CN114880762A

CN114880762A - Motion control method and device of two-wheeled vehicle and electronic equipment

Info

Publication number: CN114880762A
Application number: CN202210398039.8A
Authority: CN
Inventors: 项云飞; 张安春
Original assignee: Everything Mirror Beijing Computer System Co ltd
Current assignee: Everything Mirror Beijing Computer System Co ltd
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2022-08-09

Abstract

The disclosure relates to a motion control method and device of a two-wheel vehicle and electronic equipment, and belongs to the technical field of vehicle simulation and control. The motion control method of the two-wheeled vehicle comprises the following steps: acquiring power control parameters of a target component of the two-wheeled vehicle; inputting the power control parameters into a preset two-wheel vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheel vehicle; the method comprises the steps that a preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene; and controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result and outputting the control result. The method and the device can realize the simulation of the motion of the two-wheel vehicle, and can control the motion of the two-wheel vehicle according to the given power control parameters.

Description

Motion control method and device of two-wheeled vehicle and electronic equipment

Technical Field

The disclosure belongs to the technical field of vehicle simulation and control, and particularly relates to a motion control method and device of a two-wheel vehicle and electronic equipment.

Background

With the rapid development of the unmanned industry, the requirements for vehicle simulation and control are more and more, and at present, more vehicle dynamics simulation software exists in the market, but most of the software is specific to four-wheel or more vehicles such as commercial vehicles and trucks;

the specific method of how to establish the physical model of the two-wheeled vehicle to simulate and control the motion of the two-wheeled vehicle in various virtual complex environments is not discussed fully, the whole description of the motion of a human and a vehicle on a road is not described, the motion simulation of the two-wheeled vehicle (such as a bicycle) cannot be realized, the motion of the two-wheeled vehicle cannot be effectively controlled, and the actual requirements cannot be met.

Disclosure of Invention

The disclosed embodiment aims to provide a motion control method and device for a two-wheeled vehicle and electronic equipment, and solves the problems that motion simulation of the two-wheeled vehicle cannot be realized, the motion track, the motion attitude, the dynamic load and the like of the two-wheeled vehicle cannot be effectively controlled, and actual requirements cannot be met in the prior art.

In a first aspect, an embodiment of the present disclosure provides a motion control method for a two-wheeled vehicle, including:

acquiring power control parameters of a target component of the two-wheeled vehicle;

inputting the power control parameters into a preset two-wheel vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheel vehicle; the method comprises the following steps that a preset two-wheeled vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheeled vehicle and the description of a target motion scene;

and controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result.

Optionally, modeling according to the degree of freedom of a target component of the two-wheeled vehicle and the description of the target motion scene to obtain a preset motion simulation model of the two-wheeled vehicle, includes:

acquiring the total degree of freedom of the target component of the two-wheeled vehicle according to the constraint relation between the target components of the two-wheeled vehicle;

obtaining the description of a target motion scene of a target component of the two-wheeled vehicle according to the motion relation of the target component of the two-wheeled vehicle;

obtaining a preset two-wheel vehicle motion simulation model according to the description of the target motion scene;

wherein the description of the object motion scene comprises: speed of motion of two-wheeled vehicle

And the rotational angular velocity of the rear frame of the two-wheeled vehicle

Description of the relationship between,

Attitude of two-wheeled vehicle under global coordinate system

Describing the relationship between the two wheels and a motion balance equation of the two wheels in a target motion state;

represents the longitudinal coordinate parameters of the two-wheel vehicle under a global coordinate system,

is a transverse coordinate parameter of the two-wheel vehicle under a global coordinate system,

the vertical coordinate parameter of the two-wheel vehicle under the global coordinate system is shown,

position coordinate parameters of the two-wheeled vehicle under a global coordinate system are obtained; delta is the angle around the X-axis of the two-wheeled vehicle, theta is the angle around the Y-axis of the two-wheeled vehicle,

is the angle about the Z-axis of the two-wheeled vehicle; the target member includes: at least one of a rear wheel, a rear frame, a front wheel, and a pedal.

Optionally, acquiring the total degree of freedom of the target component of the two-wheeled vehicle according to the constraint relationship between the target components of the two-wheeled vehicle comprises:

by the formula: obtaining the total degree of freedom of a target part of the two-wheeled vehicle by using the L-M1 × a-M2 × M1; wherein L is the total degree of freedom of the target components, M1 is the number of the target components, a is the total number of position parameters and attitude parameters of the two-wheeled vehicle under the global coordinate system, and M2 is the number of constraint hardware among the target components;

and filtering the total degree of freedom according to the constraint relation among the motion parameters of the target component of the two-wheel vehicle to obtain the degree of freedom of the target component of the two-wheel vehicle.

Optionally, the filtering the total degree of freedom according to a constraint relation between motion parameters of the target components of the two-wheeled vehicle to obtain the degree of freedom of the target components of the two-wheeled vehicle includes:

obtaining the pedal rotation angular velocity omega of a two-wheeled vehicle ₀ With rear wheel speed omega ₁ First constraint relation between them, front wheel rotation speed omega ₂ With rear wheel speed omega ₁ A second constraint relation between the front frame and the rear frame, and a third constraint relation between the rotation angular speed omega of the rear frame around the Z axis and the rotation angle of the front frame;

and filtering the total degree of freedom according to at least one of the first constraint relation, the second constraint relation and the third constraint relation to obtain the degree of freedom of the target component of the two-wheel vehicle.

Optionally, the movement velocity v of the two-wheeled vehicle and the rotational angular velocity of the rear frame of the two-wheeled vehicle

The relationship description between the two, including:

wherein, ω is ₀ As angle of rotation of the pedalSpeed, ω ₁ Is the rear wheel speed, omega ₂ Is the rotating speed of the front wheel,

the rotational angular velocity is defined as i, and the transmission ratio of a transmission device of the two-wheeled vehicle is defined as i;

u ₁ is the front wheel center speed, u ₂ Is the rear wheel center speed;

R _r is the rear wheel radius, R _f Is the radius of the front wheel, alpha is the direction rotation angle;

l is the horizontal length between the front and rear axles, L _r The horizontal length from the center of mass to the rear axle;

the movement speed of the two-wheeled vehicle.

Alternatively,

attitude of two-wheeled vehicle under global coordinate system

The relationship description between the two, including:

wherein the content of the first and second substances,

in order to be a coordinate transformation matrix, the method comprises the following steps of,

is a unit direction vector.

