CN113320528A - Vehicle control method, vehicle, and readable storage medium - Google Patents
Vehicle control method, vehicle, and readable storage medium Download PDFInfo
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- CN113320528A CN113320528A CN202110707023.6A CN202110707023A CN113320528A CN 113320528 A CN113320528 A CN 113320528A CN 202110707023 A CN202110707023 A CN 202110707023A CN 113320528 A CN113320528 A CN 113320528A
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a vehicle control method, a vehicle and a readable storage medium. The vehicle control method comprises the following steps: acquiring a driving deviation parameter of a vehicle in the driving process of the vehicle; controlling the running speed of the vehicle according to the running deviation parameter of the vehicle, and adjusting the running direction of the vehicle; the driving offset parameter comprises an angle offset and/or a position offset. And controlling the running speed of the vehicle according to the numerical value of the running deviation parameter of the vehicle, and adjusting the running direction of the vehicle at the current running speed of the vehicle. Under the condition that the vehicle has the risk of deviating from the preset running track, the vehicle is controlled to adjust the running direction under the condition of speed change, so that the running stability of the vehicle is improved, and the vehicle is more difficult to deviate from the preset running track.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle control method, a vehicle and a readable storage medium.
Background
With the rise of industrial automation and level of intelligence, the automatic guided vehicle is an important intelligent transportation vehicle. In the navigation process of the automatic guided vehicle, the vehicle is easy to get out of the preset running track.
Disclosure of Invention
The present invention is directed to solving one of the technical problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a vehicle control method.
A second aspect of the invention proposes a vehicle.
A third aspect of the invention proposes a readable storage medium.
In view of this, a vehicle control method according to a first aspect of the invention includes: acquiring a driving deviation parameter of a vehicle in the driving process of the vehicle; controlling the running speed of the vehicle according to the running deviation parameter of the vehicle, and adjusting the running direction of the vehicle; the driving offset parameter comprises an angle offset and/or a position offset.
The vehicle control method provided by the invention is used for controlling the automatic guided vehicle. The drive form of the automatic guided vehicle can be a Mecanum wheel. The automated guided vehicle of the mecanum wheel drive system is capable of moving along any angle.
And acquiring a running deviation parameter of the running of the vehicle in the running process of the vehicle, wherein the running deviation parameter of the vehicle can reflect whether the vehicle has the risk of deviating from the preset running track. If the travel deviation parameter of the vehicle is too large, it is determined that the vehicle may deviate from the predetermined travel trajectory while continuing to travel. And controlling the running speed of the vehicle according to the numerical value of the running deviation parameter of the vehicle, and adjusting the running direction of the vehicle at the current running speed of the vehicle. Under the condition that the vehicle has the risk of deviating from the preset running track, the vehicle is controlled to adjust the running direction under the condition of speed change, so that the running stability of the vehicle is improved, and the vehicle is more difficult to deviate from the preset running track.
It can be understood that the vehicle speed is relatively fast in the normal driving state of the vehicle, and the driving direction is directly adjusted during the driving process, and if the adjustment is excessive or insufficient, the vehicle may be directly deviated from the preset driving track. And the deviation of the vehicle from direct parking is detected for adjustment, which affects the driving efficiency of the vehicle. Since the automatic guided vehicle is generally used in the field of logistics sorting and the like, if the traveling efficiency of the vehicle is reduced, the whole sorting system may be stagnated.
The invention controls the vehicle to adjust the running speed of the vehicle under different running deviation parameters and adjusts the form and direction of the vehicle under different speeds. Therefore, the problem that the vehicle is separated from the preset running track is avoided under the condition that the running efficiency of the vehicle is ensured.
It is worth mentioning that the driving offset parameter comprises an angular offset and/or a positional offset. The angle offset is an included angle between an actual running track and a preset running track of the vehicle. The position offset amount is a distance value between an actual travel track and a predetermined travel track of the vehicle. The deviation amplitude of vehicle running is detected according to one or combination of the angle offset and the position offset, and the detection accuracy can be improved.
In addition, according to the vehicle control method in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in one possible design, the step of controlling the driving speed of the vehicle according to the driving deviation parameter of the vehicle specifically includes: and controlling the vehicle to run at the set speed value according to the numerical relation between the running deviation parameter and the set parameter value.
