CN113844536B - Steering control method and device, articulated vehicle and storage medium - Google Patents
Steering control method and device, articulated vehicle and storage medium Download PDFInfo
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- CN113844536B CN113844536B CN202111174219.XA CN202111174219A CN113844536B CN 113844536 B CN113844536 B CN 113844536B CN 202111174219 A CN202111174219 A CN 202111174219A CN 113844536 B CN113844536 B CN 113844536B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
Abstract
The application provides a steering control method and device, an articulated vehicle and a storage medium, and relates to the technical field of vehicle steering control. The steering control method is applied to a controller of an articulated vehicle, the articulated vehicle comprises wheels and motors which are equal in number, each motor is connected with one wheel, and the controller is electrically connected with each motor; firstly, receiving a steering control instruction, wherein the steering control instruction comprises steering vehicle speed information, dynamic angular velocity information and steering angle information, then determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model, then determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, the preset wheel base and the dynamic model, integrating the dynamic linear velocity and the static linear velocity of each wheel to determine the rotating speed of each wheel, and finally controlling the rotating speed of each motor according to the rotating speed of each wheel. The method and the device have the effect of reducing the use cost of the user.
Description
Technical Field
The application relates to the technical field of vehicle steering control, in particular to a steering control method and device, an articulated vehicle and a storage medium.
Background
At present, the steering and differential speed control of the traditional engineering vehicle are realized by a special steering mechanism and a differential mechanism, wherein the steering needs the special steering mechanism, and the differential speed is completed by mechanical differential speed.
However, the steering mechanism and the differential mechanism have high cost, and meanwhile, the mechanical structure is complex, the energy consumption is high, regular maintenance is needed, and the use cost of a user is high.
In conclusion, the engineering vehicle in the prior art has the problem of high use cost.
Disclosure of Invention
The application aims to provide a steering control method, a steering control device, an articulated vehicle and a storage medium, so as to solve the problem that the use cost of a user is high in the prior art.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, the present application provides a steering control method applied to a controller of an articulated vehicle, where the articulated vehicle includes equal numbers of wheels and motors, each motor is connected to one wheel, and the controller is electrically connected to each motor; the steering control method includes:
receiving a steering control instruction, wherein the steering control instruction comprises steering vehicle speed information, dynamic angular speed information and steering angle information;
determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model;
determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, a preset wheel base and a dynamic model;
integrating the dynamic linear velocity and the static linear velocity of each wheel to determine a rotational velocity of each wheel;
and controlling the rotating speed of each motor according to the rotating speed of each wheel.
In a second aspect, the present application provides a steering control device applied to a controller of an articulated vehicle, where the articulated vehicle includes an equal number of wheels and motors, each motor is connected to one wheel, and the controller is electrically connected to each motor; the steering control device includes:
the signal receiving unit is used for receiving a steering control instruction, wherein the steering control instruction comprises steering vehicle speed information, dynamic angular speed information and steering angle information;
the processing unit is used for determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model;
the processing unit is also used for determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, the preset wheel base and the dynamic model;
the processing unit is further configured to integrate the dynamic linear velocity and the static linear velocity of each wheel to determine a rotational velocity of each wheel;
the processing unit is also used for controlling the rotating speed of each motor according to the rotating speed of each wheel.
In a third aspect, embodiments of the present application provide an articulated vehicle, the electronic device comprising a memory for storing one or more programs; a processor that, when executed by the one or more programs, implements the steering control method described above.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steering control method described above.
Compared with the prior art, the method has the following beneficial effects:
the application provides a steering control method, a device, an articulated vehicle and a storage medium, wherein the steering control method is applied to a controller of the articulated vehicle, the articulated vehicle comprises wheels and motors which are equal in number, each motor is connected with one wheel, and the controller is electrically connected with each motor; firstly, receiving a steering control instruction, wherein the steering control instruction comprises steering vehicle speed information, dynamic angular velocity information and steering angle information, then determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model, then determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, the preset wheel base and the dynamic model, then integrating the dynamic linear velocity and the static linear velocity of each wheel to determine the rotating speed of each wheel, and finally controlling the rotating speed of each motor according to the rotating speed of each wheel. As the application aims at the articulated vehicle, a steering mechanism and a differential mechanism are cancelled, and the control of differential and steering is realized by adopting a software algorithm mode, thereby achieving the effect of reducing the cost of users.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic steering diagram of an articulated vehicle according to an embodiment of the present application.