Optionally, the equation of motion balance of the two-wheeled vehicle in the target motion state includes:

wherein, F _t As a driving force, F _fr Rolling resistance of the rear wheels, F _dr Is the rolling air resistance of the rear wheel, F _br As braking resistance of the rear wheel, F _w Beta is the angle of a ramp during the running of the two-wheeled vehicle, F _ff Rolling resistance of the front wheels, F _df Is the rolling air resistance of the front wheel, F _bf Is the braking resistance of the front wheel, alpha is the direction rotation angle, F _i Is the ramp resistance, m is the total mass of the two-wheel vehicle and the vehicle-mounted object,

is the longitudinal component of the acceleration and,

is the lateral component of the acceleration and,

in order to be the speed of the movement,

in order to rotate the angular velocity of the rotation,

is the rear wheel center speed u ₂ First derivative of, L _r Is the horizontal length from the center of mass to the rear wheel axle, L is the horizontal length between the front wheel axle and the rear wheel axle, g is the gravitational acceleration, and delta is the roll angle of the two-wheeled vehicle.

In a second aspect, an embodiment of the present disclosure provides a motion control device for a two-wheeled vehicle, the device including:

the acquisition module is used for acquiring power control parameters of a target component of the two-wheeled vehicle;

the processing module is used for inputting the power control parameters into a preset two-wheel vehicle motion simulation model to carry out motion simulation processing so as to obtain target motion data of the two-wheel vehicle; the method comprises the steps that a preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene; and controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result and outputting the control result.

Description of the relationship between,

Attitude of two-wheeled vehicle under global coordinate system

Optionally, a two-wheeled vehicleSpeed of movement of

The relationship description between the two, including:

wherein, ω is ₀ Is the angular velocity, omega, of the rotation of the pedal ₁ Is the rear wheel speed, omega ₂ The rotation speed of the front wheel is set,

u ₁ is the front wheel center speed, u ₂ Is the rear wheel center speed;

the movement speed of the two-wheeled vehicle.

Alternatively,

attitude of two-wheeled vehicle under global coordinate system

The relationship description between the two, including:

wherein the content of the first and second substances,

is a unit direction vector.

is the longitudinal component of the acceleration and,

is the lateral component of the acceleration and,

in order to be the speed of the movement,

in order to determine the angular velocity of rotation,

is the rear wheel center speed u ₂ First derivative of, L _r Is the horizontal length from the center of mass to the rear wheel axle, L is the front wheelThe horizontal length between the axle and the rear wheel axle, g is the gravitational acceleration, and δ is the roll angle of the two-wheeled vehicle.

In a third aspect, an embodiment of the present disclosure provides an electronic device, which includes a processor, a memory, and a program or an instruction stored in the memory and executable on the processor, where the program or the instruction when executed by the processor implements the steps of the motion control method for a two-wheeled vehicle as described above.

In a fourth aspect, the disclosed embodiments provide a readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps of the motion control method of the two-wheeled vehicle as described above.

In the embodiment of the disclosure, the power control parameters of the target component of the two-wheeled vehicle are obtained; inputting the power control parameters into a preset two-wheel vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheel vehicle; the method comprises the steps that a preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene; and controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result and outputting the control result. The problem of prior art can't realize the motion simulation of two wheeler, can't effectively control the motion trail, the motion gesture and the dynamic load etc. of two wheeler, can't satisfy actual demand is solved, realized carrying out the simulation to the motion of two wheeler, can be according to given power control parameter, control the motion of two wheeler.

Drawings

Fig. 1 is a schematic flow chart illustrating a method for controlling the motion of a two-wheeled vehicle according to an embodiment of the present disclosure;

FIG. 2 shows a schematic structural view of a target component of the two-wheeled vehicle of the present disclosure;

FIG. 3 is a schematic diagram illustrating basic parameters of a two-wheeled vehicle in a specific embodiment of the present disclosure;

FIG. 4 illustrates a schematic view of a motion analysis of a two-wheeled vehicle in a specific embodiment of the present disclosure;

FIG. 5 is a schematic diagram showing relevant parameters of the movement of the two-wheeled vehicle on a slope in a specific embodiment of the present disclosure;

FIG. 6 is a force diagram illustrating the movement of a two-wheeled vehicle on a grade in an exemplary embodiment of the present disclosure;

FIG. 7 is a schematic view of a two-wheeled vehicle motion profile in a specific embodiment of the present disclosure;

FIG. 8 is a schematic structural view of a motion control device of a two-wheeled vehicle according to an embodiment of the present disclosure;

fig. 9 shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure;

fig. 10 shows a hardware structure diagram of an electronic device provided by an embodiment of the disclosure;

description of reference numerals:

21-rear wheel; 22-a rear frame; 23-a front frame; 24-a front wheel; 25-a pedal; 26-a transmission; 27-brake mechanism.

Detailed Description

Technical solutions in the embodiments of the present disclosure will be clearly described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments derived by one of ordinary skill in the art from the embodiments disclosed herein are intended to be within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present disclosure are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the disclosure may be practiced other than those illustrated or described herein, and that the objects identified as "first," "second," etc. are generally a class of objects and do not limit the number of objects, e.g., a first object may be one or more. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The method mainly comprises the steps that the two-wheeled vehicle is modeled based on a physical model and a virtual scene of the two-wheeled vehicle to obtain a preset two-wheeled vehicle motion simulation model, power control parameters of a target component of the two-wheeled vehicle are input into the preset two-wheeled vehicle motion simulation model, target motion data of the two-wheeled vehicle can be obtained, and then the motion of the two-wheeled vehicle is controlled; the physical model is a conceptual model which is constructed by adequately analyzing a material model and a process model of the two-wheeled vehicle, adaptively abandoning secondary factors in the motion process of the two-wheeled vehicle and extracting and establishing main factors in the motion process of the two-wheeled vehicle.