In the design, a set parameter value is stored in a controller of the vehicle, the set driving speed value of the vehicle is determined by comparing the driving deviation parameter acquired in real time with the set parameter value, and the vehicle is controlled to drive according to the set speed value. The adjustment of the vehicle running speed according to the running deviation parameter is realized.
In some embodiments, a corresponding relationship is set between the set speed value and the set parameter value, the corresponding relationship is prestored in a control system of the vehicle, and in the process of controlling the vehicle to run, after the offset parameter is compared with the set parameter value, the corresponding set speed value is searched, and the vehicle is controlled to run according to the set speed value. By determining the set speed value of the vehicle in the above manner, the data processing amount of the control system can be reduced, and the control flow is simplified.
In other embodiments, the set speed value is calculated by a set function. And after detecting that the driving deviation parameter is greater than the set parameter value, calculating a difference value between the driving deviation parameter and the set parameter value, and calculating the set speed value according to the difference value and the set function. The set speed value of the vehicle is obtained through calculation in the above mode, so that the accuracy of the set speed value can be improved, and the condition that the vehicle deviates from the preset running track is further avoided.
In one possible design, the step of controlling the vehicle to run at the set speed value according to the numerical relationship between the running deviation parameter and the set parameter value specifically includes: determining the absolute value of the driving deviation parameter; adjusting the running speed of the vehicle to a first speed value to run based on the absolute value of the parameter being greater than the first set parameter value; adjusting the running speed of the vehicle to a second speed value for running on the basis that the absolute value of the parameter is less than or equal to a first set parameter value and greater than a second set parameter value; controlling the vehicle to keep the current speed value to run based on the parameter absolute value being less than or equal to the second set parameter value; wherein the first setting parameter value is larger than the second setting parameter value.
In this design, the absolute value of the travel deviation parameter is calculated to obtain the absolute value of the parameter. And when the absolute value of the parameter is detected to be larger than the first set parameter value, the current running track of the vehicle is judged to have larger deviation with the preset running track, and the vehicle is controlled to run at a first slower speed. And when the absolute value of the parameter is detected to be less than or equal to the first set parameter value and greater than the second set parameter value, judging that the current running track of the vehicle has deviation with the preset running track, and controlling the vehicle to decelerate and run at a slow speed. And when the absolute value of the parameter is detected to be less than or equal to a second set parameter value, judging that the deviation of the current running track of the vehicle and the preset track is small or no deviation exists, and controlling the vehicle to keep the current speed value for running. The driving deviation parameter is graded through the first set parameter value and the second set parameter value, so that the driving deviation amount of the vehicle and the grade which the vehicle wants are graded, the driving speed of the vehicle is controlled to be slower when the deviation degree of the vehicle is larger, the vehicle has enough time to adjust the driving direction under the condition of large deviation, and the condition that the vehicle deviates the preset driving track is avoided.
It will be appreciated that the driving offset parameter comprises an angular offset and/or a displacement offset. And setting corresponding first set parameter values and second set parameter values for the angular offset and the displacement offset respectively.
When the running offset parameter includes the angle offset amount, the first setting parameter value is set to a1, and the second setting parameter value is set to a 2. When the running offset parameter includes the displacement offset amount, the first setting parameter value is set to X1, and the second setting parameter value is set to X2.
In one possible design, the first speed value is less than the second speed value, the second speed value being less than the current speed value; wherein the first speed value is 0.
In this design, when the absolute value of the parameter of the travel deviation parameter of the vehicle is large, the vehicle is controlled to stop to adjust the travel direction, that is, the first speed value is 0. And controlling the vehicle to run at a reduced speed, namely, at a second speed value smaller than the current speed value, in the case that the absolute value of the parameter of the vehicle running deviation parameter is at a medium level. And controlling the vehicle to keep the current running speed when the absolute value of the parameter of the running deviation parameter of the vehicle is smaller.
In some embodiments, the driving offset parameters are an angular offset and a displacement offset.
And when any one of the angle offset and the displacement offset is detected to be larger than a first set parameter value, controlling the vehicle to stop running.
And when detecting that one of the angle offset and the displacement offset is smaller than a first set parameter value and larger than a second set parameter value, and the other one is smaller than the second set parameter value, controlling the vehicle to decelerate to a second set speed value for running. And when the detected angle offset and displacement offset are both smaller than the corresponding second set parameter value, controlling the vehicle to keep running at the current speed.
