CN113997929A - Steering control method, system and device for PRT vehicle - Google Patents
Steering control method, system and device for PRT vehicle Download PDFInfo
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- CN113997929A CN113997929A CN202111383648.8A CN202111383648A CN113997929A CN 113997929 A CN113997929 A CN 113997929A CN 202111383648 A CN202111383648 A CN 202111383648A CN 113997929 A CN113997929 A CN 113997929A
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- 238000000034 method Methods 0.000 title claims description 20
- 230000000087 stabilizing effect Effects 0.000 claims description 38
- 238000013016 damping Methods 0.000 claims description 30
- 230000005484 gravity Effects 0.000 claims description 8
- 230000006641 stabilisation Effects 0.000 claims description 8
- 238000011105 stabilization Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 4
- 238000013506 data mapping Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 9
- 238000012545 processing Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
Abstract
The present invention is directed to PRT vehicle steering designs. Four guide wheel mechanisms are arranged on the side of the vehicle, and when the vehicle normally runs, the side guide wheels are not in contact with the concave track. When the vehicle deviates from the front running track, the guide wheels contact with the side parts of the concave track to support the vehicle to prevent the vehicle from derailing, meanwhile, the pressure sensor on the guide wheel mechanism transmits signals to the steering stability controller, the controller analyzes and sends a control instruction to the vehicle steering mechanism through feedback signals, and the steering mechanism corrects the running direction of the vehicle, so that the normal running of the vehicle is ensured.
Description
Technical Field
The invention relates to a steering control method of concave rail Transit, in particular to a method, a system and a device for controlling vehicle stability during steering of a Personal Rapid Transit (PRT) vehicle.
Background
The PRT (Personal Rapid Transit) vehicle is a personalized vehicle which is intelligently controlled by a computer, is unmanned and runs on a special closed concave track network, and is a novel vehicle of an urban light concave track. Due to the use scene requirements, the PRT vehicle generally has the characteristic of vehicle and concave track miniaturization so as to reduce the construction and use cost. The problem of vehicle tracking and steering on a miniaturized "concave" track is difficult.
Aiming at the prior patent 1: the utility model provides a PRT hangs bogie structure of train and contains the operating system (CN 207617731U) of this bogie structure, this utility model discloses a PRT hangs bogie structure of train, and bogie structure adopts a style of calligraphy framework main part, consequently makes whole bogie structure have very little transverse dimension, and then also can effectively reduce the transverse dimension of walking beam among the suspension type monorail transit system. But this utility model's shortcoming is not embracing rail formula structure, and the bogie all is that the vertical scroll is articulated.
For prior patent 2: the invention discloses a walking steering device and an intelligent PRT traffic concave-shaped rail vehicle (CN 113212462A), wherein the steering mechanism comprises a power element, a first steering arm, a second steering arm and a linkage element; the linkage element is used for driving the first steering arm to fall on the left side of the chassis and simultaneously driving the second steering arm to lift on the right side of the chassis, or driving the first steering arm to lift on the left side of the chassis and simultaneously driving the second steering arm to fall on the right side of the chassis. The disadvantage of this invention is that the problem of the brake housing not being able to be arranged still remains.
Disclosure of Invention
The present invention is directed to PRT vehicle steering designs. Four guide wheel mechanisms are arranged on the side of the vehicle, and when the vehicle normally runs, the side guide wheels are not in contact with the concave track. When the vehicle deviates from the front running track, the guide wheels contact with the side parts of the concave track to support the vehicle to prevent the vehicle from derailing, meanwhile, the pressure sensor on the guide wheel mechanism transmits signals to the steering stability controller, the controller analyzes and sends a control instruction to the vehicle steering mechanism through feedback signals, and the steering mechanism corrects the running direction of the vehicle, so that the normal running of the vehicle is ensured.
As a first aspect, the present invention provides a steering control method of a PRT vehicle, the method steps of which are as follows:
starting a vehicle steering stabilizing system, and acquiring a pressure value acquired by a pressure sensor on a guide wheel in real time, wherein the guide wheel is arranged at any end of a wheel bearing of a vehicle;
when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system controls a steering system to correct the running posture of the vehicle;
when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilizing system releases the control of the steering system.
With reference to the first aspect, in any case that the first condition may occur is that, when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold, the vehicle steering stabilizing system controls a disc damper built in the vehicle, and controls the gravity center of the vehicle to shift in a direction opposite to the inertia of the vehicle during steering by adjusting the position of a damping block in the disc damper, so as to counteract the inertia of the vehicle during steering, thereby reducing the shift of the vehicle due to steering and maintaining the stability of the vehicle during steering;
when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilizing system controls a damping block in a disc type damper arranged in the vehicle to reset, so that the gravity center of the vehicle resets;
the vehicle steering stabilizing system is preset with data mapping of pressure values and damping block positions, and selects corresponding damping block position data according to the acquired real-time pressure value data to perform positioning control on the damping blocks.