In addition, the material model of the two-wheeled vehicle comprises a solid material model of the two-wheeled vehicle and a virtual material model of the two-wheeled vehicle, wherein the solid material model commonly comprises target components, particles and the like, and the virtual material model commonly comprises a gravitational field in which the two-wheeled vehicle is positioned and the like; the process model of the two-wheeled vehicle refers to the motion state of the two-wheeled vehicle during motion, such as uniform linear motion, uniform speed changing linear motion, uniform circular motion and the like; in the present disclosure, the physical model of the two-wheeled vehicle is not limited, and in one possible implementation, the physical model of the two-wheeled vehicle is set to a physical model corresponding to the physical model of the two-wheeled vehicle in a real scene;

the preset two-wheel vehicle motion simulation model related in the embodiment of the present disclosure may be applied to a UE4 (unknown Engine/UE) Engine, i.e., a ghost Engine, but is not limited to the Engine, and may also be applied to any application or device that can establish the preset two-wheel vehicle motion simulation model. The virtual scene related to the present disclosure may be a three-dimensional virtual space where the simulated two-wheel vehicle is located, or may be an open space, which is not limited in the present disclosure; the virtual scene may be a real environment in a simulated reality, and of course, in a possible implementation manner, the virtual scene may also correspond to a real scene, and the virtual scene may also support time control, may perform free adjustment at night or in the daytime, may also support a weather system, and may set a sunny day, a rainy day, a snowy day, a foggy day, and the like.

In addition, a global coordinate system related to the disclosure can also be called as a world coordinate system, and is a coordinate system where a three-dimensional space object is located, and vertex coordinates of a preset two-wheel vehicle motion simulation model in the disclosure are expressed based on the global coordinate system; the two-wheel vehicle coordinate system is a local coordinate system, is opposite to a global coordinate system, the local coordinate system takes the center of an object in the coordinate system as a coordinate origin, and the operations of rotation, translation and the like of the object are all carried out around the local coordinate system.

The following describes a method, an apparatus, and an electronic device for controlling the motion of a two-wheeled vehicle according to embodiments of the present disclosure in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

Fig. 1 is a flowchart of a motion control method for a two-wheeled vehicle according to an embodiment of the disclosure, and referring to fig. 1, the method may include the following steps:

step 101, power control parameters of a target component of the two-wheel vehicle are obtained.

FIG. 2 is a schematic view of a target component of the two-wheeled vehicle in a specific embodiment of the present disclosure; as shown in fig. 2, the target component of the two-wheeled vehicle includes at least one of: a rear wheel 21; a rear frame 22; a front frame 23; a front wheel 24; a pedal 25.

Among the target components of the two-wheeled vehicle, the rear wheel 21 is used to convert the rotation of the pedals 25 into the forward power of the two-wheeled vehicle; the rear frame 22 is used for realizing the connection between each part of the two-wheel vehicle; the front frame 23 is used for controlling the steering input of the two-wheeled vehicle in the movement process; the front wheel 24 is used for matching with the rear wheel to realize the forward movement of the two-wheel vehicle, and the pedal 25 is used for providing pedal rotating force for the rear wheel to drive the rear wheel 21 to rotate;

the two-wheeled vehicle is further provided with a transmission device 26, the transmission device 26 is used for transmitting the rotation of the pedal 25 to the rear wheel 21 and driving the rotation of the rear wheel 21, the transmission device 26 can be chain transmission, conveyor belt transmission or gear transmission, and the application is not limited to this.

In addition, a brake mechanism 27 is also arranged in the two-wheeled vehicle, and the brake mechanism 27 is used for providing braking torque for the two-wheeled vehicle and controlling the speed reduction of the two-wheeled vehicle.

The rear frame 22 of the two-wheeled vehicle is set in the global coordinate system S (O-XYZ), the position of the rear frame 22 is (x, y, z), and the posture of the rear frame 22 is (x, y, z)

The rear wheel 21, the front wheel 24, the pedals 25 and the front frame 23 are arranged on a two-wheel vehicle coordinate system S _b (O _b -X _b Y _b Z _b ) The rear wheel 21 is turned at an angle of

The front wheel 24 rotates at an angle of

The rotation angle of the pedal 25 is

The front frame 23 controls the turning angle of the two-wheel vehicle in the moving process to be alpha, wherein delta is the angle around the X axis of the two-wheel vehicle, namely the roll angle of the two-wheel vehicle; theta is an angle around the Y axis of the two-wheeled vehicle, namely a pitch angle;

is the angle about the Z-axis of the two-wheeled vehicle.

As shown in FIG. 2, in one particular embodiment, the target components of the two-wheeled vehicle in the global coordinate system S (O-XYZ) include a rear wheel 21, a rear frame 22, a front frame 23, a front wheel 24, and pedals 25;

the front frame 23 is hinged with the rear frame 22, the front frame 23 is used for controlling the movement direction of the two-wheel vehicle, and the front frame 23 rotates relative to the rear frame 22 in the movement process of the two-wheel vehicle, so that the steering input of the two-wheel vehicle is realized;

the rear wheel 21 is hinged with the rear frame 22, the front wheel 24 is hinged with the front frame 23, during the movement of the two-wheeled vehicle, the rear wheel 21 rotates relative to the rear frame 22, the front wheel 24 rotates relative to the front frame 23, and the rotation of the rear wheel 21 and the front wheel 24 is used for realizing the forward movement of the two-wheeled vehicle;

the pedal 25 is hinged with the rear frame 22, the pedal 25 rotates relative to the rear frame 22, and the transmission device 26 is used for transmitting the rotation of the pedal 25 to the rear wheel 21 to drive the rotation of the rear wheel 21;

the brake mechanism 27 is provided on the front wheel 24 and/or the rear wheel 21 for providing a braking torque to the two-wheeled vehicle to control the deceleration of the two-wheeled vehicle.

Step 102, inputting power control parameters into a preset two-wheel vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheel vehicle; the preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene. Here, the movement of the two-wheeled vehicle includes at least one of: the motion trail of the two-wheeled vehicle; the motion attitude of the two-wheeled vehicle; the motion load of a two-wheeled vehicle. Of course, the motion control can also include other motion states of the two-wheeled vehicle, and is limited to the motion trail, the motion posture and the motion load.

In an optional embodiment of the present disclosure, modeling is performed according to the degree of freedom of a target component of a two-wheeled vehicle and a description of a target motion scene to obtain a preset two-wheeled vehicle motion simulation model, including:

102a, acquiring the total degree of freedom of a target component of the two-wheel vehicle according to the constraint relation between the target components of the two-wheel vehicle; the total degree of freedom is used for describing the physical state of the two-wheel vehicle, and the total degree of freedom is the number of variables which independently influence the physical state result of the two-wheel vehicle.

