CN113650507A - Parking method and terminal for automatic walking vehicle - Google Patents
Parking method and terminal for automatic walking vehicle Download PDFInfo
- Publication number
- CN113650507A CN113650507A CN202110979852.XA CN202110979852A CN113650507A CN 113650507 A CN113650507 A CN 113650507A CN 202110979852 A CN202110979852 A CN 202110979852A CN 113650507 A CN113650507 A CN 113650507A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- state
- acceleration
- running
- braking force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a parking method and a terminal of an automatic walking vehicle, wherein the method comprises the steps of controlling the running state of a hub motor according to a control instruction, calculating the controlled condition of the vehicle by combining the control instruction with the climbing angle, the running acceleration and the climbing driving force of the vehicle, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to additional resistance or in a slope slipping state; therefore, the invention can accurately detect whether the vehicle runs on a slope or not according to the three variables detected by the vehicle, and simultaneously judges the controlled state of the vehicle by combining the control instruction, thereby providing braking force according to the requirement, saving unnecessary power consumption and finishing the conventional parking function under the condition of ensuring that the battery power is not excessively consumed.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a parking method and a terminal for an automatic walking vehicle.
Background
With the development of automatic navigation technology, more and more in-wheel motor driving schemes are applied to automatic traveling vehicles, such as Automatic Guided Vehicles (AGVs) and automatic traveling robots (AMR), especially miniaturized in-wheel motors, which are increasingly commonly applied to indoor service robots and automatic cleaning vehicles.
However, due to the limitation of structural space, the miniaturized in-wheel motor usually has no parking function, so that the vehicle cannot be parked after the power of the walking vehicle is cut off, the walking vehicle runs away, and even if the walking vehicle automatically rolls on a slope, accidents are caused.
Through the control to the in-wheel motor, can be so that in the static state in-wheel motor still keep braking force, nevertheless continuous keeping braking force needs to get the electricity from the battery, can make the standby time of battery shorten to influence the up-time of system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided are a parking method and a terminal for an automatic traveling vehicle, which can complete a parking function while ensuring that the battery power is not excessively consumed.
In order to solve the technical problems, the invention adopts the technical scheme that:
a parking method of an autonomous traveling vehicle, comprising the steps of:
receiving a control instruction, and controlling the running state of the hub motor according to the control instruction;
and calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration and the climbing driving force of the vehicle after the running state is controlled, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to additional resistance or in a slope state.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a parking terminal for an autonomous vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
receiving a control instruction, and controlling the running state of the hub motor according to the control instruction;
and calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration and the climbing driving force of the vehicle after the running state is controlled, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to additional resistance or in a slope state.
The invention has the beneficial effects that: controlling the running state of the hub motor according to the control instruction, calculating the controlled condition of the vehicle by combining the control instruction with the climbing angle, the running acceleration and the climbing driving force of the vehicle, and providing braking force for the vehicle to park if the controlled condition of the vehicle is subjected to additional resistance or in a slope state; therefore, whether the vehicle runs on a slope or not can be accurately detected according to the three variables detected by the vehicle, and the controlled state of the vehicle is judged by combining the control instruction, so that the braking force is provided according to the requirement, the unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the battery power is not excessively consumed.
Drawings
Fig. 1 is a flowchart of a parking method of an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a parking terminal of an autonomous vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of a sensing control of a parking method of an autonomous vehicle according to an embodiment of the present invention;
fig. 4 is a flow chart illustrating electric quantity monitoring of a parking method for an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, 3 and 4, an embodiment of the present invention provides a parking method for an automatic traveling vehicle, including:
receiving a control instruction, and controlling the running state of the hub motor according to the control instruction;
and calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration and the climbing driving force of the vehicle after the running state is controlled, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to additional resistance or in a slope state.
From the above description, the beneficial effects of the present invention are: controlling the running state of the hub motor according to the control instruction, calculating the controlled condition of the vehicle by combining the control instruction with the climbing angle, the running acceleration and the climbing driving force of the vehicle, and providing braking force for the vehicle to park if the controlled condition of the vehicle is subjected to additional resistance or in a slope state; therefore, whether the vehicle runs on a slope or not can be accurately detected according to the three variables detected by the vehicle, and the controlled state of the vehicle is judged by combining the control instruction, so that the braking force is provided according to the requirement, the unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the battery power is not excessively consumed.