Fig. 2 is a schematic flowchart of a steering control method according to an embodiment of the present disclosure.
Fig. 3 is a flowchart illustrating the sub-steps of S104 in fig. 2.
Fig. 4 is a schematic analysis diagram of a static model provided in the embodiment of the present application.
Fig. 5 is an analysis diagram of a dynamic model provided in an embodiment of the present application.
Fig. 6 is a block diagram of a steering control device according to an embodiment of the present disclosure.
In the figure: 200-a steering control device; 210-a signal receiving unit; 220-processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.
As described in the background art, in a conventional engineering vehicle, such as an excavator and other vehicles, steering and differential control are realized through a special steering mechanism and a differential mechanism, and the steering mechanism and the differential mechanism have high cost, complex mechanical structure, high energy consumption, need of regular maintenance, and high use cost for users.
In view of this, in order to reduce the use cost of the user, the present application provides a steering control method, which achieves the effect of reducing the user cost by canceling the steering mechanism and the differential mechanism of the engineering vehicle and by adopting a software algorithm to control the differential and the steering.
It should be noted that the steering control method provided in the present application is applied to an articulated vehicle, please refer to fig. 1, the articulated vehicle includes a front axle, a rear axle, a front axle arm, and a rear axle arm, the front axle is articulated with the rear axle, if the articulation point O is a joint between the front axle and the rear axle, the front axle is further connected with the front axle arm, the rear axle is further connected with the rear axle arm, meanwhile, two ends of the front axle arm are respectively connected with two front wheels (a wheel a and a wheel B in the drawing), and two ends of the rear axle arm are respectively connected with two rear wheels (a wheel C and a wheel D in the drawing). When the vehicle moves straight, as shown by the wheel a and the wheel B in the dotted line position in the figure, the front axle is parallel to the rear axle, when the vehicle turns, for example, when the vehicle turns left or right or turns around, the front axle and the rear axle rotate relative to the hinge point O, and an included angle is formed between the front axle and the rear axle and is not parallel any more.
In addition, the articulated vehicle provided by the application can realize four-wheel independent drive, namely the articulated vehicle comprises wheels, a controller and motors (not shown), the number of the motors is the same as that of the wheels, each motor is connected with one wheel, and the controller is electrically connected with each motor respectively. And then when controlling the vehicle to turn, the controller can control the control of each motor respectively, and then realizes the independent control to the wheel.
It should be noted that, in the actual working process, the rotation speeds of the two first side wheels are equal, the rotation speeds of the two second side wheels are equal, the first side wheels include a pair of front wheels and rear wheels located on the same side, the second side wheels include a front wheel and a rear wheel located on the other side, and the rotation speeds of the first side wheels and the second side wheels are not equal. As shown in the figure, the wheel a and the wheel C are both first side wheels, and the wheel B and the wheel D are outer wheels, on this basis, the rotation speeds of the wheel a and the wheel C are equal, the rotation speeds of the wheel B and the wheel D are equal, and the rotation speeds of the wheel a and the wheel B are not equal. The wheel a and the wheel D are wheels on the same diagonal line, and the wheel B and the wheel C are wheels on the same diagonal line.
The following is an exemplary description of the steering control method provided by the present application:
as an implementation manner, referring to fig. 2, the steering control method includes:
s102, receiving a steering control command, wherein the steering control command comprises steering vehicle speed information, dynamic angular speed information and steering angle information.
And S104, determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model.
And S106, determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, the preset wheel base and the dynamic model.
And S108, integrating the dynamic linear velocity and the static linear velocity of each wheel to determine the rotating speed of each wheel.
And S110, controlling the rotating speed of each motor according to the rotating speed of each wheel.
It should be noted that, the controller described herein may be a vehicle control unit, and in an implementation manner, the articulated vehicle may be an autonomous vehicle, and on this basis, the articulated vehicle further includes an autonomous driving system, and when steering is required, the controller receives a steering control command sent by an upper autonomous driving system, where the steering control command includes relevant steering data, such as steering vehicle speed information, dynamic angular velocity information, and steering angle information.