With reference to the first aspect or the first case described above, a second case in any case that may occur is that the start condition of the vehicle steering stabilization system is: the track recognition device at the front part of the vehicle recognizes the trend of a concave track in front of the vehicle in a recognition area of the track recognition device in real time, and when recognizing that the concave track in front of the vehicle changes direction, a vehicle steering stabilizing system is started; when the concave track in front of the vehicle is recognized to finish turning, namely the curve is changed into a straight track, the steering stabilizing system is enabled to enter a standby state.
As a second aspect, the present invention discloses a steering control system of a PRT vehicle, comprising:
the steering stability controller is used for acquiring real-time pressure data transmitted by a pressure sensor on a guide wheel arranged at a wheel bearing of a vehicle when a vehicle steering stability system is started, acquiring a preset position of a damping block built in the disc type damper after data processing, and positioning;
the pressure sensor is used for monitoring the pressure value between the wheel and the inner side wall of the concave track in real time and transmitting the pressure value to the steering stability controller;
and the guide wheels are used for reducing the friction between the wheels and the inner wall of the concave track and adjusting the stability of the vehicle.
In combination with the second aspect, in any case where this may occur, the third aspect is that the guide wheel comprises: guide wheels with pressure sensors are respectively arranged at two ends of a front wheel bearing of the vehicle; or two ends of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the left end of the front wheel bearing and the right end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the right end of the front wheel bearing and the left end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the two ends of the front wheel bearing and the two ends of the rear wheel bearing of the vehicle are provided with four guide wheels with pressure sensors.
In combination with the second aspect or the third aspect, a fourth aspect in any case where this may occur is,
the system also comprises a disc type damper, the steering stability controller processes data according to the real-time pressure value acquired by the pressure sensor, selects the preset position of the corresponding damping block, controls the damping block to position, and is used for offsetting the inertia of the vehicle during steering by changing the gravity center of the vehicle and adjusting the stability of the vehicle.
In combination with the second aspect or the third or fourth aspect above, in any case where a fifth aspect thereof may occur, the system further comprises: the track identification system is used for triggering the steering stabilization controller, identifying the direction of a concave track in front of the vehicle in real time, and triggering the steering stabilization controller when identifying that the concave track in front of the vehicle changes direction; and when recognizing that the concave track in front of the vehicle finishes changing direction, enabling the steering stability controller to enter a standby state.
As a third aspect, the present invention discloses a computer readable storage medium storing one or more programs, characterized in that the computer readable storage medium stores one or more program instructions, which when executed by a processor, perform any of the methods of the first aspect.
As a fourth aspect, the present invention discloses a PRT vehicle equipped with the storage medium of the third aspect and the above-described system that operates according to instructions in the storage medium.
The invention has the beneficial effects that:
the invention ensures the stability of the vehicle during deviation in the running process, senses the deviation information of the vehicle through the sensor arranged on the guide wheel, transmits the deviation signal of the vehicle to the steering stability controller, and the controller sends an instruction to the disc type damper to correct the running posture of the vehicle, thereby ensuring the stable running of the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a cross-sectional view of a "concave" type track;
FIG. 2 is a schematic view of a guide wheel structure;
FIG. 3 is a schematic structural view of a disc damper;
fig. 4 is a structural view of a PRT vehicle steering control system.
The attached drawings are as follows: 1- "concave" type track, 2-vehicle, 3-leading wheel, 4-pressure sensor, 5-disc type attenuator, 6-damping piece, 7-steering stability controller.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. It is obvious that the described embodiments are only some of the embodiments of the invention.
Example 1:
the invention provides a steering control method of a PRT vehicle, which is characterized by comprising the following steps:
starting a vehicle steering stabilizing system, and acquiring pressure values acquired by pressure sensors on four guide wheels on front and rear wheel shafts in real time;
when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system controls a steering system to correct the running posture of the vehicle; for example, when the vehicle deviates leftwards in the steering process, the vehicle steering stabilizing system controls the steering system to enable the wheels to turn rightwards, so that inertia generated by deviation is offset, the deviation amount of the vehicle is reduced, and the stability of the vehicle is kept;
when the offset of the vehicle is reduced, the pressure value monitored by the pressure sensor is reduced, and when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the steering stabilizing system of the vehicle releases the control of the steering system.
As shown in fig. 1, the track adopted by the invention is a concave track, the vehicle runs in the middle of the track groove, and four guide wheels are arranged on two sides of the front wheel bearing and the rear wheel bearing of the vehicle, so as to reduce the friction between the wheels and the inner wall of the concave track and adjust the stability of the vehicle. When the running direction of the vehicle deviates from a normal track and the deviation occurs, the guide wheel can be contacted with the side part of the track, so that the pressure sensor is pressed, and the change of the pressure value is generated.