In an optional embodiment of the present disclosure, step 102a includes:

step 102a1, by the formula: obtaining the total degree of freedom of a target part of the two-wheeled vehicle by using the L-M1 × a-M2 × M1; wherein L is the total degree of freedom of the target components, M1 is the number of the target components, a is the total number of position parameters and attitude parameters of the two-wheeled vehicle under a global coordinate system, and M2 is the number of constraint hardware among the target components;

in the embodiment, the total degree of freedom is used for describing the physical state of the two-wheeled vehicle, and the brake mechanism does not actively change the physical state of the two-wheeled vehicle, so that the number M1 of target components when the brake mechanism is used for calculating the total degree of freedom of the two-wheeled vehicle is not counted in the process of constructing the preset motion simulation model of the two-wheeled vehicle;

the number M2 of constraint hardware between target components is preferably ideal constraint hardware, which means that the constraint hardware does not generate constraint relationship between target components.

And 102a2, filtering the total freedom degree according to the constraint relation between the motion parameters of the target component of the two-wheel vehicle to obtain the freedom degree of the target component of the two-wheel vehicle.

In an alternative embodiment of the present disclosure, step 102a2 includes:

step 102a21, obtaining the pedal rotation angular speed omega of the two-wheel vehicle ₀ With rear wheel speed omega ₁ First constraint relation between them, front wheel rotation speed omega ₂ With rear wheel speed omega ₁ A second constraint relation between the front frame and the rear frame, and a third constraint relation between the rotational angular speed omega of the rear frame around the Z axis and the rotational angle of the front frame.

Wherein the first constraint relationship is the rotation angular velocity ω of the pedal 25 ₀ With the speed of rotation omega of the rear wheel 21 ₁ Constraint relationship between, e.g. ω ₁ ＝ω ₀ I, where i is the transmission ratio of the two-wheeled vehicle;

the second constraint is the speed of rotation ω of the front wheel 24 without taking into account the tire slip ₂ With the speed of rotation omega of the rear wheel 21 ₁ Constraint relationship between, e.g. ω ₁ ＝ω ₂ X cos (α), where α is the angle of rotation;

the second constraint is that the rotational angular velocity ω of the rear frame 22 about the Z axis has a corresponding relationship with the rotational angle of the front frame 23, without taking the tire slip into account.

And 102a22, filtering the total freedom degree according to at least one of the first constraint relation, the second constraint relation and the third constraint relation to obtain the freedom degree of the target component of the two-wheel vehicle.

In this embodiment, the total degrees of freedom obtained in step 102a1 may be filtered according to at least one of the first constraint relationship, the second constraint relationship, and the third constraint relationship, and the variables having constraint relationships may be filtered;

for example, the total degree of freedom calculated according to step 102a1 is 5, specifically including { a, b, c, d, e }, where a and b have one constraint relationship and b and c have another constraint relationship, so that the total degree of freedom can be filtered according to the constraint relationships between a and b and between b and c to obtain 3, specifically including { b, d, e }.

In one embodiment, the target component of the two-wheeled vehicle comprises 5 components of a rear wheel, a rear frame, a front wheel and a pedal; the transmission device comprises 1 rotating device; and 4 ideal hinges for connecting the respective members, the total degree of freedom is 10 by the formula L of M1 × a-M2 × M1 of 5 × 6-4 × 5 of 10, and the first constraint relationship ω is obtained ₁ ＝ω ₀ Xi, second constraint relation ω ₁ ＝ω ₂ The method specifically comprises the steps of filtering the total degree of freedom 10 according to a first constraint relation, a second constraint relation and a third constraint relation among the Xcos (alpha), the rotating angular speed omega of the rear frame around the Z axis and the rotating angle of the front frame to obtain the degree of freedom 7, wherein the third constraint relation specifically comprises the following steps

102b, obtaining the description of the target motion scene of the target component of the two-wheeled vehicle according to the motion relation of the target component of the two-wheeled vehicle, wherein the description of the target motion scene comprises the following steps: speed of motion of two-wheeled vehicle

And the rotational angular velocity of the rear frame

Description of the relationship between,

In general with two-wheeled vehiclesAttitude in coordinate system

Describing the relationship between the two wheels and a motion balance equation of the two wheels in a target motion state; wherein, the first and the second end of the pipe are connected with each other,

position coordinate parameters of the two-wheeled vehicle under a global coordinate system are obtained; the target member includes: at least one of a rear wheel, a rear frame, a front wheel, and a pedal.

In this embodiment, the description of the target motion scene includes:

(1) speed of motion of two-wheeled vehicle

And the rotational angular velocity of the rear frame of a two-wheeled vehicle

The relationship description between the two, including:

u ₁ is the front wheel center speed, u ₂ Is the rear wheel center speed;

the movement speed of the two-wheeled vehicle.

The embodiment obtains the pedal rotation angular speed

And the direction rotation angle alpha of the front frame, and obtaining the movement speed of the two-wheeled vehicle under the condition of not considering the sliding of the front wheel and the rear wheel of the two-wheeled vehicle

And the rotational angular velocity of the rear frame

The relationship between them is described.

It should be noted that the transmission ratio i of different two-wheel vehicles is different; as shown in fig. 3, the mass center refers to an average position of mass distribution of the two-wheeled vehicle and the vehicle load thereof in the moving process; the rear wheel axle refers to the position of the center of a circle of the tire of the rear wheel, and the front wheel axle refers to the position of the center of a circle of the tire of the front wheel.

(2)

Attitude of two-wheeled vehicle under global coordinate system

The relationship description between the two, including:

wherein the content of the first and second substances,

is the position coordinate parameter of the two-wheel vehicle under the global coordinate system,

is a unit direction vector.

FIG. 3 is a schematic diagram illustrating basic parameters of a two-wheeled vehicle in a specific embodiment of the present disclosure; FIG. 4 illustrates a schematic view of a motion analysis of a two-wheeled vehicle in a specific embodiment of the present disclosure;

in a specific embodiment, as shown in fig. 3 and 4, the two-wheeled vehicle is on a horizontal projection plane of a global coordinate system S (O-XYZ), and the instant center of speed of the two-wheeled vehicle is above the center of the circle of the rear wheel, wherein the instant center of speed refers to a point at which the speed in the plane graph is equal to 0 and the speed at the center of the front wheel is u at a certain moment ₁ Speed of the rear wheel center is u ₂ The velocity of the center of mass is

Rotational angular velocity of rear frame of two-wheeled vehicleIs composed of

R _r Is the length of the radius of the rear wheel, R _f Is the radial length of the front wheel, L _r Is the horizontal length from the center of mass to the rear wheel axle, h is the height of the center of mass from the horizontal ground, L is the horizontal length between the front wheel and the rear wheel axle, L _s The turning radius of the pedal when the two-wheeled vehicle moves is not considered under the condition that the tire of the two-wheeled vehicle slides; obtaining pedal rotational angular velocity

The direction rotation angle of the front frame is alpha, and the movement speed of the two-wheel vehicle at the moment can be obtained

And the rotational angular velocity of the rear frame

The relationship between is described as:

wherein, ω is ₁ Is the rear wheel speed, omega ₂ Is the front wheel speed, omega ₀ The pedal rotation angular speed is used, and i is the transmission ratio of the two-wheel vehicle;

can also obtain

Attitude of two-wheeled vehicle under global coordinate system

The relationship between is described as:

wherein the content of the first and second substances,

is a unit direction vector.

