hinge point, the speed of the vehicle head hinge point, the course angle of the vehicle head hinge point and the course angular speed of the vehicle head hinge point;
as shown in fig. 6, step 121 includes:
and step 121b, taking the course angle of the headstock mass center as the course angle of the headstock hinge point, and taking the course angular speed of the headstock mass center as the course angular speed of the headstock hinge point.
In this embodiment, because the centroid of the vehicle head and the hinge point of the vehicle head are on the same rigid body, the course angle and the course angular velocity do not need to be converted, and only the position and the speed of the centroid of the vehicle head need to be converted to obtain the position and the speed of the hinge point of the vehicle head. That is to say, the course angle and the course angular velocity of the center of mass of the vehicle head are the course angle and the course angular velocity of the vehicle head hinge point.
The position and the speed of the center of mass of the vehicle head are converted into the position and the speed of a vehicle head hinged point in a lever arm compensation mode, and the specific conversion process is as follows:
as shown in fig. 7, it is assumed that a vector of the vehicle head hinge point relative to the earth center O is R, a vector of the vehicle head centroid relative to the ground center O is R, and a vector of the vehicle head hinge point relative to the vehicle head centroid is δ l, and a vector relationship between the three satisfies: r + δ l.
According to the relative position relation in the graph, the position relation between the head hinge point and the head mass center can be obtained by combining a relative derivation formula:
in the formula (I), the compound is shown in the specification,
RMh＝RM+h，RNh＝RN+h，
wherein v isvhhVelocity vector, v, representing the articulation point of the headstockchcmA velocity vector representing the centroid of the vehicle head,
an attitude matrix in the vehicle system (system b) relative to the navigation coordinate system (system n), psi, theta and gamma respectively represent a heading angle, a pitch angle and a roll angle, and sψDenotes-sin (psi), cψRepresenting cos (psi), sθDenotes sin (θ), cθRepresents cos (θ), sγDenotes sin (. gamma.), cγRepresents a representation of cos (gamma),
representing a vector
The corresponding cross-multiplication matrix is then used,
for the angular velocity of the b-system relative to the n-system, the gyroscope output, δ l, of an IMU (Inertial Measurement Unit) can be approximatedbVector representing the articulation point of the head relative to the center of mass of the head, pvhhPosition vector representing the articulation point of the head, pchcmPosition vector representing the centroid of the vehicle head, MpvRepresenting a parameter matrix, secL representing a secant function of latitude L, RMhRadius of meridian main curvature at height h position, RNhIs a main curvature radius of a position h-shaped mortise-tenon unitary ring, RMIs the radius of the meridian principal curvature, RNThe radius of curvature of the prime circle is B, longitude is represented, a represents the radius of the earth major axis, B represents the radius of the earth minor axis, and e represents the eccentricity of the earth ellipsoid.
Based on any one of the above embodiments, the barycentric parameter of the vehicle tail comprises: the position of the mass center of the tail of the vehicle, the speed of the mass center of the tail of the vehicle, the course angle of the mass center of the tail of the vehicle and the course angular speed of the mass center of the tail of the vehicle;
as shown in fig. 8, step 122 includes:
and step 122c, converting the position of the tail hinging point and the speed of the tail hinging point by adopting a lever arm compensation mode to obtain the position of the tail mass center and the speed of the tail mass center, taking the course angle of the tail hinging point as the course angle of the tail mass center, and taking the course angular speed of the tail hinging point as the course angular speed of the tail mass center.
In this embodiment, because locomotive pin joint and rear of a vehicle pin joint are same point, so the position and the speed of locomotive joint point are position and the speed of rear of a vehicle pin joint promptly, but locomotive joint point fixes in the locomotive portion, and the rear of a vehicle pin joint is fixed in the rear of a vehicle portion, so the course angle and the course angular velocity of locomotive joint point and rear of a vehicle pin joint are different.