In these embodiments, when it is detected that any one of the travel deviation parameters meets the criteria for deceleration or stopping, the vehicle is controlled to decelerate or stop. The accuracy of control can be further improved by detecting the two parameters simultaneously, the influence of the collected parameters on the final control result is avoided, the vehicle can run more stably, and the vehicle is not easy to break away from the preset running track.
In a possible design, the vehicle includes an image capturing device, and the step of obtaining a driving deviation parameter of the vehicle specifically includes: acquiring a deviation angle value and a deviation distance value of a mark code on a driving path of a vehicle through an image acquisition device; and determining a driving deviation parameter according to the deviation angle value and the deviation distance value.
In the design, an image acquisition device is arranged on the vehicle and can acquire the mark codes on the driving path of the vehicle, wherein the mark codes are selected as two-dimensional codes. Whether the vehicle has the problem of running in an offset mode can be determined by collecting the mark codes on the running path. Namely, the driving offset parameter of the vehicle is determined according to the offset angle value and the offset distance value of the collected mark code.
It is understood that the mark code is a two-dimensional code set in advance on the travel track of the vehicle. The vehicle travels along a predetermined travel track, and the image of the two-dimensional code can be read. Because the two-dimensional code is preset on the driving track, the collected offset angle value of the mark code is the angle offset of the vehicle, and the collected offset distance value of the mark code is the position offset of the vehicle.
The driving deviation parameters collected by the invention comprise the angle deviation and the position deviation, so that the angle deviation and the position deviation can be comprehensively compared in the process of judging whether the vehicle deviates from the preset driving track, the condition that the automatic direction of the vehicle is not accurately adjusted due to the construction error of the mark code is avoided, and the influence of the construction error on the running stability of the vehicle is reduced.
In one possible design, the step of adjusting the driving direction of the vehicle specifically includes: determining the reading state of the image acquisition device on the mark code; determining a transverse movement speed dividing value of the vehicle running according to the reading state and the running deviation parameter; and controlling the vehicle to run according to the transverse displacement speed-dividing value so as to adjust the running direction of the vehicle.
In this design, the drive system of the vehicle is selected as a Mecanum wheel drive system, and the driving direction of the vehicle can be adjusted by adding a lateral component velocity value. And setting the driving and transverse moving speed-dividing values of the vehicle according to the reading state of the mark code by the image acquisition device and the detected form deviation parameter of the vehicle. And the set transverse shift speed-dividing value is configured in the speed value of the vehicle in the running process, so that the running direction of the vehicle is adjusted.
In one possible design, the step of determining the lateral shift speed-dividing value of the vehicle running according to the reading state and the running deviation parameter specifically includes: based on reading a mark code by an image acquisition device, determining a first traverse speed division value according to a driving offset parameter; determining a second traverse speed-dividing value according to the driving offset parameter based on the condition that the image acquisition device does not read the mark code; wherein the first traverse speed-dividing value is greater than the second traverse speed-dividing value.
In the design, when the image acquisition device can read the mark codes, the vehicle is in an un-code-shedding state, and the vehicle is in the un-code-shedding state, the vehicle can determine the driving offset parameters of the vehicle according to the read mark codes in real time, and the vehicle is controlled to adjust the driving direction of the vehicle in a larger range of the first transverse moving speed division value. When the image acquisition device does not read the mark codes, the vehicle is in a code-off state, and the vehicle cannot read the mark codes in real time when the vehicle is in the code-off state, so that the driving offset parameters of the vehicle cannot be determined in real time, and at the moment, the vehicle is controlled to adjust the driving direction of the vehicle within a smaller range of the second transverse moving speed division value until the vehicle is in the code-off state. The driving direction of the vehicle is adjusted in a small amplitude mode by controlling the vehicle in the code-off state, so that the situation that the vehicle is directly separated from the track with the preset form due to the fact that the direction of the vehicle is excessively adjusted in the code-off state can be avoided.
In some embodiments, the first and second lateral shift speed-dividing values are fixed values.
In these embodiments, when it is detected that the absolute value of the parameter of the travel deviation parameter reaches the third parameter set value, the travel direction of the vehicle is adjusted by selecting the first lateral shift speed division value and the second lateral shift speed division value according to whether the vehicle is in the off-code state.
When the running offset parameter includes the angular offset amount, the first setting parameter value is set to a1, the second setting parameter value is set to a2, and the third setting parameter value is set to A3. Wherein 0 < A3 < A2 < A1 < the maximum offset angle of the mark code. The maximum offset angle of the mark code is the maximum offset angle at which the image acquisition device can acquire the mark code.