(3) The motion balance equation of the two-wheeled vehicle in the target motion state comprises the following steps:

wherein, F _t As a driving force, F _fr Rolling resistance of the rear wheels, F _dr Is the rolling air resistance of the rear wheel, F _br As braking resistance of the rear wheel, F _w Is the air resistance of the two-wheeled vehicle during driving, beta is the ramp angle of the two-wheeled vehicle during driving, F _ff Rolling resistance of the front wheels, F _df Is the rolling air resistance of the front wheel, F _bf Is the braking resistance of the front wheel, alpha is the direction rotation angle, F _i Is the ramp resistance, m is the total mass of the two-wheel vehicle and the vehicle-mounted object,

is the longitudinal component of the acceleration and,

is the lateral component of the acceleration and,

in order to be the speed of the movement,

in order to determine the angular velocity of rotation,

The method is a motion balance equation under a target motion state under the condition of not considering lateral force generated by lateral slip and lateral deflection rigidity of a front wheel and a rear wheel of the two-wheeled vehicle, wherein delta is a roll angle of the two-wheeled vehicle, namely a corner around a longitudinal axis of the two-wheeled vehicle; the pedal of the two-wheeled vehicle converts the pedal rotation angular speed of the two-wheeled vehicle into the rear wheel rotation speed according to the transmission ratio of a certain transmission device through the transmission device, and the pedal rotation angular speed of the two-wheeled vehicle is not converted into the front wheel rotation speed according to the transmission ratio of the certain transmission device through the transmission device, so that the rear wheel has the driving force F _t The front wheels do not have the driving force of the front wheels caused by the conversion of the transmission ratio of the transmission device; of course, in a possible implementation manner, the pedal of the two-wheeled vehicle can convert the rotation angular speed of the pedal of the two-wheeled vehicle into the rotation speed of the front wheel according to a certain transmission ratio of the transmission device through the transmission device, and further bring the rotation speed to the driving force of the front wheel, which is not limited in the present application;

specifically, the motion parameters of the two-wheeled vehicle in the motion balance equation of the target motion state comprise at least one of the following:

a driving force; the rolling resistance of the front wheels; rolling resistance of the rear wheel; rolling air resistance of the front wheels; rolling air resistance of the rear wheel; the braking resistance of the front wheel; brake resistance of the rear wheel; air resistance when the two-wheeled vehicle is running; the ramp resistance.

In an alternative embodiment of the present disclosure, the following formula is used:

calculating to obtain the driving force F of the two-wheel vehicle _t ；

Wherein, F _s As pedal force, p _s Is a percentage of power, P _max Maximum input power for two-wheeled vehicles, F _t For driving force, eta is the efficiency of the transmission of the two-wheeled vehicle, L _s Is the turning radius of the pedal when the two-wheeled vehicle moves, i is the transmission ratio, R _r Is the rear wheel radius, omega ₀ Is the pedal rotational angular velocity.

In the present embodiment, the driving force F _t May be provided by human and/or driven means, the specific input form of which comprises the power percentage p _s (ii) a Pedal force F _s (ii) a Angular velocity ω of pedal rotation ₀ . Wherein the input form is input power percentage p _s By the power characteristic formula F _s ＝9550·p _s ·P _max /w ₀ Obtaining pedal force F _s 。

It should be noted that the percentage p of the input power is _s The pedal force F can also be obtained from a power characteristic table _s The pedal force F can also be obtained through a power characteristic curve chart _s The present application is not so limited.

calculating to obtain the rolling resistance of the front wheel and the rolling resistance of the rear wheel of the two-wheel vehicle;

wherein, F _ff Rolling resistance of the front wheels, F _fr Rolling resistance of the rear wheels, C _r The coefficient of rolling friction between the front and rear wheels of the two-wheeled vehicle and the ground, F _nf Positive pressure of the front wheels, F _nr Is the positive pressure of the rear wheel, gamma is the gradient value of the ramp, L _r Is the horizontal length from the center of mass to the rear wheel axle, L is the horizontal length between the front wheel axle and the rear wheel axle, L _f The horizontal length from the center of mass to the front wheel axle, G is the gravity acceleration, m is the total mass of the two-wheel vehicle and the vehicle carrying object, and G is the gravity of the two-wheel vehicle and the vehicle carrying object.

In the present embodiment, according to the positive pressure F of the front wheels _nf And positive pressure F of rear wheel _nr And the rolling friction coefficient C between the front wheel and the rear wheel of the two-wheeled vehicle and the ground _r By the formula:

calculating the rolling resistance of the front wheel and the rolling resistance of the rear wheel of the two-wheeled vehicle, wherein the positive pressure F of the front wheel _nf And positive pressure F of rear wheel _nr Gravity G and ramp for two-wheeled vehicle and vehicle-mounted objectThe slope value gamma of (a) and the horizontal length from the center of mass to the corresponding axle are positively correlated and inversely correlated with the horizontal length between the front axle and the rear axle.

In an optional embodiment of the present disclosure, the following formula is used:

calculating to obtain the rolling air resistance of the front wheel and the rolling air resistance of the rear wheel of the two-wheel vehicle;

wherein, F _df Is the rolling air resistance of the front wheel, F _dr Is the rolling air resistance of the rear wheel, C _w Is the wheel air damping coefficient of the two-wheel vehicle, rho is the air density, u ₁ Is the front wheel center speed, u ₂ Is the rear wheel center speed, R _r Is the rear wheel radius, R _f Is the front wheel radius.

calculating to obtain the brake resistance of the front wheel and the brake resistance of the rear wheel;

wherein, F _bf As braking resistance of the front wheel, F _br As braking resistance of the rear wheel, F _bfmax Maximum braking force of front wheel, p _f Percentage of braking of the front wheel, F _brmax Maximum braking force, p, of rear wheels designed for two-wheeled vehicles _r Is the percentage of braking of the rear wheel.