The articulation angle is obtained by an articulation angle sensor, such as the angle α in fig. 9, and an articulation angular velocity ω' is obtained based on the angle α, and the obtained articulation angular velocity is filtered. Suppose that a number of series of hinge angle values alpha are obtained1、α2、α3、α4、α5、α6、α7、α8、α9、α10、α11If the calculation period is T, then the value ω of the articulation angular velocity may be obtained1′＝(α2-α1)/T，...，ω10′＝(α11-α10) T, setting the filter length to 10, the articulation angular velocity ω' ═ ω (ω ═ T) can be obtained1′+ω2′+...+ω10')/10. It will be appreciated that if the filter length is not sufficient for 10, then the several data obtained are averaged over the several data, the purpose of the filter being to remove differential noise.
Suppose the course angle of the head hinge point is psiH(same as the course angle of the center of mass of the head of the vehicle) and the course angular speed is omegaH(the heading angular velocity is the same as that of the center of mass of the head of the vehicle), and the heading angle of the tail hinging point of the vehicle is psiTCourse angular velocity of omegaTThen the course angle phi of the tail hinging point of the vehicle can be calculated through the following formulaTCourse angular velocity of omegaT：ψT＝ψH+α，ωH＝ωT+ω′。
And acquiring the mass center parameter of the tail of the vehicle according to the parameters of the hinge point of the tail of the vehicle by using a lever arm compensation mode. The vehicle tail hinge point and the vehicle tail center of mass are on the same rigid body, so that the course angle and the course angular velocity do not need to be converted, and only the position and the speed of the vehicle tail hinge point need to be converted. The specific conversion is made with reference to the above-described embodiments, which are not described in detail herein.
Based on any of the above embodiments, as shown in fig. 10, step 122a includes:
and step 122a-2, taking the sum of the course angular speed of the vehicle head hinge point and the hinge angular speed of the vehicle as the course angular speed of the vehicle tail hinge point.
Based on any of the above embodiments, as shown in fig. 11, step 123 includes:
and step 123c, determining the steering parameters of the vehicle based on the position error and the speed error.
In this embodiment, the steering command may be calculated based on the centroid parameter of the vehicle tail and the preset reference point parameter. The preset reference point acquisition mode is as follows: in FIG. 9, there are a series of target track points (each reference point information is: position, speed in three directions of northeast, heading angle, heading angular velocity). And converting the position coordinates of the mass center of the tail of the vehicle into a coordinate system which is the same as the reference point, and searching the reference point which is closest to the position coordinates of the mass center of the tail of the vehicle according to the position of the mass center of the tail of the vehicle to be used as a preset reference point.
Wherein, calculate the instruction of turning to according to the barycenter parameter of the rear of a vehicle and preset reference point parameter, include: calculating errors between the position, the speed, the course angle and the course angular speed of the mass center of the tail of the vehicle and the position, the speed, the course angle and the course angular speed of a preset reference point respectively; and calculating a steering instruction according to the position error, the speed error, the course angle error and the course angular speed error.
Specifically, it is assumed that the parameters of the preset reference point include: position coordinates (x)ref，yref) East velocity vxrefVelocity v in the north directionyrefCourse angle psirefCourse angular velocity omegarefThe parameters of the center of mass of the vehicle tail are as follows: center of massPosition coordinates (x, y), east velocity vxVelocity v in the north directionyHeading angle ψ, heading angular velocity ω, then the lateral position error and lateral velocity error of the vehicle are as follows:
Llaterr＝(x-xref)cosψ+(y-yref)sinψref；
vlaterr＝(vx-vxref)cosψ+(vy-vyref)sinψref；
wherein L islaterrRepresenting the position error, x and y representing the position coordinates of the centroid of the vehicle tail, xrefAnd yrefPosition coordinates representing a predetermined reference point,. phi.refRepresenting a course angle of a preset reference point; v. oflaterrIndicating a velocity error, vxEast velocity, v, representing the centroid of the vehicle tailxrefEast velocity, v, representing a preset reference pointyRepresenting north velocity, v, of the centre of mass of the vehicle's tailyrefRepresenting the northbound speed of a preset reference point.
In the formula, the cos psi and sin psi in the two formulasrefThe method relates to the conversion of a position vector and a speed vector from a preset reference point to the center of mass of the tail of the vehicle into a preset reference point coordinate system (the origin of coordinates is the preset reference point, the ordinate is the tangential direction of the preset reference point, such as the coordinate system of the preset reference point in fig. 8), and the abscissa is a transverse position error and a transverse speed error. It should be noted that the heading north is 0 degrees, the north is positive when the west is north, and the north is negative when the east is north.
