CN113386743B - Detection and processing method for speed runaway of unmanned small special vehicle - Google Patents
Detection and processing method for speed runaway of unmanned small special vehicle Download PDFInfo
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- 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
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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
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Abstract
The invention discloses a method for detecting and processing the speed out-of-control of an unmanned small special vehicle, which calibrates vehicle speed data by adopting a double-rotating-speed sensor when the vehicle turns, accurately obtains the vehicle speed, avoids judgment errors, is provided with target values of a plurality of speed ranges, is provided with different threshold value intervals according to the target values of the different ranges, can further change the judgment condition of the vehicle speed out-of-control in real time according to the current running speed of the vehicle, finishes controlling the vehicle speed by a plurality of times of control and detection, and performs emergency braking when the vehicle is still out-of-control after the plurality of times of control.
Description
Technical Field
The invention belongs to the field of speed runaway detection systems, and relates to a speed runaway detection and processing method for an unmanned small special vehicle.
Background
With the rapid development of automatic driving, the conventional small special vehicle is continuously seeking breakthrough, most of the current mainstream conventional small special vehicle manufacturers cooperate with automatic driving research and development companies to deal with the wave of automatic driving, and a control computer is added on the basis of the conventional small special vehicle to realize automatic driving. Because the control mode of the traditional small special vehicle is more artificial control, whether the vehicle is in a speed runaway state or not is easily judged, and then corresponding control is carried out. However, additional algorithmic processing is required to implement speed runaway discrimination based on autonomous driving.
The traditional detection processing method for the speed out-of-control is to detect whether the real-time speed exceeds the set speed, if the real-time speed exceeds a certain value, the braking processing is adopted, the method has poor flexibility and accuracy, and is difficult to meet the intelligent application scene of automatic driving.
Disclosure of Invention
The invention aims to provide a method for detecting and processing the speed runaway of an unmanned small special vehicle, which can realize the speed runaway detection on the basis of realizing automatic driving modification of the unmanned small special vehicle, adds a safety strategy and solves the safety problem caused by the speed runaway of the unmanned small special vehicle under different scenes such as ascending and descending and the like.
The purpose of the invention can be realized by the following technical scheme:
a method for detecting the speed runaway of an unmanned small special vehicle comprises the following steps:
(1) the method comprises the steps that a steering driving motor, an angle sensor and a rotating speed sensor are arranged, the rotating angle value is changed into a negative value from the left side and is changed into a positive value from the right side, the rotating angle Z is obtained from the steering sensor, the rotating speed sensor is arranged in a queue and is respectively installed on left and right driving rear wheels, the installation position of the speed sensor is defined to be Pa, the Pa of the speed sensor installed on the left side is 0, and the Pa of the speed sensor installed on the right side is 1;
(2) segmenting a target vehicle speed, wherein the speed intervals are respectively divided into (0, Vm1), (Vm1, Vm2), (Vm2, Vm3), (Vmn, and infinity), and the Vmk is a segmented speed value, wherein k is 0,1,2, 3,. once.n, and the segmented speed value is a set target speed;
(3) determining a minimum threshold value Vmink of out-of-control speeds of different sections according to sections of a target speed by using overshoot values, oscillation errors and system speed errors of PID (proportion integration differentiation) at different speed grades, (k is 0,1, 2.. and n);
(4) determining a speed out-of-control maximum threshold value Vmaxk (k is 0,1,2,.., n) which represents a critical speed difference value of a collision risk with a maximum probability by combining braking and conventional collision avoidance safe distances of a vehicle at different speed grades;
(5) selecting an average value Vhk from a minimum speed out-of-control threshold Vmink and a maximum speed out-of-control threshold Vmaxk, defining a [0, Vmin ] interval as a speed safety state, defining a (Vmink, Vhk) interval as an out-of-control unsafe state, defining a [ Vhk, Vmaxk) interval as an out-of-control dangerous state, and defining a [ Vmaxk, infinity) interval as an out-of-control destruction state;
(6) obtaining real-time vehicle speed Vo through a rotating speed sensor and then according to the angleThe sensor obtains the angle value to calibrate the speed obtained during turning to obtain the speed Vr, and the calibration is based on a formula
Obtaining:
in the formula, Lz is the length of a wheel base, Ll is the length of a wheel width, the wheel base is the distance from the center of a front wheel to the center of a rear wheel, and the wheel width is the distance between the two rear wheels;
the value of tan V in the above formula is in accordance with the programming: tan v (anglePo) tan (angletm), wherein the value of anglePo complies with the programming: anglePo ≧ Z ≧ 0? (1-2 Pa): 2 Pa-1, wherein the value of angleTm corresponds to the programmed: angleTm ═ abs (z);
(7) obtaining the actual speed N times, and obtaining the speed V after filtering by adopting a filtering algorithmRAThe concrete formula is
Obtaining the set target speed N times, and obtaining the filtered target speed V by adopting a filtering algorithmOAThe concrete formula is
Then get the formula G ═ VOA-VRA| obtaining the velocity difference VDAnd then obtaining the acceleration Vj according to the time interval of two times of calculation, wherein the specific formula is
Wherein VRAqThe delta T is the average value of the speed calculated last time, and is the time difference of the speed discrimination of two times;
(8) and judging the subsection of the vehicle speed where the set speed is located according to the filtered target speed value, namely obtaining the minimum threshold value Vmin, the runaway judgment value Vhk and the maximum threshold value Vmax of the current speed runaway.