F _w ＝1/2·C _d ·A·ρ·v ² calculating to obtain the air resistance of the two-wheeled vehicle during running;

wherein, F _w Is the air resistance of the two-wheeled vehicle during driving, C _d For the air resistance coefficient, a is the frontal area of the two-wheeled vehicle and its vehicle load, ρ is the air density, and v is the speed of the two-wheeled vehicle relative to the air flow.

In this embodiment, when the wind speed is zero, the speed v of the two-wheeled vehicle relative to the air flow is equal to the moving vehicle speed of the two-wheeled vehicle.

F _i calculating the slope resistance as m.g.sin gamma;

wherein, F _i The slope resistance is g, the gravity acceleration is g, the total mass of the two-wheeled vehicle and the vehicle is m, and the gradient value of the slope is gamma.

102c, obtaining a preset two-wheel vehicle motion simulation model according to the description of the target motion scene;

it should be noted that the description of the target motion scene includes: speed of motion of two-wheeled vehicle

Description of the relationship between,

Attitude of two-wheeled vehicle under global coordinate system

FIG. 5 is a schematic diagram showing relevant parameters of the movement of the two-wheeled vehicle on a slope in a specific embodiment of the present disclosure; FIG. 6 is a force diagram illustrating the movement of a two-wheeled vehicle on a grade in an exemplary embodiment of the present disclosure;

as shown in FIGS. 5 and 6, in one specific embodiment, the two-wheeled vehicle travels on a slope with a gradient value of gamma regardless of the lateral force generated by the lateral slip and the cornering stiffness of the tire, the gravity of the two-wheeled vehicle and the vehicle load is G, and the rolling air torque of the rear wheel of the two-wheeled vehicle is T _dr The driving torque of the rear wheel is T _t Braking torque of rear wheel is T _br The rolling air torque of the front wheel of the two-wheeled vehicle is T _df The braking torque of the front wheel is T _bf ，F _nf For ground reaction of front wheels on the ramp, F _nr For the ground bearing reaction force of the rear wheel on the slope, through the formula: calculating the magnitude of the force corresponding to the torque, wherein T is the magnitude of the torque, F is the magnitude of the force corresponding to the torque, and R is the radius of the tire; the equation of motion balance is:

wherein, F _t As a driving force, F _fr Rolling resistance of the rear wheels, F _dr Is the rolling air resistance of the rear wheel, F _br Braking resistance of the rear wheel, F _w Beta is the angle of a ramp during the running of the two-wheeled vehicle, F _ff Rolling resistance of the front wheels, F _df Is the rolling air resistance of the front wheel, F _bf Is the braking resistance of the front wheel, alpha is the direction rotation angle, F _i Is the ramp resistance, m is the total mass of the two-wheel vehicle and the vehicle-mounted object,

to addThe longitudinal component of the velocity is such that,

is the lateral component of the acceleration and,

in order to be the speed of the movement,

in order to determine the angular velocity of rotation,

is the rear wheel center speed u ₂ The first derivative of (a) is,

for the position coordinate parameter L of the two-wheel vehicle under the global coordinate system _r Is the horizontal length from the center of mass to the rear wheel axle, L is the horizontal length between the front wheel axle and the rear wheel axle, g is the gravitational acceleration, and delta is the roll angle of the two-wheeled vehicle.

The motion parameters in the motion balance equation can be calculated by the following formulas:

equation 41, by

Calculating to obtain the driving force F of the two-wheel vehicle _t (ii) a Wherein, F _s Is pedal force, p _s Is a percentage of power, P _max In the form of a two-wheeled vehicleMaximum input power, F _t For driving force, eta is the efficiency of the transmission of the two-wheeled vehicle, L _s Is the turning radius of the pedal when the two-wheeled vehicle moves, i is the transmission ratio, R _r Radius of rear wheel, ω ₀ Is the pedal rotational angular velocity.

Formula 42, by

Calculating to obtain the rolling resistance of the front wheel and the rolling resistance of the rear wheel of the two-wheel vehicle; wherein, F _ff Rolling resistance of the front wheels, F _fr Rolling resistance of the rear wheels, C _r The coefficient of rolling friction between the front and rear wheels of the two-wheeled vehicle and the ground, F _nf Positive pressure of front wheels, F _nr Is the positive pressure of the rear wheel, gamma is the slope value of the ramp, L _r Is the horizontal length from the center of mass to the rear wheel axle, L is the horizontal length between the front wheel axle and the rear wheel axle, L _f The horizontal length from the center of mass to the front axle, G is the gravity acceleration, m is the total mass of the two-wheeled vehicle and the vehicle carrying object, and G is the gravity of the two-wheeled vehicle and the vehicle carrying object.

Equation 43, by

Calculating to obtain the rolling air resistance of the front wheel and the rolling air resistance of the rear wheel of the two-wheel vehicle; wherein, F _df Is the rolling air resistance of the front wheel, F _dr Is the rolling air resistance of the rear wheel, C _w Is the wheel air damping coefficient of the two-wheel vehicle, rho is the air density, u ₁ Is the front wheel center speed, u ₂ Is the rear wheel center speed, R _r Is the rear wheel radius, R _f Is the front wheel radius.

In the formula 44, the process is described,

calculating to obtain the brake resistance of the front wheel and the brake resistance of the rear wheel; wherein, F _bf As braking resistance of the front wheel, F _br As braking resistance of the rear wheel, F _bfmax Maximum braking force, p, of the front wheel _f Percentage of braking of the front wheel, F _brmax Is two wheelsMaximum braking force of rear wheel, p, of vehicle design _r Is the percentage of braking of the rear wheel.

Equation 45, by F _w ＝1/2·C _d ·A·ρ·v ² Calculating to obtain the air resistance of the two-wheeled vehicle during running; wherein, F _w Is the air resistance of the two-wheeled vehicle during driving, C _d For the air resistance coefficient, a is the frontal area of the two-wheeled vehicle and its vehicle load, ρ is the air density, and v is the speed of the two-wheeled vehicle relative to the air flow.

Equation 46, by F _i Calculating the slope resistance as m.g.sin gamma; wherein, F _i The slope resistance is g, the gravity acceleration is g, the total mass of the two-wheeled vehicle and the vehicle is m, and the gradient value of the slope is gamma.