The steering speed information refers to the running speed information of the whole vehicle in the steering process. When the steering is analyzed, a differential model and a steering model are needed to be used for analysis respectively so as to replace a differential mechanism and a steering mechanism in the prior art. The differential model is a static analysis in the steering process and mainly based on the analysis of the articulated vehicle and the ground, and once the articulated vehicle is in a steering state, the differential model can be analyzed by the differential model, so that the differential model can also become the static model.
The steering model is a dynamic analysis in the steering process and is mainly based on the analysis of the articulated vehicle in the moving process, once the articulated vehicle turns and starts to move, the articulated vehicle can be analyzed by using the steering model, so that the steering model can also become a dynamic model, and when the articulated vehicle actually turns, the dynamic model is superposed under a static model and finally integrated to determine the speed of each wheel.
In view of this, when the steering control is performed, the static linear velocity of each wheel is determined according to the steering angle information, the steering vehicle speed information, and the preset static model, then the dynamic linear velocity of each wheel is determined according to the dynamic angular velocity information, the preset wheel base, and the dynamic model, the dynamic linear velocity of each wheel is integrated with the static linear velocity, and then the rotational speed of each wheel is determined. Certainly, each motor is connected with one wheel, so that the rotating speed of the corresponding motor can be determined after the rotating speed of each wheel is determined, and further the steering control is realized.
It can be understood that, unlike the prior art, the present application implements steering control in a software algorithm manner, in which the differential mechanism is replaced with a static model, and the steering mechanism is replaced with a dynamic model, which saves costs and makes the structure of the articulated vehicle simpler.
Referring to fig. 3, as an implementation manner, S104 includes:
s1041, determining a static angular velocity of a midpoint of a front axle arm according to the steering angle information, the steering vehicle speed information, the front axle length and the rear axle length; wherein the static angular velocity of the front axle arm midpoint is equal to the static angular velocity of the wheel.
S1042, determining static linear velocities of the first wheel, the second wheel, the third wheel, and the fourth wheel according to the static angular velocities of the wheels, the wheelbase of the wheels, the steering angle information, the front axle length, and the rear axle length, respectively.
In this application, the wheels include a first wheel, a second wheel, a third wheel and a fourth wheel, and the first wheel and the second wheel are located on the same side, and the third wheel and the fourth wheel are located on the same side. The first wheel and the third wheel are located on the same diagonal line, and the second wheel and the fourth wheel are located on the same diagonal line. Since the static linear velocities of the wheels on the same side are equal in the static analysis, the static linear velocities of the first wheel and the second wheel are equal, and the static linear velocities of the third wheel and the fourth wheel are equal.
In the static analysis process, the vehicle can be regarded as moving around a point on the ground as a center of a circle, on the basis, although the static linear velocities of the wheels on different sides are different, the wheels on different sides are all on the same axis, for example, the wheels a and B shown in fig. 1 are both located at both ends of the front arm, and the wheels C and D are both located at both ends of the rear arm, so that they can all be regarded as moving around the same axis, in other words, the static angular velocities of the wheels a and B are the same. On this basis, the static angular velocity of the wheel may be determined, and then the linear velocity of the wheel may be determined by the formula V = W R, where V represents the line angle of the wheel, W represents the angular velocity of the wheel, and R represents the radius of the wheel as it rotates relative to the ground.
The determination of the static linear velocity is exemplarily illustrated below by drawing the form of the auxiliary line:
as an implementation manner, please refer to fig. 4, in the static analysis process, a static model is used for analysis, fig. 4 is an analysis schematic diagram of the static model, the articulated vehicle uses a point X as a circle center, in the illustration, B represents a wheel base length of a wheel, and it can be understood that a wheel base between a wheel a and a wheel B is B, and a wheel base between a wheel C and a wheel D is also B.
As can be seen from the figure, R = (Lf × cos α + Lr)/sin α;
meanwhile, the static angular velocity of the midpoint of the front axle arm can be determined as follows:
wherein, ω is Quiet The static angular speed of the midpoint of the front axle arm is represented, the steering vehicle speed information is represented by V, the front axle length is represented by Lf, the rear axle length is represented by Lr, and the steering angle information is represented by alpha. Wherein Lr and Lf may be equal or unequal, and are not specifically limited herein.