From the lateral position error L calculated in real timelaterrTransverse velocity error vlaterrHeading angle error psi-psirefCourse angular velocity error omega-omegaref. And (3) calculating a steering command by adopting a PD control algorithm through the following formula:
Scmd＝kpxLlaterr+kdvvlaterr+kpψ(ψ-ψref)+kdω(ω-ωref)；
wherein S iscmdRepresenting the steering parameter, kpx、kdv、kpψAnd kdωConstant, ω is the heading angular velocity of the center of mass of the vehicle's tail, ωrefIndicating the heading angular velocity of a preset reference point. Wherein S iscmdWith a distinction between positive and negative, sign indicating reversal of steering control of the vehicle, e.g. when ScmdWhen the value is negative, the vehicle is controlled to turn left, and when S is positivecmdAnd when the vehicle speed is positive, controlling the vehicle to turn to the right.
It will be appreciated that the retrieved steering commands may also be low pass filtered in order to reduce noise during the several transitions described above.
The following describes the articulated vehicle parking control device provided in the present application, and the articulated vehicle parking control device described below and the articulated vehicle parking control method described above may be referred to in correspondence with each other.
Based on any one of the embodiments, the present application provides an articulated vehicle parking control method, as shown in fig. 12, the apparatus including:
an angular velocity obtaining unit 1210 for determining an articulation angular velocity of the vehicle based on articulation angles collected by angle sensors respectively provided at both ends of an articulation shaft of the vehicle;
the steering parameter obtaining unit 1220 is configured to determine a steering parameter of the vehicle based on the vehicle head centroid parameter and the articulation angular velocity of the vehicle;
a parking unit 1230 for controlling the vehicle to park to a parking spot based on the steering parameter of the vehicle.
Based on any of the above embodiments, as shown in fig. 13, the angular velocity obtaining unit 1210 includes:
a first acquisition unit 1211 configured to acquire a first hinge angle set and a second hinge angle set through angle sensors respectively disposed at both ends of a hinge shaft of a vehicle;
a second obtaining unit 1212, configured to determine a first angular velocity based on the first set of articulation angles and a second angular velocity based on the second set of articulation angles;
a third obtaining unit 1213 for determining an articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.
Based on any of the above embodiments, as shown in fig. 14, the first obtaining unit 1211 includes:
a first angle obtaining unit 1211a, configured to collect, at every first preset time interval, a first hinge angle through a hinge angle sensor disposed at one end of a hinge shaft, and place the first hinge angle into the first hinge angle set;
the second angle obtaining unit 1211b is configured to collect a second hinge angle through the hinge angle sensor disposed at the other end of the hinge shaft at a second predetermined time interval, and place the second hinge angle into the second hinge angle set.
Based on any of the above embodiments, the mobile terminal further includes a filtering unit, configured to perform filtering processing on the first articulation angle set and the second articulation angle set after acquiring the first articulation angle set and the second articulation angle set.
Based on any of the above embodiments, as shown in fig. 15, the steering parameter obtaining unit 1220 includes:
the first parameter acquisition unit 1221 is configured to determine a vehicle head hinge point parameter based on a vehicle head centroid parameter;
a second parameter obtaining unit 1222, configured to determine a centroid parameter of the vehicle tail based on the vehicle head hinge point parameter and the vehicle hinge angular velocity;
and the third parameter obtaining unit 1223 is configured to determine a steering parameter of the vehicle based on the centroid parameter of the vehicle tail.
Based on any one of the above embodiments, the vehicle head centroid parameter includes: the position of locomotive barycenter, the speed of locomotive barycenter, the course angle of locomotive barycenter and the course angular velocity of locomotive barycenter, locomotive pin joint parameter includes: the position of a vehicle head hinge point, the speed of the vehicle head hinge point, the course angle of the vehicle head hinge point and the course angular speed of the vehicle head hinge point;
as shown in fig. 16, the first parameter obtaining unit 1221 includes:
the first calculating unit 1221a is configured to convert the position of the head centroid and the speed of the head centroid by using a lever arm compensation method, and obtain the position of the head hinge point and the speed of the head hinge point;
the second calculating unit 1221b is configured to use the heading angle of the vehicle head mass center as the heading angle of the vehicle head hinge point, and use the heading angular velocity of the vehicle head mass center as the heading angular velocity of the vehicle head hinge point.
