CN113650507B - Parking method and terminal of automatic walking vehicle - Google Patents

Parking method and terminal of automatic walking vehicle Download PDF

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Publication number
CN113650507B
CN113650507B CN202110979852.XA CN202110979852A CN113650507B CN 113650507 B CN113650507 B CN 113650507B CN 202110979852 A CN202110979852 A CN 202110979852A CN 113650507 B CN113650507 B CN 113650507B
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vehicle
state
acceleration
running
control instruction
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CN113650507A (en
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请求不公布姓名
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Tangen Intelligent Technology Changshu Co ltd
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    • 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

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  • 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 parking method and the terminal control the running state of a hub motor according to a control instruction, calculate 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 provide braking force for the vehicle to realize parking if the controlled condition of the vehicle is under extra resistance or in a sliding state; therefore, according to the three variables detected by the vehicle, whether the vehicle runs on the ramp or not can be accurately detected, and meanwhile, the controlled state of the vehicle is judged by combining the control instruction, so that braking force is provided according to the requirement, unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the electric quantity of the battery is not excessively consumed.

Description

Parking method and terminal of automatic walking vehicle
Technical Field
The invention relates to the technical field of vehicle control, in particular to a parking method and a terminal of 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 (Automated Guided Vehicle, AGV) and automatic traveling robots (Autonomous Mobile Robot, AMR), and particularly miniaturized in-wheel motors, are increasingly popular in indoor service robots and automatic cleaning vehicles.
However, due to the limitation of the structural space, the miniaturized hub motor often has no parking function, so that the vehicle cannot be parked after the traveling vehicle is powered off, the risk of being pushed away exists, and even accidents are caused if the vehicle automatically slides on a slope.
Through the control to the in-wheel motor, can make in-wheel motor still keep the braking force under the static state, but the continuous braking force that keeps need get electricity from the battery, can make the stand-by time of battery shorten to influence the normal operating time of system.
Disclosure of Invention
The technical problems to be solved by the invention are 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 level is not excessively consumed.
In order to solve the technical problems, the invention adopts the following technical scheme:
a parking method of an automatically walking 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 under additional resistance or in a sliding state.
In order to solve the technical problems, the invention adopts another technical scheme that:
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 under additional resistance or in a sliding state.
The invention has the beneficial effects that: according to the control command, controlling the running state of the hub motor, and calculating the controlled condition of the vehicle by combining the control command with the climbing angle, the running acceleration and the climbing driving force of the vehicle, if the controlled condition of the vehicle is under additional resistance or in a sliding state, providing braking force for the vehicle so as to realize parking; therefore, according to the three variables detected by the vehicle, whether the vehicle runs on the ramp can be accurately detected, and meanwhile, the controlled state of the vehicle is judged by combining the control instruction, so that braking force is provided according to the requirement, unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the electric quantity of the battery is not excessively consumed.
Drawings
Fig. 1 is a flowchart of a parking method of an automatic traveling vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of a parking terminal of a self-traveling vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of sensing control of a parking method for an automatically walking vehicle according to an embodiment of the present invention;
fig. 4 is a flow chart of power monitoring of a parking method of an automatic traveling vehicle according to an embodiment of the present invention.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1, 3 and 4, an embodiment of the present invention provides a parking method for an automatic walking vehicle, including 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 under additional resistance or in a sliding state.
From the above description, the beneficial effects of the invention are as follows: according to the control command, controlling the running state of the hub motor, and calculating the controlled condition of the vehicle by combining the control command with the climbing angle, the running acceleration and the climbing driving force of the vehicle, if the controlled condition of the vehicle is under additional resistance or in a sliding state, providing braking force for the vehicle so as to realize parking; therefore, according to the three variables detected by the vehicle, whether the vehicle runs on the ramp can be accurately detected, and meanwhile, the controlled state of the vehicle is judged by combining the control instruction, so that braking force is provided according to the requirement, unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the electric quantity of the battery is not excessively consumed.
Further, before receiving the control instruction, the method includes:
acquiring a climbing angle when a vehicle does not run, judging whether the vehicle is in a slope according to the climbing angle, and if so, setting a control instruction to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state according to the running acceleration, if so, setting a control instruction to not provide braking force, otherwise, setting the control instruction to provide braking force.