Further, the receiving the control instruction comprises:
acquiring a climbing angle when the vehicle does not operate, judging whether the vehicle is on a slope or not according to the climbing angle, and if so, setting a control command to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state or not according to the running acceleration, if so, setting a control command to not provide the braking force, and otherwise, setting the control command to provide the braking force.
As can be seen from the above description, according to the climbing speed and the running acceleration of the vehicle during non-running, whether the vehicle is currently on a slope or is currently stationary is determined, and a corresponding control command can be set according to the state and posture of the vehicle during non-running, so as to control the vehicle according to the actual situation of the vehicle.
Further, controlling the operation state of the in-wheel motor according to the control command comprises:
if the control instruction is to provide braking force, controlling the running state of the hub motor to be a braking state;
and if the control command is that the braking force is not provided, controlling the running state of the hub motor to be an automatic state.
As can be seen from the above description, when the control command is to provide the braking force, the in-wheel motor is in the braking state, and when the control command is not to provide the braking force, the in-wheel motor is in the automatic state, so that the control of the vehicle is realized by controlling the state of the in-wheel motor.
Further, calculating the controlled condition of the vehicle based on the control instruction and the climbing angle, the running acceleration, and the climbing driving force of the vehicle after controlling the running state includes:
calculating the thrust of the vehicle according to the moment of the climbing driving force, and calculating the theoretical acceleration in the control command according to the thrust:
F-M*g*sin(A)＝M*a；
wherein F represents the thrust of the vehicle, M represents the mass of the vehicle, g represents the gravitational acceleration, and a represents the theoretical acceleration;
if the running acceleration of the vehicle is equal to the theoretical acceleration, the vehicle is in a controlled state;
if the running acceleration of the vehicle is larger than the theoretical acceleration, the vehicle is in an external force driving state;
and if the running acceleration of the vehicle is smaller than the theoretical acceleration, the vehicle is under the condition of extra resistance or in the state of slope slipping.
From the above description, the theoretical acceleration in the control command can be calculated according to the climbing angle and the climbing driving force of the vehicle, and the running acceleration of the vehicle is compared with the theoretical acceleration to obtain the controlled condition of the vehicle, so as to obtain whether the vehicle slips or not, so that the corresponding braking measures can be taken according to the controlled condition subsequently, and the electric quantity unnecessarily consumed can be saved.
Further, if the controlled condition of the vehicle is additionally resisted or is in a slope state, providing braking force for the vehicle to achieve parking comprises:
and if the controlled condition of the vehicle is subjected to extra resistance or in a slope state, judging whether the electric quantity of the battery of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, and otherwise, sending a charging prompt and providing other parking measures.
According to the above description, when the vehicle has extra resistance or is in a slope slipping state, whether the battery electric quantity of the vehicle exceeds a preset electric quantity value or not is judged, early warning can be given in advance when the electric quantity is close to be insufficient, and a user is reminded to charge or take other parking measures.
Referring to fig. 2, another embodiment of the present invention provides a parking terminal for an autonomous vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
receiving a control instruction, and controlling the running state of the hub motor according to the control instruction;
and calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration and the climbing driving force of the vehicle after the running state is controlled, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to additional resistance or in a slope state.
As can be seen from the above description, the operation state of the in-wheel motor is controlled according to the control instruction, and the controlled condition of the vehicle is calculated by combining the control instruction with the climbing angle, the operation acceleration and the climbing driving force of the vehicle, and if the controlled condition of the vehicle is subjected to additional resistance or in a slippery state, the braking force is provided for the vehicle to park; therefore, whether the vehicle runs on a slope or not can be accurately detected according to the three variables detected by the vehicle, and the controlled state of the vehicle is judged by combining the control instruction, so that the braking force is provided according to the requirement, the unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the battery power is not excessively consumed.