In any of the above embodiments, the parameters of the center of mass of the vehicle tail include: the position of the mass center of the tail of the vehicle, the speed of the mass center of the tail of the vehicle, the course angle of the mass center of the tail of the vehicle and the course angular speed of the mass center of the tail of the vehicle;
as shown in fig. 17, the second parameter obtaining unit 1222 includes:
the third calculating unit 1222a, configured to obtain, based on the heading angle of the vehicle head hinge point, the heading angular velocity of the vehicle head hinge point, and the hinge angular velocity of the vehicle, the heading angle of the vehicle tail hinge point and the heading angular velocity of the vehicle tail hinge point;
the fourth calculating unit 1222b, configured to use the position of the vehicle head hinge point as the position of the vehicle tail hinge point, and use the speed of the vehicle head hinge point as the speed of the vehicle tail hinge point;
the fifth calculating unit 1222c is configured to convert the position of the car tail hinge point and the speed of the car tail hinge point by using a lever arm compensation method, obtain the position of the car tail mass center and the speed of the car tail mass center, use the course angle of the car tail hinge point as the course angle of the car tail mass center, and use the course angular speed of the car tail hinge point as the course angular speed of the car tail mass center.
Based on any of the above embodiments, as shown in fig. 18, the third calculating unit 1222a includes:
the course angle calculating unit 1222a-1, configured to use the sum of the course angle of the vehicle head hinge point and the hinge angular velocity of the vehicle as the course angle of the vehicle tail hinge point;
and the course angular velocity calculating unit 1222a-2, configured to use the sum of the course angular velocity of the vehicle head hinge point and the hinge angular velocity of the vehicle as the course angular velocity of the vehicle tail hinge point.
Based on any of the above embodiments, as shown in fig. 19, the third parameter obtaining unit 1223 includes:
a position error obtaining unit 1223a, configured to determine a position error based on the position of the vehicle tail centroid and a position of a preset reference point;
a speed error obtaining unit 1223b, configured to determine a speed error based on the speed of the vehicle tail centroid and a speed of a preset reference point;
and a parameter calculation unit 1223c for determining a steering parameter of the vehicle based on the position error and the speed error.
The articulated vehicle parking control device provided by the embodiment of the application is used for executing the articulated vehicle parking control method, the implementation manner of the articulated vehicle parking control device is consistent with that of the articulated vehicle parking control method provided by the application, the same beneficial effects can be achieved, and details are not repeated here.
Based on the above embodiments, the present application further provides an articulated vehicle including the articulated vehicle parking control apparatus according to any one of the above embodiments.
Fig. 20 illustrates a physical structure diagram of an electronic device, and as shown in fig. 20, the electronic device may include: a processor (processor)2010, a communication Interface (Communications Interface)2020, a memory (memory)2030 and a communication bus 2040, wherein the processor 2010, the communication Interface 2020 and the memory 2030 communicate with each other via the communication bus 2040. Processor 2010 may invoke logic instructions in memory 2030 to perform a method of articulated vehicle parking control, the method comprising: determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle; determining a steering parameter of the vehicle based on the vehicle head centroid parameter and the articulation angular velocity of the vehicle; and controlling the vehicle to park to a parking spot based on the steering parameter of the vehicle.
Furthermore, the logic instructions in the memory 2030 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as a separate product. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The processor 2010 in the electronic device provided in the embodiment of the present application may call the logic instruction in the memory 2030 to implement the above-described articulated vehicle parking control method, where an implementation manner of the method is consistent with that of the method for controlling articulated vehicle parking provided in the present application, and the same beneficial effects may be achieved, and details are not repeated here.
In another aspect, the present application further provides a computer program product, which is described below, and the computer program product described below and the articulated vehicle parking control method described above are referred to in correspondence with each other.