Meanwhile, the midpoint of the front axle arm, the wheel B and the wheel A are both positioned on the front axle arm, so that the static angular velocities of the wheel B and the wheel A are equal to the static angular velocity of the midpoint of the front axle arm.
If the wheel a is used for the first side wheel and the wheel B is used for the second side wheel, the static angular velocities of the two wheels are the same, but the static linear velocities are related to the radius, and the radii of the wheel a and the wheel B from the circle center X are different, so that the static linear velocities of the first side wheel and the second side wheel need to be determined respectively.
Wherein, from the relationship between angular velocity and linear velocity:
linear velocity = angular velocity radius and the distance between wheel a, wheel B and the midpoint of the front axle arm is B/2, so that the radius of the second side wheel is R + B/2 in fig. 4 and the radius of the first side wheel is R-B/2 in fig. 4. It can be seen that the static linear velocity of the first wheel and the second wheel satisfies the formula:
the static linear velocity of the third wheel and the fourth wheel satisfies the formula:
wherein, V Inner part Representing the static linear velocity, V, of the first or second wheel Outer cover Representing the static linear velocity of the third or fourth wheel and B representing the wheelbase of the wheel.
As an implementation manner, please refer to fig. 5, in the dynamic analysis process, a dynamic model is used for analysis, the dynamic model provided in the present application is a steering model, i.e., a model moving in the steering process, fig. 5 is an analysis schematic diagram of the dynamic model, in the moving process, an articulated vehicle takes an articulated point as a circle center, in the diagram, B represents a wheel base length of a wheel, and it can be understood that a wheel base between a wheel a and a wheel B is B, and a wheel base between a wheel C and a wheel D is B. V ωf Indicating the decomposition of the steering speed into a speed in the same direction as the wheel rotation, V ω Indicating the speed at which the wheel rotates about the centre of articulation.
As can be seen from fig. 5, the dynamic linear velocity of the wheel D satisfies the formula:
V ωf ＝V ω ×sinβ....1
V ω ＝ω movable part ×r....3
After the formula 2 and the formula 3 are substituted into the formula 1, the dynamic linear velocity of the wheel D satisfies the formula:
wherein, V wf Representing dynamic linear velocity, omega, of a wheel Movable part Indicating dynamic angular velocity information, and B indicating the wheel base of the wheel.
Because the dynamic linear velocity of each wheel is the same, the dynamic linear velocity of each vehicle satisfies the formula:
it should be noted that, the wheel D is taken as an example, and the dynamic linear velocity of the wheel is analyzed, but of course, in an actual application process, other wheels may also be used for analysis, for example, the wheel B is used for analysis, and the analysis results are consistent, and are not described herein again.
As an implementation manner, when the dynamic linear velocity and the static linear velocity of each wheel are integrated to obtain the wheel rotation speed, the rotation speed of each wheel is different, where the first wheel and the third wheel are located on the same diagonal line, the second wheel and the fourth wheel are located on the same diagonal line, and the rotation speed of the first wheel or the third wheel satisfies the formula:
V2＝V1-V wf
the rotational speed of the second wheel or the fourth wheel satisfies the formula:
V3＝V4+V wf
wherein V2 represents a rotational speed of the first wheel or the third wheel, and V1 represents a static linear velocity of the first wheel or the third wheel; v3 represents the rotational speed of the second or fourth wheel, V4 represents the static linear velocity of the second or fourth wheel; v wf Representing the dynamic linear velocity of each wheel.
It is understood that the rotation speed determined by the above formula is not the same for each wheel. After the wheel rotation speed is determined, the rotation speed of the motor can be determined according to the rotation speed relationship between the wheel and the motor, for example, the rotation speed of the motor is 10 times of the wheel rotation speed, the rotation speeds of different motors can be determined according to the multiple relationship, and the controller controls the motor to act. Note that the mechanical structure of different vehicles is different, and the relationship between the motor rotation speed and the wheel rotation speed is also different.