Further, the receiving the control instruction comprises:
acquiring a climbing angle when the vehicle does not operate, judging whether the vehicle is on a slope or not according to the climbing angle, and if so, setting a control command to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state or not according to the running acceleration, if so, setting a control command to not provide the braking force, and otherwise, setting the control command to provide the braking force.
As can be seen from the above description, according to the climbing speed and the running acceleration of the vehicle during non-running, whether the vehicle is currently on a slope or is currently stationary is determined, and a corresponding control command can be set according to the state and posture of the vehicle during non-running, so as to control the vehicle according to the actual situation of the vehicle.
Further, controlling the operation state of the in-wheel motor according to the control command comprises:
if the control instruction is to provide braking force, controlling the running state of the hub motor to be a braking state;
and if the control command is that the braking force is not provided, controlling the running state of the hub motor to be an automatic state.
As can be seen from the above description, when the control command is to provide the braking force, the in-wheel motor is in the braking state, and when the control command is not to provide the braking force, the in-wheel motor is in the automatic state, so that the control of the vehicle is realized by controlling the state of the in-wheel motor.
Further, calculating the controlled condition of the vehicle based on the control instruction and the climbing angle, the running acceleration, and the climbing driving force of the vehicle after controlling the running state includes:
calculating the thrust of the vehicle according to the moment of the climbing driving force, and calculating the theoretical acceleration in the control command according to the thrust:
F-M*g*sin(A)＝M*a；
wherein F represents the thrust of the vehicle, M represents the mass of the vehicle, g represents the gravitational acceleration, and a represents the theoretical acceleration;
if the running acceleration of the vehicle is equal to the theoretical acceleration, the vehicle is in a controlled state;
if the running acceleration of the vehicle is larger than the theoretical acceleration, the vehicle is in an external force driving state;
and if the running acceleration of the vehicle is smaller than the theoretical acceleration, the vehicle is under the condition of extra resistance or in the state of slope slipping.
From the above description, the theoretical acceleration in the control command can be calculated according to the climbing angle and the climbing driving force of the vehicle, and the running acceleration of the vehicle is compared with the theoretical acceleration to obtain the controlled condition of the vehicle, so as to obtain whether the vehicle slips or not, so that the corresponding braking measures can be taken according to the controlled condition subsequently, and the electric quantity unnecessarily consumed can be saved.
Further, if the controlled condition of the vehicle is additionally resisted or is in a slope state, providing braking force for the vehicle to achieve parking comprises:
and if the controlled condition of the vehicle is subjected to extra resistance or in a slope state, judging whether the electric quantity of the battery of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, and otherwise, sending a charging prompt and providing other parking measures.
According to the above description, when the vehicle has extra resistance or is in a slope slipping state, whether the battery electric quantity of the vehicle exceeds a preset electric quantity value or not is judged, early warning can be given in advance when the electric quantity is close to be insufficient, and a user is reminded to charge or take other parking measures.
The parking method and the terminal for the automatic traveling vehicle are suitable for providing a proper parking scheme for an automatic navigation vehicle driven by a hub motor, meet general parking requirements on the premise of not considering an additional refitting scheme, and are explained by a specific implementation mode as follows:
example one
Referring to fig. 1, 3 and 4, a parking method of an autonomous vehicle includes the steps of:
and S1, receiving a control command, and controlling the running state of the hub motor according to the control command.
Wherein, the receiving the control instruction comprises:
acquiring a climbing angle when the vehicle does not operate, judging whether the vehicle is on a slope or not according to the climbing angle, and if so, setting a control command to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state or not according to the running acceleration, if so, setting a control command to not provide the braking force, and otherwise, setting the control command to provide the braking force.
Specifically, the perception module can detect the climbing angle and the vehicle running acceleration and the climbing driving force simultaneously, wherein the climbing angle is obtained by using an inertial navigation unit (IMU), the acceleration is obtained by using an external or in-wheel motor encoder, and the climbing driving force can directly use in-wheel motor feedback signals.
The sensing module may sense the actual moving state and the operating posture of the vehicle, such as whether the vehicle is currently moving or stationary, or on a level ground or on a slope.