The computer program product comprises a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the articulated vehicle parking control method provided by the above methods, the method comprising: determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle; determining a steering parameter of the vehicle based on the vehicle head centroid parameter and the articulation angular velocity of the vehicle; and controlling the vehicle to park to a parking point based on the steering parameters of the vehicle.
When the computer program product provided by the embodiment of the present application is executed, the above-mentioned articulated vehicle parking control method is implemented, and an implementation manner of the method is consistent with that of the articulated vehicle parking control method provided by the present application, and the same beneficial effects can be achieved, and details are not described here.
In still another aspect, the present application further provides a non-transitory computer-readable storage medium, which is described below, and the non-transitory computer-readable storage medium described below and the articulated vehicle parking control method described above are correspondingly referred to each other.
The present application also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the articulated vehicle parking control method provided above, the method comprising: determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle; determining a steering parameter of the vehicle based on the vehicle head centroid parameter and the articulation angular velocity of the vehicle; and controlling the vehicle to park to a parking point based on the steering parameters of the vehicle.
When a computer program stored on a non-transitory computer-readable storage medium provided in the embodiment of the present application is executed, the method for controlling articulated vehicle parking is implemented, and an implementation manner of the method is consistent with that of the method for controlling articulated vehicle parking provided in the present application, and the same beneficial effects can be achieved, and details are not repeated here.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (13)
1. An articulated vehicle parking control method, comprising:
determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle;
determining a steering parameter of the vehicle based on the vehicle head centroid parameter and the articulation angular velocity of the vehicle;
controlling the vehicle to park to a parking spot based on the steering parameter of the vehicle;
the determining a steering parameter of the vehicle based on the vehicle head centroid parameter and the articulation angular velocity of the vehicle comprises:
determining a vehicle head hinge point parameter based on a vehicle head mass center parameter;
determining a mass center parameter of the tail of the vehicle based on the vehicle head hinge point parameter and the vehicle hinge angular velocity;
determining a steering parameter of the vehicle based on the centroid parameter of the vehicle tail.
2. The articulated vehicle parking control method according to claim 1, wherein determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively provided at both ends of the articulation axis of the vehicle comprises:
collecting a first hinge angle set and a second hinge angle set through angle sensors respectively arranged at two ends of a hinge shaft of a vehicle;
determining a first angular velocity based on the first set of articulation angles and a second angular velocity based on the second set of articulation angles;
determining an articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.
3. The articulated vehicle parking control method of claim 2, wherein the acquiring a first articulation angle set and a second articulation angle set by angle sensors respectively disposed at both ends of an articulation axis of the vehicle comprises:
acquiring a first hinge angle through a hinge angle sensor arranged at one end of a hinge shaft at intervals of a first preset time interval, and putting the first hinge angle into the first hinge angle set;
and acquiring a second hinge angle through a hinge angle sensor arranged at the other end of the hinge shaft at a second preset time interval, and putting the second hinge angle into the second hinge angle set.
4. The articulated vehicle parking control method of claim 3, wherein determining the first angular velocity based on the first set of articulation angles and the second angular velocity based on the second set of articulation angles comprises:
determining first initial angular velocities based on the difference value of every two adjacent angle values in the first hinge angle set and the first preset time interval, and filtering each first initial angular velocity to obtain the first angular velocity;
and determining second initial angular velocities based on the difference value of every two adjacent angle values in the second hinge angle set and the second preset time interval, and filtering each second initial angular velocity to obtain the second angular velocity.
5. The articulated vehicle parking control method of claim 1, wherein the vehicle head centroid parameter comprises: the position of locomotive barycenter, the speed of locomotive barycenter, the course angle of locomotive barycenter and the course angular velocity of locomotive barycenter, locomotive pin joint parameter includes: the position of a vehicle head hinge point, the speed of the vehicle head hinge point, the course angle of the vehicle head hinge point and the course angular speed of the vehicle head hinge point;
based on the locomotive barycenter parameter, confirm the locomotive pin joint parameter, include:
converting the position of the center of mass of the vehicle head and the speed of the center of mass of the vehicle head in a lever arm compensation mode to obtain the position of a vehicle head hinge point and the speed of the vehicle head hinge point;
and taking the course angle of the headstock mass center as the course angle of the headstock hinge point, and taking the course angular speed of the headstock mass center as the course angular speed of the headstock hinge point.