Based on the above implementation manner, please refer to fig. 6, an embodiment of the present application further provides a steering control apparatus 200, which is applied to a controller of an articulated vehicle, where the articulated vehicle includes wheels and motors with equal numbers, each motor is connected to one wheel, and the controller is electrically connected to each motor; the steering control device 200 includes:
the signal receiving unit 210 is configured to receive a steering control command, where the steering control command includes steering vehicle speed information, dynamic angular speed information, and steering angle information.
It is understood that S102 may be performed by the signal receiving unit 210.
And the processing unit 220 is configured to determine the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model.
It is understood that S104 may be performed by the processing unit 220.
The processing unit 220 is further configured to determine a dynamic linear velocity of each wheel according to the dynamic angular velocity information, a preset wheel base and the dynamic model.
It is understood that S106 may be performed by the processing unit 220.
The processing unit 220 is further configured to integrate the dynamic linear velocity and the static linear velocity of each wheel to determine the rotational velocity of each wheel.
It is understood that S108 may be performed by the processing unit 220.
The processing unit 220 is further configured to control the rotation speed of each motor according to the rotation speed of each wheel.
It is understood that S110 may be performed by the processing unit 220.
Naturally, each step in the above implementation manner has a corresponding functional module, and since the above embodiment has been described in detail, no further description is provided herein.
In summary, the present application provides a steering control method, a device, an articulated vehicle and a storage medium, the steering control method is applied to a controller of the articulated vehicle, the articulated vehicle comprises wheels and motors with equal number, each motor is connected with one wheel, and the controller is electrically connected with each motor; firstly, receiving a steering control instruction, wherein the steering control instruction comprises steering vehicle speed information, dynamic angular velocity information and steering angle information, then determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model, then determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, the preset wheel base and the dynamic model, integrating the dynamic linear velocity and the static linear velocity of each wheel to determine the rotating speed of each wheel, and finally controlling the rotating speed of each motor according to the rotating speed of each wheel. As the application aims at the articulated vehicle, a steering mechanism and a differential mechanism are cancelled, and the control of differential and steering is realized by adopting a software algorithm mode, thereby achieving the effect of reducing the cost of users.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic disk or optical disk, etc. for storing program codes. Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected by one skilled in the art without departing from the spirit and scope of the invention, as defined in the appended claims.
Claims (4)
1. A steering control method, characterized by being applied to a controller of an articulated vehicle, wherein the articulated vehicle comprises equal numbers of wheels and motors, each motor is connected with one wheel, and the controller is electrically connected with each motor; the steering control method includes:
receiving a steering control instruction, wherein the steering control instruction comprises steering vehicle speed information, dynamic angular speed information and steering angle information;
determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model;
the articulated vehicle further comprises a front axle, a rear axle, a front axle arm and a rear axle arm, wherein the front axle is articulated with the rear axle, the front axle arm and the rear axle arm are respectively connected with the wheels, the front axle is further connected with the front axle arm, and the rear axle is further connected with the rear axle arm;
determining the static angular speed of the midpoint of the front axle arm according to the steering angle information, the steering vehicle speed information, the front axle length and the rear axle length; wherein the static angular velocity of the midpoint of the front bridge arm is equal to the static angular velocity of the wheel;
the static angular velocity satisfies the formula:
wherein, the first and the second end of the pipe are connected with each other,
it is shown that the static angular velocity,
the length of the front axle is shown,
the length of the rear axle is indicated,
indicating the information of the vehicle speed at the time of steering,
indicating steering angle information;
determining static linear velocities of the first wheel, the second wheel, the third wheel and the fourth wheel according to the static angular velocity of the wheels, the wheelbase of the wheels, the steering angle information, the front axle length and the rear axle length;
the first wheel and the second wheel are located on the same side, the third wheel and the fourth wheel are located on the same side, and the static linear velocities of the first wheel and the second wheel both satisfy the formula:
the static linear velocities of the third wheel and the fourth wheel both satisfy the formula:
wherein the content of the first and second substances,
representing the static linear velocity of the first wheel or the second wheel,
representing the static linear velocity of the third wheel or the fourth wheel, B representing the wheel base of the wheel; determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, the preset wheel base and the dynamic model; wherein the dynamic linear velocity of each wheel satisfies the formula:
wherein the content of the first and second substances,
which represents the dynamic linear velocity of the wheel,
representing dynamic angular velocity information, B representing the wheel base of the wheel;
integrating the dynamic linear velocity and the static linear velocity of each wheel to determine a rotational velocity of each wheel;
controlling the rotating speed of each motor according to the rotating speed of each wheel;
the wheels comprise a first wheel, a second wheel, a third wheel and a fourth wheel, the first wheel and the third wheel are located on the same diagonal line, the second wheel and the fourth wheel are located on the same diagonal line, and the rotating speed of the first wheel or the third wheel satisfies the formula:
the rotational speed of the second wheel or the fourth wheel satisfies the formula:
wherein V2 represents a rotational speed of the first wheel or the third wheel, and V1 represents a static linear velocity of the first wheel or the third wheel; v3 represents the rotational speed of the second or fourth wheel, V4 represents the static linear velocity of the second or fourth wheel;
representing the dynamic linear velocity of each wheel.