When the running offset parameter includes the displacement offset amount, the first setting parameter value is set to X1, the second setting parameter value is set to X2, and the third setting parameter value is set to X3. Wherein 0 < X3 < X2 < X1 < the maximum offset distance of the marker code. The maximum offset distance of the mark code is the maximum offset distance that the image acquisition device can acquire the mark code.
In still other embodiments, the first lateral shift speed-dividing value and the second lateral shift speed-dividing value are variation values calculated based on the travel deviation parameter.
In these embodiments, if the absolute value of the parameter of the travel deviation parameter is detected to be large, the value of the first lateral shift speed-dividing value or the second lateral shift speed-dividing value is set to be large, and if the absolute value of the parameter of the travel deviation parameter is detected to be small, the value of the first lateral shift speed-dividing value or the second lateral shift speed-dividing value is set to be small. The transverse displacement speed-dividing value and the absolute value of the running deviation parameter are set to be in positive correlation, so that the adjustment efficiency of the running direction of the vehicle can be improved on the premise that the vehicle cannot be excessively adjusted.
In one possible design, after the step of controlling the vehicle to travel according to the lateral shift speed-dividing value to adjust the traveling direction of the vehicle, the method further includes: acquiring a first coordinate value before the adjustment of the driving direction of the vehicle and acquiring a second coordinate value after the adjustment of the driving direction of the vehicle; and determining an adjustment value of the driving deviation parameter according to the first coordinate value and the second coordinate value.
In this design, a first coordinate value of the vehicle is recorded before the adjustment of the traveling direction of the vehicle, a second coordinate value of the vehicle after the adjustment of the traveling direction of the vehicle is acquired, and an adjustment value for the travel offset amount is determined based on the first coordinate value and the second coordinate value. And calculating a current driving offset value through the adjustment value and the driving offset parameter, wherein the current driving offset value is used for assisting the subsequent adjustment control of the driving direction of the vehicle. Further improving the accuracy of automatically adjusting the driving direction of the vehicle.
According to a second aspect of the present invention, there is provided a vehicle comprising: a power plant; an image acquisition device; a memory for storing programs or instructions and a processor; the processor is for executing a program or instructions which, when executed by the processor, implement the steps of the vehicle control method as in any one of the first aspect. Therefore, the method has all the advantages of the vehicle control method, and redundant description is not repeated herein.
The power device is used for providing power for the running of the vehicle, and the image acquisition device can acquire the mark codes on the running track of the vehicle. The power device and the image acquisition device are connected with the processor, the image acquisition device can transmit the acquired mark codes to the processor for processing, and the processor controls the power device, so that the driving direction of the vehicle can be adjusted.
According to a third aspect of the present invention, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the vehicle control method as in any one of the possible designs described above. Therefore, the method has all the beneficial technical effects of any one of the possible vehicle control methods, and will not be described in detail herein.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows one of schematic flowcharts of a vehicle control method in a first embodiment of the invention;
fig. 2 shows a second schematic flow chart of a vehicle control method in the first embodiment of the invention;
fig. 3 shows a third schematic flowchart of a vehicle control method in the first embodiment of the invention;
FIG. 4 shows a fourth schematic flowchart of a vehicle control method in the first embodiment of the invention;
FIG. 5 shows a fifth schematic flowchart of a vehicle control method in the first embodiment of the invention;
FIG. 6 shows a sixth schematic flowchart of a vehicle control method in the first embodiment of the invention;
fig. 7 shows a seventh schematic flowchart of a vehicle control method in the first embodiment of the invention;
fig. 8 shows a schematic block diagram of a vehicle in a second embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A vehicle control method, a vehicle, and a readable storage medium according to some embodiments of the invention are described below with reference to fig. 1 to 8.
The first embodiment is as follows:
as shown in fig. 1, a first embodiment of the present invention provides a vehicle control method including:
102, acquiring a running deviation parameter of a vehicle in the running process of the vehicle;
and 104, controlling the running speed of the vehicle according to the running deviation parameter of the vehicle, and adjusting the running direction of the vehicle.
The driving offset parameter comprises an angle offset and/or a position offset.
The vehicle control method provided by the embodiment is used for controlling the automatic guided vehicle. The drive form of the automatic guided vehicle can be a Mecanum wheel. The automated guided vehicle of the mecanum wheel drive system is capable of moving along any angle.