Referring to fig. 3, when the set speed of the vehicle is 0, the sensing module obtains a climbing angle to determine whether the vehicle is on a slope, if so, the control module provides a braking force to keep the vehicle stationary, otherwise, the sensing module obtains an operating acceleration to determine whether the vehicle is in a stationary state, if so, the control module does not provide additional braking force, otherwise, the vehicle is driven by an external force to provide the braking force to keep the vehicle stationary.
Wherein, according to the operating condition of control command control in-wheel motor includes:
if the control instruction is to provide braking force, controlling the running state of the hub motor to be a braking state;
and if the control command is that the braking force is not provided, controlling the running state of the hub motor to be an automatic state.
Specifically, when the control module does not provide extra braking force, the hub motor is in an automatic state, and when the control module provides the braking force, the hub motor is in a braking state; therefore, the hub motor can be controlled by the control module through instructions, and has two states in a stop state: a free state and a braking state.
And S2, calculating the controlled condition of the vehicle according to the control command and the climbing angle, the operation acceleration, the climbing driving force and the climbing driving force of the vehicle after the operation state is controlled, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to extra resistance or in a slippery state.
Wherein calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration and the climbing driving force of the vehicle after the running state is controlled comprises:
calculating the thrust of the vehicle according to the moment of the climbing driving force, and calculating the theoretical acceleration in the control command according to the thrust:
F-M*g*sin(A)＝M*a；
wherein F represents the thrust of the vehicle, M represents the mass of the vehicle, g represents the gravitational acceleration, and a represents the theoretical acceleration;
if the running acceleration of the vehicle is equal to the theoretical acceleration, the vehicle is in a controlled state;
if the running acceleration of the vehicle is larger than the theoretical acceleration, the vehicle is in an external force driving state;
and if the running acceleration of the vehicle is smaller than the theoretical acceleration, the vehicle is under the condition of extra resistance or in the state of slope slipping.
Specifically, compared with the prior art in which the angle of vehicle climbing is sensed by the pitch angle sensor, and only a single variable is detected for subsequent determination, the present embodiment can detect whether the vehicle is running on a slope through the angle of vehicle climbing, the running acceleration and the driving force of vehicle climbing, and determine the controlled state of the vehicle at the same time according to the following: calculating a thrust F according to the torque of the hub motor, and acquiring the mass M of the vehicle; when the IMU measures the pitch angle of the vehicle as A, then the formula is used: F-M × g sin (a) ═ M × a, calculating a theoretical acceleration in the control command;
if the running acceleration ac of the vehicle measured at this time is a, the vehicle is in a controlled state; if ac is greater than a, the vehicle is in an external force driving state; if ac < a, the vehicle is in an extra drag or hill-drop condition, requiring an alert to be issued.
Wherein if the controlled condition of the vehicle is additionally resisted or is in a slope state, providing braking force for the vehicle to achieve parking comprises:
and if the controlled condition of the vehicle is subjected to extra resistance or in a slope state, judging whether the electric quantity of the battery of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, and otherwise, sending a charging prompt and providing other parking measures.
Specifically, the present embodiment further includes a battery monitoring step, where the battery monitoring module sends a message to the control module before the battery power is consumed to a certain threshold, so as to prevent the battery from being unable to normally provide braking force for parking under the condition of insufficient battery power. At the moment, the control module can remind the user of charging in time or using other parking measures.
The lower limit value of the safe use capacity of the battery is set as Cs, and in order to guarantee effective parking and provide enough safe alarm time, the required extra electric quantity Cp is equal to Ip x Tp, wherein Ip represents parking current, and Tp represents safe parking time; therefore, the preset threshold of the battery capacity is Cs + Cp.
Therefore, the present embodiment provides a parking scheme for an automatic navigation vehicle using an in-wheel motor, which can perform a conventional parking function while ensuring that the battery power is not excessively consumed.
Example two
Referring to fig. 2, a parking terminal of an autonomous vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of a parking method of an autonomous vehicle according to an embodiment when executing the computer program.