From the above description, it is known that, according to the climbing speed and the running acceleration of the vehicle when the vehicle is not running, whether the vehicle is currently in a slope or not and whether the vehicle is currently at rest or not is determined, and the corresponding control instruction can be set according to the state and the posture of the vehicle when the vehicle is not running, so that the vehicle is controlled according to the actual situation of the vehicle.
Further, controlling the operating state of the in-wheel motor according to the control instruction includes:
if the control command 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 is apparent from the above description, when the control command is to provide the braking force, the in-wheel motor is in a braking state, and when the control command is not to provide the braking force, the in-wheel motor is in an automatic state, so that the control of the vehicle is achieved by controlling the state of the in-wheel motor.
Further, 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 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 in an extra resistance or sliding state.
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, the running acceleration of the vehicle is compared with the theoretical acceleration, and the controlled condition of the vehicle is obtained, so that whether the vehicle has a sliding phenomenon or not is obtained, and the corresponding braking measures can be conveniently adopted according to the controlled condition subsequently, so that the unnecessary consumed electric quantity is saved.
Further, providing braking force to the vehicle to achieve parking if the controlled condition of the vehicle is additionally resistive or in a hill-climbing state includes:
if the controlled condition of the vehicle is in an extra resistance or sliding state, judging whether the battery electric quantity of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, otherwise, sending a charging prompt and providing other parking measures.
According to the above description, when the vehicle is in an extra resistance or a landslide state, whether the battery electric quantity of the vehicle exceeds a preset electric quantity value is judged, and early warning can be carried out in advance when the electric quantity is close to a shortage, so that 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 of an automatic walking 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 under additional resistance or in a sliding state.
As can be seen from the above description, according to the control command, the running state of the hub motor is controlled, and the control command, the climbing angle, the running acceleration and the climbing driving force of the vehicle are combined to calculate the controlled condition of the vehicle, and if the controlled condition of the vehicle is the state of being subjected to additional resistance or sliding, the braking force is provided for the vehicle to realize parking; therefore, according to the three variables detected by the vehicle, whether the vehicle runs on the ramp can be accurately detected, and meanwhile, the controlled state of the vehicle is judged by combining the control instruction, so that braking force is provided according to the requirement, unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the electric quantity of the battery is not excessively consumed.
Further, before receiving the control instruction, the method includes:
acquiring a climbing angle when a vehicle does not run, judging whether the vehicle is in a slope according to the climbing angle, and if so, setting a control instruction to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state according to the running acceleration, if so, setting a control instruction to not provide braking force, otherwise, setting the control instruction to provide braking force.
From the above description, it is known that, according to the climbing speed and the running acceleration of the vehicle when the vehicle is not running, whether the vehicle is currently in a slope or not and whether the vehicle is currently at rest or not is determined, and the corresponding control instruction can be set according to the state and the posture of the vehicle when the vehicle is not running, so that the vehicle is controlled according to the actual situation of the vehicle.
Further, controlling the operating state of the in-wheel motor according to the control instruction includes:
if the control command 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 is apparent from the above description, when the control command is to provide the braking force, the in-wheel motor is in a braking state, and when the control command is not to provide the braking force, the in-wheel motor is in an automatic state, so that the control of the vehicle is achieved by controlling the state of the in-wheel motor.
Further, 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 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 in an extra resistance or sliding state.
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, the running acceleration of the vehicle is compared with the theoretical acceleration, and the controlled condition of the vehicle is obtained, so that whether the vehicle has a sliding phenomenon or not is obtained, and the corresponding braking measures can be conveniently adopted according to the controlled condition subsequently, so that the unnecessary consumed electric quantity is saved.
Further, providing braking force to the vehicle to achieve parking if the controlled condition of the vehicle is additionally resistive or in a hill-climbing state includes:
if the controlled condition of the vehicle is in an extra resistance or sliding state, judging whether the battery electric quantity of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, otherwise, sending a charging prompt and providing other parking measures.
According to the above description, when the vehicle is in an extra resistance or a landslide state, whether the battery electric quantity of the vehicle exceeds a preset electric quantity value is judged, and early warning can be carried out in advance when the electric quantity is close to a shortage, so that a user is reminded to charge or take other parking measures.
The parking method and the terminal of the automatic traveling vehicle are suitable for providing a proper parking scheme for the automatic navigation vehicle driven by the hub motor, and meet the general parking requirement without considering an additional refitting scheme, and are described by the following specific embodiments:
example 1