2. A steering control apparatus, characterized by a controller for an articulated vehicle comprising an equal number of wheels and motors, each motor being connected to one of the wheels, the controller being electrically connected to each motor; the steering control device includes:
the signal receiving unit is used for receiving a steering control instruction, wherein the steering control instruction comprises steering vehicle speed information, dynamic angular speed information and steering angle information;
the processing unit is used for determining the static linear velocity of each wheel according to the steering angle information, the steering vehicle speed information and a preset static model;
the articulated vehicle further comprises a front axle, a rear axle, a front axle arm and a rear axle arm, wherein the front axle is articulated with the rear axle, the front axle arm and the rear axle arm are respectively connected with the wheels, the front axle is further connected with the front axle arm, and the rear axle is further connected with the rear axle arm;
determining the static angular speed of the midpoint of the front axle arm according to the steering angle information, the steering vehicle speed information, the front axle length and the rear axle length; wherein the static angular velocity of the front arm midpoint is equal to the static angular velocity of the wheel;
the static angular velocity satisfies the formula:
wherein, the first and the second end of the pipe are connected with each other,
it is shown that the static angular velocity,
the length of the front axle is shown,
the length of the rear axle is shown,
indicating the information of the vehicle speed at the time of steering,
indicating steering angle information;
determining static linear velocities of the first wheel, the second wheel, the third wheel and the fourth wheel according to the static angular velocities of the wheels, the wheelbases of the wheels, the steering angle information, the front axle length and the rear axle length;
the first wheel and the second wheel are located on the same side, the third wheel and the fourth wheel are located on the same side, and the static linear velocities of the first wheel and the second wheel both satisfy the formula:
the static linear velocities of the third wheel and the fourth wheel both satisfy the formula:
wherein the content of the first and second substances,
representing the static linear velocity of the first wheel or the second wheel,
representing the static linear velocity of the third wheel or the fourth wheel, B representing the wheel base of the wheel; the processing unit is also used for determining the dynamic linear velocity of each wheel according to the dynamic angular velocity information, the preset wheel base and the dynamic model;
wherein the dynamic linear velocity of each wheel satisfies the formula:
wherein, the first and the second end of the pipe are connected with each other,
which is indicative of the dynamic linear velocity of the wheel,
display movementAttitude angular velocity information, B representing the wheel base of the wheel;
the processing unit is further configured to integrate the dynamic linear velocity and the static linear velocity of each wheel to determine a rotational velocity of each wheel;
the processing unit is also used for controlling the rotating speed of each motor according to the rotating speed of each wheel;
the wheels comprise a first wheel, a second wheel, a third wheel and a fourth wheel, the first wheel and the third wheel are located on the same diagonal line, the second wheel and the fourth wheel are located on the same diagonal line, and the rotating speed of the first wheel or the third wheel satisfies the formula:
the rotational speed of the second wheel or the fourth wheel satisfies the formula:
wherein V2 represents a rotational speed of the first wheel or the third wheel, and V1 represents a static linear velocity of the first wheel or the third wheel; v3 represents the rotational speed of the second or fourth wheel, V4 represents the static linear velocity of the second or fourth wheel;
representing the dynamic linear velocity of each wheel.
3. An articulated vehicle, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of claim 1.
4. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of claim 1.
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