(9) When the speed difference VDIf the Vmin is less than or equal to the Vmin, the speed safety state is indicated, and the vehicle does not carry out special treatment and runs normally.
(10) When the speed difference VDGreater than Vmin and less than Vhk indicates that the entry speed is not out of control at that timeIn the safe state interval, the acceleration is judged, and when the actual speed V isRAIf the speed is greater than 0 and Vj is greater than or equal to 0, the speed keeps an overspeed state in the future, even the overspeed is increased, the speed runaway frequency SK is added with 1, and when the actual speed V isRAAnd if the speed is less than 0 and Vj is less than or equal to 0, the speed keeps reverse overspeed and even the reverse overspeed is increased in future time, and the speed runaway frequency SK is added with 1. When the speed runaway time SKt is greater than the maximum accumulated time SMC, the vehicle is judged to be in an unsafe speed runaway state.
(11) When the speed difference VDIf the vehicle speed is greater than or equal to Vhk and less than Vmax, the vehicle is judged to be in a speed runaway dangerous state at the moment.
(12) When the speed difference VDIf the speed is larger than Vmax, the vehicle is judged to be in a speed runaway destruction state.
Furthermore, in the step (1), a steering driving motor and an angle sensor are arranged on the steering front wheel, a driving motor and a rotating speed sensor are arranged on the driving rear wheel, the steering driving motor is used for controlling the steering of the front wheel, the angle sensor is used for feeding back the steering angle of the front wheel, the driving motor is used for driving the rear wheel and braking, and the rotating speed sensor is used for feeding back the rotating speed information of the rear wheel.
Further, the Vmink in the step (3) is a speed difference value that cannot be exceeded in a normal operation state of the vehicle system, where the Vmink is a constant value in a low-speed section, and is a ratio of the target speed in a high-speed section.
Further, the speed safety state in the step (5) indicates that the vehicle speed control is basically normal at the moment, the out-of-control unsafe state indicates that the vehicle speed control has an error and is likely to face a collision risk with a lower probability, the out-of-control dangerous state indicates that the vehicle speed control has a larger error and is likely to face a collision risk with a higher probability, and the out-of-control destruction state indicates that the vehicle is in a nearly completely uncontrollable state and is inevitably capable of sending a collision event.
A method for processing the speed runaway of an unmanned small special vehicle comprises the following steps:
(1) if the vehicle is in the speed out-of-control unsafe state, the system automatically controls the vehicle to brake, the braking time is Ts, the magnitude of Ts is proper for realizing the braking time when the vehicle speed is reduced to 0, the vehicle is normally controlled according to the target vehicle speed, and then the speed out-of-control monitoring is continuously carried out, and the vehicle can continuously and smoothly move under the road environment which is easy to cause the speed out-of-control unsafe state through the processing of the speed out-of-control unsafe state.