And acquiring a running deviation parameter of the running of the vehicle in the running process of the vehicle, wherein the running deviation parameter of the vehicle can reflect whether the vehicle has the risk of deviating from the preset running track. If the travel deviation parameter of the vehicle is too large, it is determined that the vehicle may deviate from the predetermined travel trajectory while continuing to travel. And controlling the running speed of the vehicle according to the numerical value of the running deviation parameter of the vehicle, and adjusting the running direction of the vehicle at the current running speed of the vehicle. Under the condition that the vehicle has the risk of deviating from the preset running track, the vehicle is controlled to adjust the running direction under the condition of speed change, so that the running stability of the vehicle is improved, and the vehicle is more difficult to deviate from the preset running track.
It can be understood that the vehicle speed is relatively fast in the normal driving state of the vehicle, and the driving direction is directly adjusted during the driving process, and if the adjustment is excessive or insufficient, the vehicle may be directly deviated from the preset driving track. And the deviation of the vehicle from direct parking is detected for adjustment, which affects the driving efficiency of the vehicle. Since the automatic guided vehicle is generally used in the field of logistics sorting and the like, if the traveling efficiency of the vehicle is reduced, the whole sorting system may be stagnated.
The invention controls the vehicle to adjust the running speed of the vehicle under different running deviation parameters and adjusts the form and direction of the vehicle under different speeds. Therefore, the problem that the vehicle is separated from the preset running track is avoided under the condition that the running efficiency of the vehicle is ensured.
It is worth mentioning that the driving offset parameter comprises an angular offset and/or a positional offset. The angle offset is an included angle between an actual running track and a preset running track of the vehicle. The position offset amount is a distance value between an actual travel track and a predetermined travel track of the vehicle. The deviation amplitude of vehicle running is detected according to one or combination of the angle offset and the position offset, and the detection accuracy can be improved.
As shown in fig. 2, in any of the above embodiments, the step of controlling the running speed of the vehicle according to the running offset parameter of the vehicle specifically includes:
and step 204, controlling the vehicle to run at the set speed value according to the numerical relation.
In this embodiment, a set parameter value is stored in a controller of the vehicle, a set driving speed value of the vehicle is determined by numerically comparing the driving offset parameter acquired in real time with the set parameter value, and the vehicle is controlled to drive according to the set speed value. The adjustment of the vehicle running speed according to the running deviation parameter is realized.
In some embodiments, a corresponding relationship is set between the set speed value and the set parameter value, the corresponding relationship is prestored in a control system of the vehicle, and in the process of controlling the vehicle to run, after the offset parameter is compared with the set parameter value, the corresponding set speed value is searched, and the vehicle is controlled to run according to the set speed value. By determining the set speed value of the vehicle in the above manner, the data processing amount of the control system can be reduced, and the control flow is simplified.
In other embodiments, the set speed value is calculated by a set function. And after detecting that the driving deviation parameter is greater than the set parameter value, calculating a difference value between the driving deviation parameter and the set parameter value, and calculating the set speed value according to the difference value and the set function. The set speed value of the vehicle is obtained through calculation in the above mode, so that the accuracy of the set speed value can be improved, and the condition that the vehicle deviates from the preset running track is further avoided.
As shown in fig. 3, in any of the above embodiments, the step of controlling the vehicle to run at the set speed value according to the numerical relationship between the running offset parameter and the set parameter value specifically includes:
and step 312, adjusting the running speed of the vehicle to a second speed value for running, and adjusting the running direction of the vehicle.
Wherein the first setting parameter value is larger than the second setting parameter value.
In this embodiment, the absolute value of the travel deviation parameter is calculated to obtain the absolute value of the parameter. And when the absolute value of the parameter is detected to be larger than the first set parameter value, the current running track of the vehicle is judged to have larger deviation with the preset running track, and the vehicle is controlled to run at a first slower speed. And when the absolute value of the parameter is detected to be less than or equal to the first set parameter value and greater than the second set parameter value, judging that the current running track of the vehicle has deviation with the preset running track, and controlling the vehicle to decelerate and run at a slow speed. And when the absolute value of the parameter is detected to be less than or equal to a second set parameter value, judging that the deviation of the current running track of the vehicle and the preset track is small or no deviation exists, and controlling the vehicle to keep the current speed value for running. The driving deviation parameter is graded through the first set parameter value and the second set parameter value, so that the driving deviation amount of the vehicle and the grade which the vehicle wants are graded, the driving speed of the vehicle is controlled to be slower when the deviation degree of the vehicle is larger, the vehicle has enough time to adjust the driving direction under the condition of large deviation, and the condition that the vehicle deviates the preset driving track is avoided.