In summary, according to the parking method and the terminal for the automatic traveling vehicle provided by the invention, the operation condition of the vehicle is sensed through the sensing module, the corresponding control instruction is set, and the operation state of the hub motor is controlled according to the control instruction; calculating to obtain a theoretical acceleration provided in the control instruction by combining the control instruction, the climbing angle, the running acceleration and the climbing driving force of the vehicle, and comparing the theoretical acceleration with the measured running acceleration to obtain the controlled condition of the vehicle; if the controlled condition of the vehicle is subjected to extra resistance or in a slope state and the electric quantity of the vehicle reaches a preset electric quantity, providing braking force for the vehicle to realize parking; therefore, whether the vehicle runs on a slope or not can be accurately detected according to the three variables detected by the vehicle, and the controlled state of the vehicle is judged by combining the control instruction, so that the braking force is provided according to the requirement, the unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the battery power is not excessively consumed.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A parking method for an autonomous vehicle, comprising the steps of:
receiving a control instruction, and controlling the running state of the hub motor according to the control instruction;
and calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration and the climbing driving force of the vehicle after the running state is controlled, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to additional resistance or in a slope state.
2. The method of claim 1, wherein the receiving a control command is preceded by:
acquiring a climbing angle when the vehicle does not operate, judging whether the vehicle is on a slope or not according to the climbing angle, and if so, setting a control command to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state or not according to the running acceleration, if so, setting a control command to not provide the braking force, and otherwise, setting the control command to provide the braking force.
3. The parking method for an autonomous vehicle according to claim 2, wherein controlling the operation state of the in-wheel motor according to the control command comprises:
if the control instruction is to provide braking force, controlling the running state of the hub motor to be a braking state;
and if the control command is that the braking force is not provided, controlling the running state of the hub motor to be an automatic state.
4. The parking method of an autonomous vehicle according to claim 1, wherein calculating the controlled condition of the vehicle according to the control command and the climbing angle, the running acceleration, and the climbing driving force of the vehicle after controlling the running state includes:
calculating the thrust of the vehicle according to the moment of the climbing driving force, and calculating the theoretical acceleration in the control command according to the thrust:
F-M*g*sin(A)＝M*a；
wherein F represents the thrust of the vehicle, M represents the mass of the vehicle, g represents the gravitational acceleration, and a represents the theoretical acceleration;
if the running acceleration of the vehicle is equal to the theoretical acceleration, the vehicle is in a controlled state;
if the running acceleration of the vehicle is larger than the theoretical acceleration, the vehicle is in an external force driving state;
and if the running acceleration of the vehicle is smaller than the theoretical acceleration, the vehicle is under the condition of extra resistance or in the state of slope slipping.
5. The method of claim 1, wherein providing braking force to the vehicle to effect parking if the controlled condition of the vehicle is an additional drag or a rolling condition comprises:
and if the controlled condition of the vehicle is subjected to extra resistance or in a slope state, judging whether the electric quantity of the battery of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, and otherwise, sending a charging prompt and providing other parking measures.
6. Parking terminal for autonomous moving vehicles, comprising a memory, a processor and a computer program stored on said memory and executable on the processor, characterized in that the processor implements the following steps when executing said computer program:
receiving a control instruction, and controlling the running state of the hub motor according to the control instruction;
and calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration and the climbing driving force of the vehicle after the running state is controlled, and providing braking force for the vehicle to realize parking if the controlled condition of the vehicle is subjected to additional resistance or in a slope state.
7. The park terminal of an autonomous vehicle according to claim 6, wherein said receiving a control command is preceded by:
acquiring a climbing angle when the vehicle does not operate, judging whether the vehicle is on a slope or not according to the climbing angle, and if so, setting a control command to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state or not according to the running acceleration, if so, setting a control command to not provide the braking force, and otherwise, setting the control command to provide the braking force.
8. The parking terminal of an autonomous traveling vehicle according to claim 7, wherein controlling the operation state of the in-wheel motor according to the control command includes:
if the control instruction is to provide braking force, controlling the running state of the hub motor to be a braking state;
and if the control command is that the braking force is not provided, controlling the running state of the hub motor to be an automatic state.