(2) If the vehicle is in a speed out-of-control dangerous state, immediately braking, adding 1 to the speed out-of-control dangerous state count of the vehicle, and then judging the state before entering the speed out-of-control dangerous state:
I) if the previous state is the speed out-of-control unsafe state, the previous speed unsafe parking time is considered to be too short, so that the vehicle speed is not reduced, and the braking time Ts in the speed out-of-control unsafe state is added with Tz to increase the parking time in the speed out-of-control unsafe state;
II) if the previous state is a normal state, the detection resolution is low, and an unsafe state of out-of-control speed is not detected, the brake duration is shortened, and the detection sensitivity is improved;
III) after Tc braking time, confirming that the vehicle is in a speed safety state, quitting a speed out-of-control dangerous state, enabling the vehicle to travel according to a target speed, and then continuously carrying out speed out-of-control monitoring;
IV) after the Tc brake duration time, confirming that the vehicle is in a vehicle speed safety state, quitting a speed out-of-control dangerous state, enabling the vehicle to travel according to a target vehicle speed, and then continuously monitoring the speed out-of-control;
v) if the triggering times of the speed out-of-control dangerous state are larger than the rated speed out-of-control dangerous count in a short time, stopping the vehicle, reporting the fault, and not automatically recovering the out-of-control state.
(3) If the vehicle is in the speed out-of-control damage state, the current vehicle is likely to send collision risks at any time, the vehicle is immediately braked and reports a fault, and meanwhile, the current out-of-control state is not automatically recovered.
The invention has the beneficial effects that: the invention adopts the double-rotation-speed sensor, so that when the vehicle turns, the two speed sensors can acquire different speed data, the data acquired by the two sensors is combined with the angle sensor to calibrate the vehicle speed data, so that the moving speed of the vehicle can be accurately acquired, and the occurrence of speed out-of-control judgment errors is avoided. The emergency brake is carried out, the detection of the out-of-control vehicle speed is more flexible and accurate, the speed control in the vehicle running process is smoother, the emergency brake condition is avoided when the speed exceeds the set speed of the traditional automatic driving vehicle, the vehicle running and speed regulation are smoother, and the intelligent application scene of automatic driving can be met.
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In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a flow chart of the detection method of the present invention;
FIG. 3 is a flow chart of the runaway determination process of the present invention.
Detailed Description
The invention is illustrated in detail by the following examples in connection with fig. 1-3:
a method for detecting the speed runaway of an unmanned small special vehicle comprises the following steps:
(1) the method comprises the steps that a steering driving motor and an angle sensor are arranged on a steering front wheel, the steering angle value is changed from left to negative, the steering angle value is changed from right to positive, the steering angle Z is obtained from the steering sensor, the driving motor and a rotating speed sensor are arranged on a driving rear wheel, the rotating speed sensors are arranged in a queue and are respectively arranged on the left and right driving rear wheels, the installation position of the speed sensor is defined to be Pa, the Pa of the speed sensor arranged on the left side is 0, and the Pa of the speed sensor arranged on the right side is 1;
(2) segmenting the target vehicle speed, wherein speed intervals are respectively divided into (0, Vm1), (Vm1, Vm2), (Vm2, Vm3), (Vmn, infinity), and Vmk, and are segmented speed values, wherein k is 0,1,2, 3,.. n, and the segmented speed values are set target speeds;
(3) determining a minimum threshold value Vmink of out-of-control speeds of different sections according to sections of a target speed by using overshoot values, oscillation errors and system speed errors of PID (proportion integration differentiation) at different speed grades, (k is 0,1, 2.. and n);
(4) determining a speed out-of-control maximum threshold value Vmaxk (k is 0,1,2,.., n) by combining braking and conventional collision avoidance safe distances of the vehicle under different speed grades, wherein the speed out-of-control maximum threshold value represents a critical speed difference value of a collision risk with a maximum probability;
(5) selecting an average value Vhk from a minimum speed out-of-control threshold Vmink and a maximum speed out-of-control threshold Vmaxk, defining a [0, Vmin ] interval as a speed safety state, defining a (Vmink, Vhk) interval as an out-of-control unsafe state, defining a [ Vhk, Vmaxk) interval as an out-of-control dangerous state, and defining a [ Vmaxk, infinity) interval as an out-of-control destruction state;