It will be appreciated that the driving offset parameter comprises an angular offset and/or a displacement offset. And setting corresponding first set parameter values and second set parameter values for the angular offset and the displacement offset respectively.
When the running offset parameter includes the angle offset amount, the first setting parameter value is set to a1, and the second setting parameter value is set to a 2. When the running offset parameter includes the displacement offset amount, the first setting parameter value is set to X1, and the second setting parameter value is set to X2.
In any of the above embodiments, the first speed value is less than the second speed value, the second speed value being less than the current speed value; wherein the first speed value is 0.
In this embodiment, in the case where the absolute value of the parameter of the running deviation parameter of the vehicle is large, the vehicle is controlled to stop to adjust the running direction, that is, the first speed value is 0. And controlling the vehicle to run at a reduced speed, namely, at a second speed value smaller than the current speed value, in the case that the absolute value of the parameter of the vehicle running deviation parameter is at a medium level. And controlling the vehicle to keep the current running speed when the absolute value of the parameter of the running deviation parameter of the vehicle is smaller.
In some embodiments, the driving offset parameters are an angular offset and a displacement offset. And when any one of the angle offset and the displacement offset is detected to be larger than a first set parameter value, controlling the vehicle to stop running. When detected. And when detecting that one of the angle offset and the displacement offset is smaller than a first set parameter value and larger than a second set parameter value, and the other one is smaller than the second set parameter value, controlling the vehicle to decelerate to a second set speed value for running. And when the detected angle offset and displacement offset are both smaller than the corresponding second set parameter value, controlling the vehicle to keep running at the current speed.
In these embodiments, when it is detected that any one of the travel deviation parameters meets the criteria for deceleration or stopping, the vehicle is controlled to decelerate or stop. The accuracy of control can be further improved by detecting the two parameters simultaneously, the influence of the collected parameters on the final control result is avoided, the vehicle can run more stably, and the vehicle is not easy to break away from the preset running track.
As shown in fig. 4, in any of the above embodiments, the vehicle includes an image capturing device, and the step of acquiring the driving offset parameter of the vehicle specifically includes:
and step 404, determining a driving deviation parameter according to the deviation angle value and the deviation distance value.
In the embodiment, the vehicle is provided with an image acquisition device, and the image acquisition device can acquire the mark codes on the driving path of the vehicle, wherein the mark codes are selected as two-dimensional codes. Whether the vehicle has the problem of running in an offset mode can be determined by collecting the mark codes on the running path. Namely, the driving offset parameter of the vehicle is determined according to the offset angle value and the offset distance value of the collected mark code.
It is understood that the mark code is a two-dimensional code set in advance on the travel track of the vehicle. The vehicle travels along a predetermined travel track, and the image of the two-dimensional code can be read. Because the two-dimensional code is preset on the driving track, the collected offset angle value of the mark code is the angle offset of the vehicle, and the collected offset distance value of the mark code is the position offset of the vehicle.
The driving deviation parameters collected by the invention comprise the angle deviation and the position deviation, so that the angle deviation and the position deviation can be comprehensively compared in the process of judging whether the vehicle deviates from the preset driving track, the condition that the automatic direction of the vehicle is not accurately adjusted due to the construction error of the mark code is avoided, and the influence of the construction error on the running stability of the vehicle is reduced.
As shown in fig. 5, in any of the above embodiments, the step of adjusting the driving direction of the vehicle specifically includes:
and step 506, controlling the vehicle to run according to the transverse shift speed-dividing value so as to adjust the running direction of the vehicle.
In this embodiment, the drive system of the vehicle is selected as a mecanum wheel drive system, and the direction of travel of the vehicle can be adjusted by adding the lateral component velocity value. And setting the driving and transverse moving speed-dividing values of the vehicle according to the reading state of the mark code by the image acquisition device and the detected form deviation parameter of the vehicle. And the set transverse shift speed-dividing value is configured in the speed value of the vehicle in the running process, so that the running direction of the vehicle is adjusted.
As shown in fig. 6, in any of the above embodiments, the step of determining the reading state of the image capturing device for the mark code, and determining the lateral shift speed-dividing value of the vehicle according to the reading state and the driving offset parameter specifically includes:
at 608, a second traverse speed-sharing value is determined based on the travel offset parameter.