Referring to fig. 1, 3 and 4, a parking method of an automatic walking vehicle includes the steps of:
s1, receiving a control instruction, and controlling the running state of the hub motor according to the control instruction.
Wherein, before receiving the control instruction, the method comprises the following steps:
acquiring a climbing angle when a vehicle does not run, judging whether the vehicle is in a slope according to the climbing angle, and if so, setting a control instruction to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state according to the running acceleration, if so, setting a control instruction to not provide braking force, otherwise, setting the control instruction to provide braking force.
Specifically, the perception module can detect climbing angle and vehicle operation acceleration and climbing driving force simultaneously, and wherein climbing angle uses IMU (inertial navigation unit) to obtain, and acceleration uses external or in-wheel motor from the encoder that takes to obtain, and climbing driving force can directly use in-wheel motor feedback signal.
The sensing module may sense the actual motion state and operational attitude of the vehicle, such as whether it is currently in motion or stationary, or whether it is on level ground or on a ramp.
Referring to fig. 3, when the vehicle set speed is 0, the sensing module obtains the climbing angle, and determines whether the vehicle is in a slope, if yes, the control module provides braking force to keep the vehicle stationary, otherwise, the sensing module obtains running acceleration, and determines whether the vehicle is in a stationary state, if yes, the control module does not provide additional braking force, otherwise, the vehicle is driven by external force, and the control module provides braking force to keep the vehicle stationary.
Wherein, the control of the running state of the hub motor according to the control command comprises:
if the control command 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 additional braking force, the hub motor is in an automatic state, and when the control module provides braking force, the hub motor is in a braking state; therefore, the hub motor can be controlled by the control module through instructions, and two states exist in the stop state: a free state and a braking state.
S2, calculating the controlled condition of the vehicle according to the control instruction and the climbing angle, the running acceleration, the climbing driving force 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 is in a sliding state.
Wherein, 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, calculating the controlled condition of the vehicle 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 in an extra resistance or sliding state.
Specifically, compared with the prior art that the angle of the vehicle climbing is sensed by the pitch angle sensor, only the independent variable is detected for the following judgment, whether the vehicle runs on the ramp can be detected by the climbing angle, the running acceleration and the climbing driving force of the vehicle, and the controlled state of the vehicle is judged at the same time according to the following judgment criteria: the thrust force F can be calculated according to the moment of the hub motor, and the mass of the vehicle is M; when the IMU detects that the pitch angle of the vehicle is a, then the formula is used: F-M x g sin (a) =m x a, calculating a theoretical acceleration in the control command;
if the running acceleration ac=a of the vehicle measured at this time, the vehicle is in a controlled state; if ac > a, the vehicle is in an external force driving state; if ac < a, the vehicle is in an extra drag or hill-slip condition, and an alarm needs to be raised.
Wherein providing braking force to the vehicle to achieve parking if the controlled condition of the vehicle is an additional resistance or a landslide state comprises:
if the controlled condition of the vehicle is in an extra resistance or sliding state, judging whether the battery electric quantity of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, otherwise, sending a charging prompt and providing other parking measures.
Specifically, the embodiment further includes a battery monitoring step, where the battery monitoring module may provide information 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 power. At this time, the control module may remind the user to charge in time, or use other parking measures.
Wherein, the lower limit value of the safe use capacity of the battery is set as Cs, and the required additional electric quantity Cp=ip x Tp is used for ensuring effective parking and providing enough safe alarm time, wherein Ip represents parking current and Tp represents safe parking time; the preset threshold for the battery charge is therefore cs+cp.
Accordingly, the present embodiment provides a parking scheme for an automatic navigation vehicle using an in-wheel motor, which can accomplish a conventional parking function while ensuring that the battery level is not excessively consumed.
Example two
Referring to fig. 2, a parking terminal of a self-walking 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 a self-walking vehicle according to the first embodiment when executing the computer program.
In summary, according to the parking method and terminal for the automatic traveling vehicle, provided by the invention, the sensing module senses the running condition of the vehicle and sets the corresponding control command, and the running state of the hub motor is controlled according to the control command; combining the control instruction, the climbing angle, the running acceleration and the climbing driving force of the vehicle, firstly calculating to obtain the theoretical acceleration provided in the control instruction, 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 in an extra resistance or sliding state and the electric quantity of the vehicle reaches the preset electric quantity, providing braking force for the vehicle so as to realize parking; therefore, according to the three variables detected by the vehicle, whether the vehicle runs on the ramp can be accurately detected, and meanwhile, the controlled state of the vehicle is judged by combining the control instruction, so that braking force is provided according to the requirement, unnecessary power consumption is saved, and the conventional parking function is completed under the condition that the electric quantity of the battery is not excessively consumed.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.