(6) obtaining real-time vehicle speed Vo through a rotating speed sensor, obtaining an angle value according to an angle sensor to carry out speed calibration obtained during turning to obtain speed Vr, wherein the calibration is based on a formula
Obtaining:
(7) in the above formula, Lz is the length of a wheel base, Ll is the length of a wheel width, the wheel base is the distance from the center of a front wheel to the center of a rear wheel, and the wheel width is the distance between the two rear wheels;
(8) the value of tan V in the above formula is in accordance with the programming: tan v (anglePo) tan (angletm), wherein the value of anglePo complies with the programming: anglePo ≧ Z ≧ 0? (1-2 Pa): 2 Pa-1, wherein the value of angleTm corresponds to the programmed: angleTm ═ abs (z);
(9) obtaining the actual speed N times, and obtaining the speed V after filtering by adopting a filtering algorithmRAThe concrete formula is
Obtaining the set target speed N times, and obtaining the filtered target speed V by adopting a filtering algorithmOAThe concrete formula is
Then get the formula G ═ VOA-VRA| obtaining the velocity difference VDAnd then obtaining the acceleration Vj according to the time interval of two times of calculation, wherein the specific formula is
Wherein VRAqThe average value of the speed calculated last time is delta T, and the time difference of the speed discrimination of two times is delta T;
(10) and judging the subsection of the vehicle speed where the set speed is located according to the filtered target speed value, namely obtaining the minimum threshold value Vmin, the runaway judgment value Vhk and the maximum threshold value Vmax of the current speed runaway.
(11) When the speed difference VDIf the Vmin is less than or equal to the Vmin, the speed safety state is indicated, and the vehicle does not carry out special treatment and runs normally.
(12) When the speed difference VDIf the actual speed V is larger than Vmin and smaller than Vhk, the situation that the speed is out of control and in an unsafe state interval is indicated, acceleration judgment is carried out, and if the actual speed V is larger than Vmin and smaller than Vhk, the situation that the speed is out of control and in an unsafe state interval is indicated, the actual speed V is judgedRAIf the speed is greater than 0 and Vj is greater than or equal to 0, the speed keeps an overspeed state in the future, even the overspeed is increased, the speed runaway frequency SK is added with 1, and when the actual speed V isRAAnd if the speed is less than 0 and Vj is less than or equal to 0, the speed keeps reverse overspeed and even the reverse overspeed is increased in future time, and the speed runaway frequency SK is added with 1. When the speed runaway time SKt is greater than the maximum accumulated time SMC, the vehicle is judged to be in an unsafe speed runaway state.
(13) When the speed difference VDIf the vehicle speed is greater than or equal to Vhk and less than Vmax, the vehicle is judged to be in a speed runaway dangerous state at the moment.
(14) When the speed difference VDIf the speed is larger than Vmax, the vehicle is judged to be in a speed runaway destruction state.
The steering driving motor in the step (1) is used for controlling the steering of the front wheel, the angle sensor is used for feeding back the steering angle of the front wheel, the driving motor is used for driving the rear wheel and braking, and the rotating speed sensor is used for feeding back the rotating speed information of the rear wheel.
And (4) Vmink in the step (3) is a speed difference value which cannot be exceeded in a normal running state of the vehicle system, wherein Vmink is segmented into fixed values at a low speed, and is a ratio of target speeds in a high-speed segmentation interval.
The speed safety state in the step (5) indicates that the vehicle speed control is basically normal at the moment, the out-of-control unsafe state indicates that the vehicle speed control has an error at the moment and may face a collision risk with a lower probability, the out-of-control dangerous state indicates that the vehicle speed control has a larger error and faces a collision risk with a larger probability, and the out-of-control destruction state indicates that the vehicle is nearly in a completely uncontrollable state and inevitably sends a collision event.
A method for processing the speed runaway of an unmanned small special vehicle comprises the following steps:
(1) if the vehicle is in the speed out-of-control unsafe state, the system automatically controls the vehicle to brake, the braking time is Ts, the magnitude of Ts is proper for realizing the braking time when the vehicle speed is reduced to 0, the vehicle is normally controlled according to the target vehicle speed, and then the speed out-of-control monitoring is continuously carried out, and the vehicle can continuously and smoothly move under the road environment which is easy to cause the speed out-of-control unsafe state through the processing of the speed out-of-control unsafe state.