Wherein the first traverse speed-dividing value is greater than the second traverse speed-dividing value.
In this embodiment, when the image acquisition device can read the mark code, the vehicle is in an un-code-shedding state, and when the vehicle is in the un-code-shedding state, the vehicle can determine the driving offset parameter of the vehicle according to the read mark code in real time, and control the vehicle to adjust the driving direction of the vehicle in a larger range of the first traverse speed-dividing value. When the image acquisition device does not read the mark codes, the vehicle is in a code-off state, and the vehicle cannot read the mark codes in real time when the vehicle is in the code-off state, so that the driving offset parameters of the vehicle cannot be determined in real time, and at the moment, the vehicle is controlled to adjust the driving direction of the vehicle within a smaller range of the second transverse moving speed division value until the vehicle is in the code-off state. The driving direction of the vehicle is adjusted in a small amplitude mode by controlling the vehicle in the code-off state, so that the situation that the vehicle is directly separated from the track with the preset form due to the fact that the direction of the vehicle is excessively adjusted in the code-off state can be avoided.
In some embodiments, the first and second lateral shift speed-dividing values are fixed values.
In these embodiments, when it is detected that the absolute value of the parameter of the travel deviation parameter reaches the third parameter set value, the travel direction of the vehicle is adjusted by selecting the first lateral shift speed division value and the second lateral shift speed division value according to whether the vehicle is in the off-code state.
When the running offset parameter includes the angular offset amount, the first setting parameter value is set to a1, the second setting parameter value is set to a2, and the third setting parameter value is set to A3. Wherein 0 < A3 < A2 < A1 < the maximum offset angle of the mark code. The maximum offset angle of the mark code is the maximum offset angle at which the image acquisition device can acquire the mark code.
When the running offset parameter includes the displacement offset amount, the first setting parameter value is set to X1, the second setting parameter value is set to X2, and the third setting parameter value is set to X3. Wherein 0 < X3 < X2 < X1 < the maximum offset distance of the marker code. The maximum offset distance of the mark code is the maximum offset distance that the image acquisition device can acquire the mark code.
In still other embodiments, the first lateral shift speed-dividing value and the second lateral shift speed-dividing value are variation values calculated based on the travel deviation parameter.
In these embodiments, if the absolute value of the parameter of the travel deviation parameter is detected to be large, the value of the first lateral shift speed-dividing value or the second lateral shift speed-dividing value is set to be large, and if the absolute value of the parameter of the travel deviation parameter is detected to be small, the value of the first lateral shift speed-dividing value or the second lateral shift speed-dividing value is set to be small. The transverse displacement speed-dividing value and the absolute value of the running deviation parameter are set to be in positive correlation, so that the adjustment efficiency of the running direction of the vehicle can be improved on the premise that the vehicle cannot be excessively adjusted.
As shown in fig. 7, in any of the above embodiments, after the step of controlling the vehicle to travel according to the lateral shift speed-dividing value to adjust the traveling direction of the vehicle, the method further includes:
In this embodiment, a first coordinate value of the vehicle is recorded before the adjustment of the traveling direction of the vehicle, a second coordinate value of the vehicle after the adjustment of the traveling direction of the vehicle is acquired, and an adjustment value of the traveling offset amount is determined based on the first coordinate value and the second coordinate value. And calculating a current driving offset value through the adjustment value and the driving offset parameter, wherein the current driving offset value is used for assisting the subsequent adjustment control of the driving direction of the vehicle. Further improving the accuracy of automatically adjusting the driving direction of the vehicle.
Example two:
as shown in fig. 8, a second embodiment of the present invention provides a vehicle 800 including: a power plant 802; an image acquisition device 804; a memory 806 and a processor 808, the memory 806 being used to store programs or instructions; the processor 808 is configured to execute a program or instructions, and the program or instructions when executed by the processor 808 implement the steps of the vehicle control method according to the first embodiment. Therefore, the method has all the advantages of the vehicle control method, and redundant description is not repeated herein.
The power device 802 is used for providing power for the running of the vehicle 800, and the image acquisition device 804 can acquire the mark codes on the running track of the vehicle. The power device 802 and the image acquisition device 804 are both connected with the processor 808, the image acquisition device 804 can transmit the acquired mark code to the processor 808 for processing, and the processor 808 controls the power device 802, so that the driving direction of the vehicle 800 can be adjusted.