Obtaining a motion balance equation through the above equations 41 to 46; speed of movement of two-wheeled vehicles combined with particular embodiments

And the rotational angular velocity of the rear frame

Description of the relationship between and

attitude of two-wheeled vehicle under global coordinate system

And describing the relationship between the two wheels to obtain a preset two-wheel vehicle motion simulation model.

And 103, controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result and outputting the control result.

In the present embodiment, the power control parameters of the target component are set in the global coordinate system S (O-XYZ), where the power control parameters include:

initial position (x) ₀ ,y ₀ ,z ₀ )；

Initial attitude

Initial speed of the two-wheeled vehicle;

pedal force F _s ；

Braking resistance F _b ；

At least one of the directional rotation angles α;

further, the position (x, y, z) and the attitude of the two-wheel vehicle under the global coordinate system at each moment are obtained

By the position (x, y, z) and the attitude of the two-wheel vehicle under a global coordinate system

The control of (2) can realize the control of the movement of the two-wheel vehicle.

Here, the movement of the two-wheeled vehicle includes at least one of:

the motion trail of the two-wheeled vehicle; the motion attitude of the two-wheeled vehicle; dynamic load of two-wheeled vehicle.

The controlling of the movement comprises at least one of:

generating a motion track; predicting a motion track; and controlling the motion posture.

In a particular embodiment, the parameters of the target components of the two-wheeled vehicle are as follows:

TABLE 1

Acquiring power control parameters of the two-wheel vehicle under a global coordinate system S (O-XYZ) comprises the following steps: initial position (x) ₀ ,y ₀ ,z ₀ ) (0,0, 0); initial attitude

Initial speed (0,0, 0);

in a virtual scenario, the simulated anthropomorphic and/or control device applies a control signal to the two-wheeled vehicle, the control signal comprising a pedal force F _s Or percentage of power p _s Percentage pf braking of the front wheel of the two-wheeled vehicle, percentage p braking of the rear wheel of the two-wheeled vehicle _r The direction rotation angle alpha of the two-wheeled vehicle;

calculating the motion parameters of the two-wheel vehicle: a driving force; the rolling resistance of the front wheels; rolling resistance of the rear wheel; rolling air resistance of the front wheels; rolling air resistance of the rear wheel; the braking resistance of the front wheel; brake resistance of the rear wheel; air resistance when the two-wheeled vehicle is running; ramp resistance;

according to the description of the target motion scene, the position (x, y, z) and the attitude of the two-wheeled vehicle under the global coordinate system S (O-XYZ) at any time can be obtained

FIG. 7 is a schematic view of a two-wheeled vehicle motion profile in a specific embodiment of the present disclosure; as shown in FIG. 7, a percentage of power p is applied to the two-wheeled vehicle _s 1.0 percent front wheel brake p _f 0.0 percent brake percentage p of rear wheel _r When the direction rotation angle alpha of the two-wheel vehicle is equal to 20 degrees, the motion trail of the two-wheel vehicle is equal to 0.0.

The preset two-wheel vehicle motion simulation model in the embodiment of the disclosure can be applied to a UE4 engine, of course, the preset two-wheel vehicle motion simulation model is not limited to a UE4 engine, and the motion control method of the two-wheel vehicle in the embodiment is realized by acquiring power control parameters of a target component of the two-wheel vehicle; inputting the power control parameters into a preset two-wheel vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheel vehicle; the method comprises the steps that a preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene; controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result and outputting the control result; the problem of prior art can't realize the motion simulation of two wheeler, can't effectively control the motion of two wheeler, can't satisfy actual demand is solved, realized that the motion of given power control parameter can accurately be controlled the two wheeler, satisfies user's actual demand.

All the above optional technical solutions can be combined at will to form optional embodiments of the present disclosure, and are not described herein again.

Fig. 8 is a schematic structural diagram of a motion control device for a two-wheeled vehicle according to an embodiment of the present disclosure, and referring to fig. 8, the device 800 includes:

an obtaining module 801 for obtaining power control parameters of a target component of a two-wheeled vehicle;

the processing module 802 is used for inputting the power control parameters into a preset two-wheel vehicle motion simulation model to perform motion simulation processing, so as to obtain target motion data of the two-wheel vehicle; the method comprises the steps that a preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene; and controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result and outputting the control result.

Description of the relationship between,

Attitude of two-wheeled vehicle under global coordinate system

Optionally, the speed of movement of the two-wheeled vehicle

The relationship description between the two, including:

u ₁ is the front wheel center speed, u ₂ Is the rear wheel center speed;

l is between the front and rear axlesHorizontal length, L _r The horizontal length from the center of mass to the rear axle;

the movement speed of the two-wheeled vehicle.

Alternatively,

attitude of two-wheeled vehicle under global coordinate system

The relationship description between the two, including:

wherein the content of the first and second substances,

is a unit direction vector.

is the longitudinal component of the acceleration and,

is the lateral component of the acceleration and,

in order to be the speed of the movement,

in order to determine the angular velocity of rotation,

The device provided by the embodiment of the disclosure models the two-wheeled vehicle to obtain a preset two-wheeled vehicle motion simulation model, inputs the power control parameters of the target component of the two-wheeled vehicle into the preset two-wheeled vehicle motion simulation model, can obtain target motion data of the two-wheeled vehicle, and further controls the motion of the two-wheeled vehicle; the control method and the control device realize that the motion of the two-wheel vehicle can be accurately controlled after the power control parameters are given.

It should be noted that: the motion control device for a two-wheeled vehicle provided in the above embodiment is only exemplified by the division of the above functional modules, and in practical applications, the above functions may be distributed by different functional modules as needed, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. In addition, the motion control device of the two-wheeled vehicle provided by the embodiment and the motion control method embodiment of the two-wheeled vehicle belong to the same concept, and the specific implementation process is detailed in the method embodiment and is not described again.

The motion control device of the two-wheeled vehicle in the embodiment of the present disclosure may be a virtual device, or may be a component, an integrated circuit, or a chip in a server or a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the disclosed embodiments are not limited in particular.

The motion control device of the two-wheeled vehicle in the embodiment of the present disclosure may be a device having an operation system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and the embodiment of the present disclosure is not particularly limited.

The motion control device of the two-wheeled vehicle provided by the embodiment of the present disclosure can implement each process implemented by the method embodiments of fig. 2 to 7, and is not described herein again in order to avoid repetition.