(2) If the vehicle is in a speed out-of-control dangerous state, immediately braking, adding 1 to the speed out-of-control dangerous state count of the vehicle, and then judging the state before entering the speed out-of-control dangerous state:
I) if the previous state is the speed out-of-control unsafe state, the previous speed unsafe parking time is considered to be too short, so that the vehicle speed is not reduced, and the braking time Ts in the speed out-of-control unsafe state is added with Tz to increase the parking time in the speed out-of-control unsafe state;
II) if the previous state is a normal state, the detection resolution is low, and an unsafe state of out-of-control speed is not detected, the brake duration is shortened, and the detection sensitivity is improved;
III) after Tc braking time, confirming that the vehicle is in a speed safety state, quitting a speed out-of-control dangerous state, enabling the vehicle to travel according to a target speed, and then continuously carrying out speed out-of-control monitoring;
IV) after the Tc brake duration time, confirming that the vehicle is in a vehicle speed safety state, quitting a speed out-of-control dangerous state, enabling the vehicle to travel according to a target vehicle speed, and then continuously monitoring the speed out-of-control;
v) if the triggering times of the speed out-of-control dangerous state are larger than the rated speed out-of-control dangerous count in a short time, stopping the vehicle, reporting the fault, and not automatically recovering the out-of-control state.
(3) If the vehicle is in the speed out-of-control damage state, the current vehicle is likely to send collision risks at any time, the vehicle is immediately braked and reports a fault, and meanwhile, the current out-of-control state is not automatically recovered.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. A method for detecting the speed runaway of an unmanned small special vehicle is characterized by comprising the following steps:
(1) the method comprises the following steps that a steering motor, a driving motor, an angle sensor and a rotating speed sensor are arranged, the steering motor is electrically connected with the angle sensor, the driving motor is electrically connected with the rotating speed sensor, and the angle sensor and the rotating speed sensor are both electrically connected with a processor;
(2) segmenting a target vehicle speed, wherein speed intervals are respectively divided into (0, Vm1), (Vm1, Vm2), (Vm2, Vm3),.., (Vmn, ∞), Vmk is segmented speed values, wherein k =0,1,2, 3,..,. n, and the segmented speed values are set target speeds;
(3) determining a minimum threshold value Vmink for out-of-control of different segment speeds according to the segments of the target vehicle speed, (k =0,1, 2.. n);
(4) determining a speed out-of-control maximum threshold value Vmaxk (k =0,1, 2.. once, n) by combining braking and conventional collision avoidance safety distances of the vehicle at different speed levels, wherein the speed out-of-control maximum threshold value represents a critical speed difference value of a collision risk with a maximum probability;
(5) selecting an average value Vhk from a minimum speed out-of-control threshold Vmink and a maximum speed out-of-control threshold Vmaxk, defining a [0, Vmin ] interval as a speed safety state, defining a (Vmink, Vhk) interval as an out-of-control unsafe state, defining a [ Vhk, Vmaxk) interval as an out-of-control dangerous state, and defining a [ Vmaxk, infinity) interval as an out-of-control destruction state;
(6) obtaining real-time vehicle speed Vo through a rotating speed sensor, and then carrying out speed calibration obtained during turning according to an angle value obtained by an angle sensor to obtain speed Vr;
(7) obtaining the actual speed N times, and obtaining the speed V after filtering by adopting a filtering algorithmRAAcquiring the set target speed N times, and obtaining the filtered target speed V by adopting a filtering algorithmOABy the formula
Obtain a speed difference VDThen, obtaining an acceleration Vj according to the time interval of two times of calculation;
(8) judging the subsection of the vehicle speed where the set speed is located according to the filtered target speed value to obtain a minimum threshold value Vmin, an out-of-control judgment value Vhk and a maximum threshold value Vmax of the current speed out-of-control;
(9) when the speed difference VDIf the Vmin is less than or equal to Vmin, the speed safety state is indicated, and the vehicle does not carry out special treatment and runs normally;
(10) when the speed difference VDIf the actual speed V is larger than Vmin and smaller than Vhk, the situation that the speed is out of control and in an unsafe state interval is indicated, acceleration judgment is carried out, and if the actual speed V is larger than Vmin and smaller than Vhk, the situation that the speed is out of control and in an unsafe state interval is indicated, the actual speed V is judgedRAGreater than 0 and Vj greater than or equal to 0, tableIf the vehicle speed is shown to be kept in an overspeed state in the future and even the overspeed is increased, the number SK of speed runaway is added by 1, and when the actual speed V isRAIf the speed is less than 0 and Vj is less than or equal to 0, the speed keeps reverse overspeed at the future time, even if the reverse overspeed is increased, the speed runaway frequency SK is added with 1; when the speed runaway frequency SK is greater than the maximum accumulated frequency SMC, judging that the vehicle is in an unsafe state of speed runaway at the moment;