Example three:
a third embodiment of the present invention provides a readable storage medium having a program stored thereon, the program, when executed by a processor, implementing the vehicle control method as in any one of the above embodiments, thereby having all the advantageous technical effects of the vehicle control method as in any one of the above embodiments.
The readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It is to be understood that, in the claims, the specification and the drawings of the specification of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the terms "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for the purpose of more conveniently describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element so referred to must have the particular orientation described, be constructed in a particular orientation, and be operated, and thus the description should not be construed as limiting the present invention; the terms "connect," "mount," "secure," and the like are to be construed broadly, and for example, "connect" may refer to a fixed connection between multiple objects, a removable connection between multiple objects, or an integral connection; the multiple objects may be directly connected to each other or indirectly connected to each other through an intermediate. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the above data specifically.
In the claims, specification and drawings of the specification, the description of the term "one embodiment," "some embodiments," "specific embodiments," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the claims, specification and drawings of the present application, schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring a driving deviation parameter of a vehicle in the driving process of the vehicle;
controlling the running speed of the vehicle according to the running deviation parameter of the vehicle, and adjusting the running direction of the vehicle;
wherein the driving offset parameter comprises an angle offset and/or a position offset.
2. The vehicle control method according to claim 1, wherein the step of controlling the travel speed of the vehicle according to the travel deviation parameter of the vehicle specifically includes:
and controlling the vehicle to run at a set speed value according to the numerical relation between the running deviation parameter and the set parameter value.
3. The vehicle control method according to claim 2, wherein the step of controlling the vehicle to run at the set speed value according to the numerical relationship between the running deviation parameter and the set parameter value specifically comprises:
determining a parameter absolute value of the driving deviation parameter;
based on the fact that the absolute value of the parameter is larger than a first set parameter value, adjusting the running speed of the vehicle to a first speed value to run;
adjusting the running speed of the vehicle to a second speed value to run based on the absolute value of the parameter being less than or equal to the first set parameter value and greater than a second set parameter value;
controlling the vehicle to keep running at the current speed value based on the absolute value of the parameter being less than or equal to the second set parameter value;
wherein the first set parameter value is greater than the second set parameter value.
4. The vehicle control method according to claim 3,
the first speed value is smaller than the second speed value, and the second speed value is smaller than the current speed value;
wherein the first speed value is 0.
5. The vehicle control method according to any one of claims 1 to 4, wherein the vehicle includes an image acquisition device, and the step of acquiring the driving deviation parameter of the vehicle specifically includes:
acquiring a deviation angle value and a deviation distance value of a mark code on a driving path of the vehicle through the image acquisition device;
and determining the driving deviation parameter according to the deviation angle value and the deviation distance value.
6. The vehicle control method according to claim 5, wherein the step of adjusting the traveling direction of the vehicle specifically includes:
determining the reading state of the image acquisition device on the mark code;
determining a transverse moving speed dividing value of the vehicle according to the reading state and the driving deviation parameter;
and controlling the vehicle to run according to the transverse moving speed-dividing value so as to adjust the running direction of the vehicle.
7. The vehicle control method according to claim 6, wherein the step of determining a lateral shift speed-dividing value at which the vehicle travels based on the read state and the travel deviation parameter specifically includes:
based on the fact that the image acquisition device reads the mark code, determining a first transverse moving speed division value according to the driving deviation parameter;
determining a second traverse speed-dividing value according to the driving deviation parameter based on the condition that the image acquisition device does not read the mark code;
wherein the first traverse speed-dividing value is greater than the second traverse speed-dividing value.
8. The vehicle control method according to claim 6, characterized by, after the step of controlling the vehicle to travel according to the lateral shift speed division value to adjust the traveling direction of the vehicle, further comprising:
acquiring a first coordinate value before the adjustment of the driving direction of the vehicle and acquiring a second coordinate value after the adjustment of the driving direction of the vehicle;
and determining an adjustment value of the driving deviation parameter according to the first coordinate value and the second coordinate value.
9. A vehicle, characterized by comprising:
a power plant;
an image acquisition device;
a memory having a program or instructions stored therein;
a processor executing a program or instructions stored in the memory to implement the steps of the vehicle control method according to any one of claims 1 to 8.
10. Readable storage medium, wherein the readable storage medium has stored thereon
Stored with a program or instructions which, when executed by a processor, carry out the steps of the vehicle control method according to any one of claims 1 to 8.
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