Example 2:
on the basis of embodiment 1, the present embodiment provides an improvement of a steering control method of a PRT vehicle, the method steps are as follows:
the track recognition device at the front part of the vehicle recognizes the concave track in front of the vehicle in real time, and when recognizing that the concave track in front of the vehicle changes direction, the vehicle steering stabilizing system is started.
And starting a vehicle steering stabilizing system, keeping real-time data communication with a pressure sensor on a guide wheel arranged at a wheel bearing of the vehicle, and acquiring a pressure value between the guide wheel and the inner side of the concave track transmitted by the pressure sensor in real time.
When the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system controls a disc type damper arranged in the vehicle, and controls the gravity center of the vehicle to shift towards the opposite direction of the inertia during steering by adjusting the position of a damping block in the disc type damper so as to offset the inertia of the vehicle during steering, thereby reducing the shift of the vehicle caused by steering and maintaining the stability of the vehicle during steering. The vehicle steering stabilizing system is preset with data mapping of pressure values and damping block positions, and selects corresponding damping block position data according to the acquired real-time pressure value data to perform positioning control on the damping blocks.
And when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle stability is proved to be restored to a normal state. At the moment, the vehicle steering stabilizing system controls the damping block in the disc type damper arranged in the vehicle to reset, so that the gravity center of the vehicle is reset.
And when the concave track in front of the vehicle is recognized to finish turning, namely the curve is changed into a straight track, the steering stabilizing system is enabled to enter a standby state until the concave track is recognized to turn again next time, and then the steering stabilizing system is started.
In the embodiment, four guide wheels with pressure sensors are arranged at two ends of the front wheel bearing and two ends of the rear wheel bearing of the vehicle. Similarly, the guide wheel with the pressure sensor can also be arranged according to the following scheme: guide wheels with pressure sensors are respectively arranged at two ends of a front wheel bearing of the vehicle; or two ends of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the left end of the front wheel bearing and the right end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the right end of the front wheel bearing and the left end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor.
As shown in fig. 2, a pressure sensor is arranged on a support of the guide wheel and feeds back a signal to a vehicle steering stabilizing system, a vehicle steering stabilizing controller of the vehicle steering stabilizing system analyzes a vehicle deviation position by processing a sensor signal, a damping block position signal is fed back to the vehicle steering stabilizing controller, and the vehicle steering stabilizing controller adjusts the position of the damping block to correct the vehicle to a preset running track.
As shown in fig. 3, the disc-type damper is mainly composed of a detachable circular box, a transmission bearing is arranged in the middle of the box, the transmission bearing is driven by a motor, and a damping block fixed on the transmission bearing is driven by the motor to move. When the steering stabilizing system moves to the preset position, the motor is locked, and then the damping blocks are locked and positioned together until the steering stabilizing system is controlled again to adjust the position. The damping block can control the overall gravity center of the vehicle to shift at different positions and is deviated to the side opposite to the steering inertia. The phenomenon that the wheels contacting with the tracks need to bear excessive pressure due to the inertia effect when the vehicle turns is avoided, the structure and the service life of the wheels are greatly influenced, and even the vehicle can turn over on one side is possibly caused.
The start of the vehicle steering stabilizing system is mainly controlled by a track recognition device in front of the vehicle. The track recognition device can recognize the trend of the concave track in front of the vehicle in real time. If the 'concave' track in the identification range is in a straight line, the track identification device does not start the vehicle steering stabilizing system or enables the vehicle steering stabilizing system to be in a standby state. Once the direction of the concave track in the identification range is found to be deviated to the left or the right, the vehicle is judged to enter the steering, and at the moment, the track identification device starts a vehicle steering stabilizing system to control the stability of the vehicle.
Example 3
As shown in fig. 4, the invention discloses a steering control system of a PRT vehicle, which comprises a steering control device of the PRT vehicle, wherein the steering control device in an activated state positions a damping block built in a disc type damper according to a real-time pressure value of a pressure sensor. The steering control system further comprises a track identification system, and the track identification system identifies the trend of the concave track in front of the vehicle in the identification area of the track identification system in real time, namely whether the vehicle is going straight or is steering leftwards or rightwards. Thereby controlling the start and standby of the steering control device.
A steering control device of a PRT vehicle includes:
the steering stability controller is used for acquiring real-time pressure data transmitted by a pressure sensor on a guide wheel arranged at a wheel bearing of the vehicle according to the method when a vehicle steering stability system is started, and acquiring a preset position of a damping block built in the disc type damper after data processing and positioning;
the pressure sensor is used for monitoring the pressure value between the wheel and the concave track in real time and transmitting the pressure value to the steering stability controller;
and the steering stability controller carries out data processing according to the real-time pressure value of the pressure sensor, selects a preset position of a damping block built in the disc type damper, and positions the damping block for offsetting inertia of the vehicle during steering.