(11) when the speed difference VDIf the speed is greater than or equal to Vhk and less than Vmax, judging that the vehicle is in a speed runaway dangerous state at the moment;
(12) when the speed difference VDIf the speed is greater than Vmax, the vehicle is judged to be in a speed out-of-control destruction state at the moment;
the treatment method specifically comprises the following steps:
if the vehicle is in the speed out-of-control unsafe state, the system automatically controls the vehicle to brake, the braking time is Ts, the magnitude of Ts is proper for realizing the braking time when the vehicle speed is reduced to 0, the vehicle is normally controlled according to the target vehicle speed, and then the speed out-of-control monitoring is continuously carried out, and the vehicle can continuously and smoothly move under the road environment which is easy to cause the speed out-of-control unsafe state through the processing of the speed out-of-control unsafe state;
if the vehicle is in a speed out-of-control dangerous state, immediately braking, adding 1 to the speed out-of-control dangerous state count of the vehicle, and then judging the state before entering the speed out-of-control dangerous state:
i) if the previous state is a speed out-of-control unsafe state, considering that the previous speed unsafe parking time is too short and the vehicle speed is not reduced, adding Tz to the speed out-of-control unsafe state braking time Ts, and increasing the parking time in the speed out-of-control unsafe state;
II) if the previous state is a speed safety state, the detection resolution is low, and an unsafe state of speed out of control is not detected, the brake duration is shortened, and the detection sensitivity is improved;
III) after Tc braking time, confirming that the vehicle is in a speed safety state, quitting a speed out-of-control dangerous state, enabling the vehicle to travel according to a target speed, and then continuously carrying out speed out-of-control monitoring;
IV) after the Tc brake duration time, confirming that the vehicle is in a speed safety state, quitting a speed out-of-control dangerous state, enabling the vehicle to travel according to a target speed, and then continuously monitoring the speed out-of-control;
v) if the speed out-of-control dangerous state count is larger than the rated speed out-of-control dangerous count in a short time, stopping the vehicle, reporting a fault, and not automatically recovering the out-of-control state;
if the vehicle is in the speed out-of-control damage state, the current vehicle is in collision risk at any time, the vehicle is immediately braked and the fault is reported, and meanwhile, the current out-of-control state is not automatically recovered.
2. The method for detecting the speed runaway of the unmanned small special vehicle as claimed in claim 1, wherein a steering motor and an angle sensor are arranged on a steering front wheel, a driving motor and a rotation speed sensor are arranged on a driving rear wheel, the steering motor in the step (1) is used for controlling the steering of the front wheel, the angle sensor is used for feeding back the steering angle of the front wheel, the driving motor is used for driving the rear wheel and braking, and the rotation speed sensor is used for feeding back the rotation speed information of the rear wheel.
3. The method for detecting the speed runaway of the unmanned small special vehicle as claimed in claim 1, wherein the Vmink in the step (3) is a speed difference value which cannot be exceeded in a normal running state of a vehicle system, wherein the Vmink is a constant value in a low-speed section, and is a ratio of target speeds in a high-speed section.
4. The method for detecting the speed runaway of the unmanned small special vehicle as claimed in claim 1, wherein the speed safety state in the step (5) indicates that the speed control of the vehicle is basically normal, the speed runaway unsafe state indicates that the speed control of the vehicle has errors and a lower probability of collision risk is met, the speed runaway dangerous state indicates that the speed control of the vehicle has larger errors and a high probability of collision risk is met, and the runaway destruction state indicates that the vehicle is in a nearly completely uncontrollable state and a collision event is inevitably met.
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| CN202110783490.7A CN113386743B (en) | 2021-07-12 | 2021-07-12 | Detection and processing method for speed runaway of unmanned small special vehicle |
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