9. The parking terminal of an autonomous traveling vehicle according to claim 6, wherein calculating the controlled condition of the vehicle based on the control command and the climbing angle, the running acceleration, and the climbing driving force of the vehicle after controlling the running state comprises:
calculating the thrust of the vehicle according to the moment of the climbing driving force, and calculating the theoretical acceleration in the control command according to the thrust:
F-M*g*sin(A)＝M*a；
wherein F represents the thrust of the vehicle, M represents the mass of the vehicle, g represents the gravitational acceleration, and a represents the theoretical acceleration;
if the running acceleration of the vehicle is equal to the theoretical acceleration, the vehicle is in a controlled state;
if the running acceleration of the vehicle is larger than the theoretical acceleration, the vehicle is in an external force driving state;
and if the running acceleration of the vehicle is smaller than the theoretical acceleration, the vehicle is under the condition of extra resistance or in the state of slope slipping.
10. The parking terminal of claim 6, wherein providing a braking force to the vehicle to effect parking if the controlled condition of the vehicle is an additional drag or a rolling condition comprises:
and if the controlled condition of the vehicle is subjected to extra resistance or in a slope state, judging whether the electric quantity of the battery of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, and otherwise, sending a charging prompt and providing other parking measures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110979852.XA CN113650507B (en) | 2021-08-25 | 2021-08-25 | Parking method and terminal of automatic walking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110979852.XA CN113650507B (en) | 2021-08-25 | 2021-08-25 | Parking method and terminal of automatic walking vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113650507A true CN113650507A (en) | 2021-11-16 |
| CN113650507B CN113650507B (en) | 2023-08-18 |
Family
ID=78492809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110979852.XA Active CN113650507B (en) | 2021-08-25 | 2021-08-25 | Parking method and terminal of automatic walking vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113650507B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070172907A1 (en) * | 2000-04-28 | 2007-07-26 | Michael Volker | Liver disease-related methods and systems |
| JP2011121552A (en) * | 2009-12-14 | 2011-06-23 | Ihi Aerospace Co Ltd | Traveling device |
| CN107031455A (en) * | 2017-03-28 | 2017-08-11 | 南京奥联新能源有限公司 | Automatic anti-running car method for pure electric vehicle |
| CN107255711A (en) * | 2017-05-10 | 2017-10-17 | 孔晓妮 | Osteopontin is used for the purposes for preparing or screening acute-on-chronic liver failure diagnostic reagent |
| CN109132392A (en) * | 2017-06-27 | 2019-01-04 | 广西大学 | A kind of AGV forklift ramp recognition methods |
| WO2019099706A1 (en) * | 2017-11-15 | 2019-05-23 | Beth Israel Deaconess Medical Center, Inc. | Markers for the diagnosis and treatment of non-alcoholic steatohepatitis (nash) and advanced liver fibrosis |
| CN110341715A (en) * | 2019-07-24 | 2019-10-18 | 北京智行者科技有限公司 | Unmanned vehicle ramp method for control speed and device |
| CN110824167A (en) * | 2019-07-03 | 2020-02-21 | 成都市第五人民医院(成都市老年病医院) | Application of marker for predicting prognosis of acute liver failure in preparation of prognosis evaluation kit for predicting prognosis of acute liver failure |
| CN112180093A (en) * | 2019-07-02 | 2021-01-05 | 复旦大学附属华山医院 | Critical disease mortality diagnostic biomarker tenascin-c and application thereof |
| US20210072242A1 (en) * | 2018-03-21 | 2021-03-11 | Rajiv Jalan | Treatment of necroptosis |
| CN113291161A (en) * | 2021-05-21 | 2021-08-24 | 上海智蕙林医疗科技有限公司 | AGV trolley and automatic sliding stopping method |
-
2021