Claims (6)

1. A parking method of an automatically walking vehicle, comprising the steps of:
receiving a control instruction, and controlling the running state of the hub motor according to the control instruction;
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 under additional resistance or in a sliding state;
the control instruction receiving step comprises the following steps:
acquiring a climbing angle when a vehicle does not run, judging whether the vehicle is in a slope according to the climbing angle, and if so, setting a control instruction to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state according to the running acceleration, if so, setting a control instruction to not provide braking force, otherwise, setting the control instruction to provide braking force;
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, the calculating the controlled condition of the vehicle comprises the following steps:
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, a represents the theoretical acceleration, and A represents the pitch angle of the vehicle;
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 in an extra resistance or sliding state.
2. The parking method of a self-propelled vehicle as set forth in claim 1, wherein controlling an operating state of the in-wheel motor according to the control command includes:
if the control command 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.
3. A method of parking a self-propelled vehicle in accordance with claim 1, wherein providing a braking force to the vehicle to effect parking if the controlled condition of the vehicle is either an extra resistance or a hill-slip condition comprises:
if the controlled condition of the vehicle is in an extra resistance or sliding state, judging whether the battery electric quantity of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, otherwise, sending a charging prompt and providing other parking measures.
4. 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, characterized in that 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;
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 under additional resistance or in a sliding state;
the control instruction receiving step comprises the following steps:
acquiring a climbing angle when a vehicle does not run, judging whether the vehicle is in a slope according to the climbing angle, and if so, setting a control instruction to provide braking force;
otherwise, acquiring the running acceleration of the vehicle, judging whether the vehicle is in a static state according to the running acceleration, if so, setting a control instruction to not provide braking force, otherwise, setting the control instruction to provide braking force;
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, the calculating the controlled condition of the vehicle comprises the following steps:
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, a represents the theoretical acceleration, and A represents the pitch angle of the vehicle;
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 in an extra resistance or sliding state.
5. The parking terminal of a self-propelled vehicle as set forth in claim 4, wherein controlling an operating state of the in-wheel motor according to the control command comprises:
if the control command 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.
6. The parking terminal of a self-propelled vehicle as set forth in claim 4, wherein providing a braking force to the vehicle to effect parking if the controlled condition of the vehicle is an additional resistance or a hill-slip condition comprises:
if the controlled condition of the vehicle is in an extra resistance or sliding state, judging whether the battery electric quantity of the vehicle exceeds a preset electric quantity value, if so, providing braking force for the vehicle to realize parking, otherwise, sending a charging prompt and providing other parking measures.
CN202110979852.XA 2021-08-25 2021-08-25 Parking method and terminal of automatic walking vehicle Active CN113650507B (en)

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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

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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)

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