Optionally, as shown in fig. 9, an electronic device 900 is further provided in the embodiment of the present disclosure, and includes a processor 901, a memory 902, and a program or an instruction stored in the memory 902 and executable on the processor 901, where the program or the instruction is executed by the processor 901 to implement each process of the embodiment of the motion control method for a two-wheeled vehicle, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here. It should be noted that the electronic devices in the embodiments of the present disclosure include the mobile electronic device and the non-mobile electronic device described above.

Fig. 10 is a schematic diagram of a hardware structure of an electronic device implementing an embodiment of the present disclosure.

The electronic device 1000 includes, but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, and a processor 1010.

Those skilled in the art will appreciate that the electronic device 1000 may further comprise a power source (e.g., a battery) for supplying power to various components, and the power source may be logically connected to the processor 1010 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The electronic device structure shown in fig. 10 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is not repeated here.

It is understood that in the embodiment of the present disclosure, the input Unit 1004 may include a Graphics Processing Unit (GPU) 10041 and a microphone 10042, and the Graphics Processing Unit 10041 processes image data of still pictures or videos obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 1006 may include a display panel 10061, and the display panel 10061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1007 includes a touch panel 10071 and other input devices 10072. The touch panel 10071 is also referred to as a touch screen. The touch panel 10071 may include two parts, a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. The memory 1009 may be used to store software programs as well as various data, including but not limited to application programs and operating systems. Processor 1010 may integrate an application processor that handles primarily operating systems, user interfaces, applications, etc. and a modem processor that handles primarily wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 1010.

The embodiment of the present disclosure further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the above-mentioned remote automatic driving simulation control method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.

The processor is the processor in the electronic device in the above embodiment. Readable storage media, including computer-readable storage media, such as Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, etc.

The embodiment of the present disclosure further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled with the processor, and the processor is configured to run a program or an instruction to implement each process of the above-mentioned embodiment of the remote automatic driving simulation control method, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

It should be understood that the chips mentioned in the embodiments of the present disclosure may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it is noted that the scope of the methods and apparatus in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, but may include performing functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present disclosure may be embodied in the form of a computer software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (e.g., a mobile phone, a computer, a server, or a network device) to execute the method of the embodiments of the present disclosure.

While the present disclosure has been described with reference to the embodiments illustrated in the drawings, which are intended to be illustrative rather than restrictive, it will be apparent to those of ordinary skill in the art in light of the present disclosure that many more modifications may be made without departing from the spirit of the disclosure and the scope of the appended claims.

Claims

1. A method of controlling motion of a two-wheeled vehicle, the method comprising:

inputting the power control parameters into a preset two-wheel vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheel vehicle; the preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene;

2. The method for controlling the motion of a two-wheeled vehicle according to claim 1, wherein the model is modeled according to the degree of freedom of a target component of the two-wheeled vehicle and the description of a target motion scene to obtain the preset two-wheeled vehicle motion simulation model, and the method comprises the following steps:

obtaining the preset two-wheel vehicle motion simulation model according to the description of the target motion scene;

wherein the description of the object motion scene comprises: speed of motion of the two-wheeled vehicle

Description of the relationship between,

With the attitude of the two-wheeled vehicle in a global coordinate system

representing the longitudinal coordinate parameters of the two-wheel vehicle under a global coordinate system,

the transverse coordinate parameters of the two-wheel vehicle under the global coordinate system,

representing the vertical coordinate parameters of the two-wheel vehicle under a global coordinate system,

is the angle about the Z-axis of the two-wheeled vehicle; the target component includes: at least one of a rear wheel, a rear frame, a front wheel, and a pedal.

3. The method of controlling the motion of a two-wheeled vehicle according to claim 2, wherein obtaining the total degree of freedom of the target component of the two-wheeled vehicle based on the constraint relationship between the target components of the two-wheeled vehicle includes:

by the formula: obtaining a total degree of freedom of a target component of the two-wheeled vehicle by using the L-M1 × a-M2 × M1; wherein L is the total degree of freedom of the target components, M1 is the number of the target components, a is the total number of position parameters and attitude parameters of the two-wheeled vehicle under a global coordinate system, and M2 is the number of constraint hardware between the target components;

4. The method of controlling motion of a two-wheeled vehicle according to claim 2, wherein the filtering of the total degrees of freedom based on a constraint relationship between motion parameters of target components of the two-wheeled vehicle to obtain the degrees of freedom of the target components of the two-wheeled vehicle includes:

obtaining the pedal rotation angular velocity omega of the two-wheeled vehicle ₀ With rear wheel speed omega ₁ First constraint relation between them, front wheel rotation speed omega ₂ With rear wheel speed omega ₁ A second constraint relation between the front frame and the rear frame, and a third constraint relation between the rotation angular speed omega of the rear frame around the Z axis and the rotation angle of the front frame;

5. Method for controlling the movement of a two-wheeled vehicle according to claim 2, characterised in that the speed of movement of the two-wheeled vehicle is such that it is possible to control the speed of movement of the two-wheeled vehicle

The relationship description between the two, including:

wherein, ω is ₀ Is the angular velocity, ω, of rotation of the pedal ₁ Is the rear wheel speed, omega ₂ The rotation speed of the front wheel is set,

u ₁ is the front wheel center speed, u ₂ Is the rear wheel center speed;

the movement speed of the two-wheeled vehicle.

6. The method of controlling the motion of a two-wheeled vehicle according to claim 2,

with the attitude of the two-wheeled vehicle in a global coordinate system

The relationship description between the two, including:

wherein, the first and the second end of the pipe are connected with each other,

is a unit direction vector.

7. The method of controlling the motion of a two-wheeled vehicle according to claim 2, wherein the equation for the balance of motion of the two-wheeled vehicle in the target motion state includes:

is the longitudinal component of the acceleration and,

is the lateral component of the acceleration and,

in order to be the speed of the movement,

in order to determine the angular velocity of rotation,

8. A motion control device for a two-wheeled vehicle, said device comprising:

the processing module is used for inputting the power control parameters into a preset two-wheel vehicle motion simulation model to carry out motion simulation processing so as to obtain target motion data of the two-wheel vehicle; the preset two-wheel vehicle motion simulation model is obtained by modeling according to the degree of freedom of a target component of the two-wheel vehicle and the description of a target motion scene; and controlling the motion of the two-wheel vehicle according to the target motion data to obtain a control result.

9. An electronic device comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the method of controlling the movement of a two-wheeled vehicle as claimed in any one of claims 1 to 7.

10. A readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps of the method of controlling the movement of a two-wheeled vehicle as claimed in any one of claims 1 to 7.