6. The articulated vehicle parking control method of claim 5 wherein the parameters of the center of mass of the vehicle rear include: the position of the mass center of the tail of the vehicle, the speed of the mass center of the tail of the vehicle, the course angle of the mass center of the tail of the vehicle and the course angular speed of the mass center of the tail of the vehicle;
based on locomotive pin joint parameter to and the articulated angular velocity of vehicle, acquire the barycenter parameter of the rear of a vehicle, include:
acquiring a course angle of a vehicle tail hinging point and a course angular speed of the vehicle tail hinging point based on the course angle of the vehicle head hinging point, the course angular speed of the vehicle head hinging point and the hinging angular speed of the vehicle;
taking the position of the car head hinge point as the position of the car tail hinge point, and taking the speed of the car head hinge point as the speed of the car tail hinge point;
and converting the position of the tail hinging point and the speed of the tail hinging point by adopting a lever arm compensation mode to obtain the position of the tail mass center and the speed of the tail mass center, taking the course angle of the tail hinging point as the course angle of the tail mass center, and taking the course angular speed of the tail hinging point as the course angular speed of the tail mass center.
7. The articulated vehicle parking control method of claim 6, wherein the obtaining of the heading angle of the car tail articulation point and the heading angular velocity of the car tail articulation point based on the heading angle of the car head articulation point, the heading angular velocity of the car head articulation point and the articulation angular velocity of the vehicle comprises:
taking the sum of the course angle of the head hinge point and the hinge angular speed of the vehicle as the course angle of the tail hinge point;
and taking the sum of the course angular speed of the vehicle head hinge point and the hinge angular speed of the vehicle as the course angular speed of the vehicle tail hinge point.
8. The articulated vehicle parking control method according to claim 1, wherein the obtaining a steering parameter of the vehicle based on a centroid parameter of the vehicle tail comprises:
determining a position error based on the position of the tailstock center of mass and the position of a preset reference point;
determining a speed error based on the speed of the tailstock center of mass and the speed of a preset reference point;
determining a steering parameter of the vehicle based on the position error and the speed error.
9. An articulated vehicle parking control apparatus, comprising:
the angular velocity acquisition unit is used for determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle;
the steering parameter acquisition unit is used for determining the steering parameters of the vehicle based on the vehicle head mass center parameter and the articulation angular velocity of the vehicle;
the parking unit is used for controlling the vehicle to park to a parking point based on the steering parameter of the vehicle;
the steering parameter acquisition unit includes:
the first parameter acquisition unit is used for determining a head hinge point parameter based on the head centroid parameter;
the second parameter acquisition unit is used for determining a mass center parameter of the tail of the vehicle based on the vehicle head hinge point parameter and the vehicle hinge angular velocity;
and the third parameter acquisition unit is used for determining the steering parameters of the vehicle based on the barycenter parameters of the tail of the vehicle.
10. The articulated vehicle parking control apparatus of claim 9, wherein the angular velocity obtaining unit includes:
the first acquisition unit is used for acquiring a first hinge angle set and a second hinge angle set through angle sensors respectively arranged at two ends of a hinge shaft of the vehicle;
a second acquisition unit configured to determine a first angular velocity based on the first set of articulation angles and a second angular velocity based on the second set of articulation angles;
a third obtaining unit configured to determine an articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.
11. An articulated vehicle comprising an articulated vehicle parking control as claimed in any one of claims 9 to 10.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the steps of the articulated vehicle parking control method according to any of claims 1 to 8.
13. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the articulated vehicle parking control method according to any one of claims 1 to 8.
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| CN110239636A (en) * | 2019-06-25 | 2019-09-17 | 天津大学 | A kind of the coordinate modification system and modification method of unmanned equipment |
| CN110962846A (en) * | 2019-12-23 | 2020-04-07 | 潍柴动力股份有限公司 | Vehicle steering anti-collision method and device |
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