The track recognition device is used for triggering the steering stabilization controller, recognizing the trend of a concave track in front of the vehicle in a recognition area of the track recognition device in real time, and triggering the steering stabilization controller when recognizing that the concave track in front of the vehicle changes direction; and when recognizing that the concave track in front of the vehicle finishes changing direction, enabling the steering stability controller to enter a standby state.
It should be understood that the above examples are only for illustrating the present invention and are not intended to limit the scope of the present invention. It should also be understood that various changes and modifications can be made by one skilled in the art after reading the disclosure of the present invention, and equivalents fall within the scope of the invention as defined by the appended claims.
Claims (9)
1. A steering control method for a PRT vehicle, characterized by the steps of:
starting a vehicle steering stabilizing system, and acquiring a pressure value acquired by a pressure sensor on a guide wheel in real time, wherein the guide wheel is arranged at any end of a wheel bearing of a vehicle;
when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system controls a steering system to correct the running posture of the vehicle;
when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilizing system releases the control of the steering system.
2. The steering control method of a PRT vehicle according to claim 1,
when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system also controls a disc type damper arranged in the vehicle, controls the gravity center of the vehicle to shift towards the opposite direction of steering inertia by adjusting the position of a damping block in the disc type damper, counteracts the inertia of the vehicle during steering and corrects the running posture of the vehicle;
when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilizing system controls the damping block in the disc type damper to reset;
the vehicle steering stabilizing system is preset with data mapping of pressure values and damping block positions, and selects corresponding damping block position data according to the acquired real-time pressure value data to perform positioning control on the damping blocks.
3. The steering control method of a PRT vehicle according to claim 1 or 2, wherein the start condition of the vehicle steering stabilization system is: the track recognition system at the front part of the vehicle recognizes the trend of a concave track in front of the vehicle in a recognition area of the track recognition system in real time, and when recognizing that the concave track in front of the vehicle changes direction, the vehicle steering stabilizing system is started; and when recognizing that the concave track in front of the vehicle finishes changing direction, controlling the steering stabilizing system to enter a standby state.
4. A steering control system of a PRT vehicle, comprising:
a steering stability controller for controlling the stability of a vehicle when the vehicle is steered according to the method of any one of the preceding claims 1 to 3,
the pressure sensor is used for monitoring the pressure value between the wheel and the concave track in real time and transmitting the pressure value to the steering stability controller;
and the guide wheels are used for reducing the friction between the wheels and the inner wall of the concave track and adjusting the stability of the vehicle.
5. The steering control system of a PRT vehicle according to claim 4, wherein said guide wheels comprise:
guide wheels with pressure sensors are respectively arranged at two ends of a front wheel bearing of the vehicle; or two ends of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the left end of the front wheel bearing and the right end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the right end of the front wheel bearing and the left end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the two ends of the front wheel bearing and the two ends of the rear wheel bearing of the vehicle are provided with four guide wheels with pressure sensors.
6. The steering control system of the PRT vehicle as claimed in claim 5, wherein the system further comprises a disc type damper, the steering stability controller processes data according to the real-time pressure value collected by the pressure sensor, selects the preset position of the corresponding damping block, and controls the damping block to position for adjusting the stability of the vehicle by changing the gravity center of the vehicle to offset the inertia of the vehicle during steering.
7. The steering control system of a PRT vehicle according to claim 5, further comprising:
the track identification system is used for triggering the steering stabilization controller, identifying the direction of a concave track in front of the vehicle in real time, and triggering the steering stabilization controller when identifying that the concave track in front of the vehicle changes direction; and when recognizing that the concave track in front of the vehicle finishes changing direction, enabling the steering stability controller to enter a standby state.
8. A computer readable storage medium storing one or more programs, the computer readable storage medium storing one or more program instructions, which when executed by a processor, perform the method of any of claims 1 to 3.
9. A PRT vehicle fitted with a storage medium as claimed in claim 8 and a system as claimed in any one of claims 4 to 7 operating in accordance with instructions in the storage medium.
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| CN202111383648.8A CN113997929B (en) | 2021-11-22 | 2021-11-22 | Steering control method, system and device for PRT vehicle |
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| CN202111383648.8A CN113997929B (en) | 2021-11-22 | 2021-11-22 | Steering control method, system and device for PRT vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115601854A (en) * | 2022-09-29 | 2023-01-13 | 上海蕴业信息科技有限公司（Cn） | Driving behavior recording and analyzing equipment and system |
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