- 2021-08-25 CN CN202110979852.XA patent/CN113650507B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070172907A1 (en) * | 2000-04-28 | 2007-07-26 | Michael Volker | Liver disease-related methods and systems |
| JP2011121552A (en) * | 2009-12-14 | 2011-06-23 | Ihi Aerospace Co Ltd | Traveling device |
| CN107031455A (en) * | 2017-03-28 | 2017-08-11 | 南京奥联新能源有限公司 | Automatic anti-running car method for pure electric vehicle |
| CN107255711A (en) * | 2017-05-10 | 2017-10-17 | 孔晓妮 | Osteopontin is used for the purposes for preparing or screening acute-on-chronic liver failure diagnostic reagent |
| CN109132392A (en) * | 2017-06-27 | 2019-01-04 | 广西大学 | A kind of AGV forklift ramp recognition methods |
| WO2019099706A1 (en) * | 2017-11-15 | 2019-05-23 | Beth Israel Deaconess Medical Center, Inc. | Markers for the diagnosis and treatment of non-alcoholic steatohepatitis (nash) and advanced liver fibrosis |
| US20210072242A1 (en) * | 2018-03-21 | 2021-03-11 | Rajiv Jalan | Treatment of necroptosis |
| CN112180093A (en) * | 2019-07-02 | 2021-01-05 | 复旦大学附属华山医院 | Critical disease mortality diagnostic biomarker tenascin-c and application thereof |
| CN110824167A (en) * | 2019-07-03 | 2020-02-21 | 成都市第五人民医院(成都市老年病医院) | Application of marker for predicting prognosis of acute liver failure in preparation of prognosis evaluation kit for predicting prognosis of acute liver failure |
| CN110341715A (en) * | 2019-07-24 | 2019-10-18 | 北京智行者科技有限公司 | Unmanned vehicle ramp method for control speed and device |
| CN113291161A (en) * | 2021-05-21 | 2021-08-24 | 上海智蕙林医疗科技有限公司 | AGV trolley and automatic sliding stopping method |
Non-Patent Citations (4)
| Title |
|---|
| 刘叶莹;王婷;窦爱华;郑素军;徐斌;刘梅;: "肝衰竭预后相关标志物的应用现状与展望", 临床肝胆病杂志, no. 05 * |
| 吴婧;倪鎏达;张懿;江甫柱;孙双双;程明亮;傅青春;陈成伟;: "有效肝血流量对慢加急性肝功能衰竭短期预后评估", 肝脏, no. 04 * |
| 曹力;汪美华;邹美银;朱勇根;: "外周血白细胞介素32和金属基质蛋白酶-2对HBV相关慢加急性肝衰竭预后的预测价值研究", 传染病信息, no. 04 * |
| 许俊;黄敏;: "血浆二胺氧化酶联合iMELD评分对乙型肝炎病毒相关慢加急性肝衰竭患者近期预后的预测价值", 中国肝脏病杂志(电子版), no. 02 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113650507B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107117169B (en) | Control method and device of constant-speed cruise system, controller and automobile | |
| JP4744283B2 (en) | Vehicle with auxiliary power | |
| CN103121450A (en) | Ramp way control method of pure electric vehicle | |
| US9790884B2 (en) | Control system and control method of vehicle | |
| CN111038286B (en) | Diagnostic system, diagnostic method, and storage medium | |
| TWI733136B (en) | Motor control device, method and electric auxiliary vehicle | |
| CN109969188A (en) | A kind of electric vehicle uphill starting control method | |
| US20160096521A1 (en) | Method for controlling battery of mild hybrid vehicle | |
| EP3079219B1 (en) | Charging control device | |
| CN104002679A (en) | Vehicle-used controller | |
| CN108116271B (en) | Motor system and control method thereof | |
| US11524598B2 (en) | Vehicle control device | |
| CN108216461A (en) | Balancing bicycle motor method of controlling security and device | |
| CN103921794A (en) | Idle Speed Stopped Vehicle | |
| CN113650507A (en) | Parking method and terminal for automatic walking vehicle | |
| CN113320438A (en) | Storage battery charging method and device, readable storage medium and vehicle | |
| CN103946537A (en) | Engine starting device and starting method | |
| CN113771854B (en) | Intelligent judging method and system for automobile start-stop conditions | |
| CN112193083B (en) | Energy-saving control method, device and equipment for electrically-driven automobile and storage medium | |
| CN112389275B (en) | Safety control method and device based on electric drive active heating mode | |
| CN111645534B (en) | Slope-sliding-prevention control method and control system for pure electric vehicle | |
| JP7385454B2 (en) | Vehicle control device | |
| CN114179621A (en) | Steep-slope slow-descending control method and device for vehicle | |
| JP2002271903A (en) | Vehicle with synchronous motor taken driving source | |
| US20150106002A1 (en) | Display device for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |