CN116654090A - Method and device for determining and controlling running direction of crawler-type vehicle and electronic equipment - Google Patents
Method and device for determining and controlling running direction of crawler-type vehicle and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
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Abstract
The application provides a method and a device for determining and controlling the running direction of a tracked vehicle, electronic equipment and a storage medium, wherein the method for determining the running direction of the tracked vehicle comprises the following steps: obtaining the wheel rotating speed at the current moment according to the vehicle speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle; and determining the running direction of the tracked vehicle corresponding to the current moment according to the wheel rotating speed at the current moment and the vehicle size of the tracked vehicle. Therefore, the application can accurately determine the running direction of the tracked vehicle and can improve the control effect of the running direction of the tracked vehicle.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle control, in particular to a method and a device for determining and controlling the running direction of a crawler-type vehicle, electronic equipment and a storage medium.
Background
Crawler tractors are an important part of agricultural machinery applications and can be used for deep ploughing in paddy fields, dry fields and wet fields. Compared with wheel tractor, it has the features of great traction force, high bump resistance, etc.
The steering control mode of the crawler tractor is differential steering, namely, different rotating speeds of the crawler belts at two sides of the travelling space are generated through the rotation of the steering wheel, so that the travelling direction of the vehicle is changed. Compared with a wheeled tractor, the control method for the wheeled vehicle cannot be directly applied to the control of the tracked vehicle at present because the tracked vehicle has no front wheel rotation angle available for measurement.
In the literature described at present, control of the crawler robot is mostly achieved by controlling the linear velocity and the angular velocity of the crawler robot. The rotation speed of the crawler wheels is controlled by installing motors on the left crawler wheel and the right crawler wheel of the robot, so that the advancing direction of the crawler robot is controlled. However, since the crawler tractor in the agricultural machine controls the traveling direction by means of differential steering, the crawler tractor has no motors mounted on the left and right wheels, and thus the crawler robot control method described in the literature cannot be directly applied to control of a crawler vehicle (for example, a crawler tractor).
In view of this, there is a need for a control scheme suitable for the direction of travel of a tracked vehicle.
Disclosure of Invention
In view of the above, the present application provides a method, an apparatus, and an electronic device for determining and controlling a traveling direction of a tracked vehicle, which can at least partially solve the problems in the prior art.
According to a first aspect of an embodiment of the present application, there is provided a method for determining a driving direction of a tracked vehicle, wherein a wheel rotation speed of the tracked vehicle corresponding to the current time is obtained according to a driving speed and an angular speed of the tracked vehicle corresponding to the current time and a vehicle size of the tracked vehicle; and determining the running direction of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle.
According to a second aspect of the embodiment of the present application, there is provided a running direction adjustment method of a tracked vehicle, including: determining a calculated driving direction of the tracked vehicle corresponding to the current moment according to the vehicle speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle by using the driving direction determining method of the tracked vehicle according to the first aspect; obtaining an adjustment rotating speed of a motor of a steering wheel of the tracked vehicle according to the target running direction of the tracked vehicle corresponding to the current moment and the measuring and calculating running direction; and adjusting the running direction of the tracked vehicle according to the adjustment rotating speed of the motor of the steering wheel of the tracked vehicle.
According to a third aspect of the embodiment of the present application, there is provided a travel direction determining apparatus of a crawler vehicle, including: the wheel rotating speed calculation module is used for obtaining the wheel rotating speed of the tracked vehicle corresponding to the current moment according to the running speed and the angular speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle; and the running direction determining module is used for determining the running direction of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle.
According to a fourth aspect of the embodiment of the present application, there is provided a travel direction adjustment device for a crawler vehicle, including: a estimated traveling direction determining module configured to determine an estimated traveling direction of a tracked vehicle corresponding to a current time from a vehicle speed of the tracked vehicle corresponding to the current time and a vehicle size of the tracked vehicle using the traveling direction determining device of the tracked vehicle according to the third aspect; the adjustment rotation speed determining module is used for obtaining the adjustment rotation speed of the motor of the steering wheel of the tracked vehicle according to the target running direction of the tracked vehicle corresponding to the current moment and the measured running direction; and the driving direction adjusting module is used for adjusting the driving direction of the tracked vehicle according to the adjusting rotating speed of the motor of the steering wheel of the tracked vehicle.
According to a fifth aspect of an embodiment of the present application, there is provided an electronic apparatus including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is configured to store at least one executable instruction that causes the processor to perform an operation corresponding to the method for determining a direction of travel of a tracked vehicle according to the first aspect or to perform an operation corresponding to the method for adjusting a direction of travel of a tracked vehicle according to the second aspect.
According to a sixth aspect of embodiments of the present application, there is provided a computer storage medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, enables the method for determining a running direction of a tracked vehicle according to the first aspect, or the method for adjusting a running direction of a tracked vehicle according to the second aspect.
In summary, the driving direction determining scheme of the tracked vehicle provided by the embodiments of the present application may determine the driving direction of the tracked vehicle based on the driving speed, the angular speed and the vehicle size of the tracked vehicle, so that the driving direction of the tracked vehicle may be accurately determined without measuring the front wheel rotation angle of the vehicle, and the present application is particularly suitable for the tracked vehicle.
Furthermore, the application also provides a running direction adjustment technical scheme of the tracked vehicle based on the running direction determination scheme of the tracked vehicle, and the running direction of the tracked vehicle can be accurately controlled under the condition that motors are not arranged on the left wheel and the right wheel of the tracked vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a process flow diagram of a method of determining a direction of travel of a tracked vehicle in accordance with an exemplary embodiment of the present application.
Fig. 2 is a process flow diagram of a method of determining a direction of travel of a tracked vehicle in accordance with another exemplary embodiment of the application.
Fig. 3 is a process flow diagram of a method of adjusting the direction of travel of a tracked vehicle in accordance with an exemplary embodiment of the present application.
Fig. 4 is a block diagram of a traveling direction determining device of a tracked vehicle according to an exemplary embodiment of the present application.
Fig. 5 is a block diagram showing a traveling direction adjusting device for a tracked vehicle according to an exemplary embodiment of the present application.
Fig. 6 is a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
In order to better understand the technical solutions in the embodiments of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the present application, shall fall within the scope of protection of the embodiments of the present application.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows a process flow diagram of a method of determining a direction of travel of a tracked vehicle according to an exemplary embodiment of the application, comprising the steps of:
step S102, obtaining the wheel rotating speed of the tracked vehicle corresponding to the current moment according to the running speed and the angular speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle.
Alternatively, tracked vehicles may include, but are not limited to: crawler tractors, and the like.
Optionally, the vehicle dimension of the tracked vehicle comprises track wheel spacing.
In this embodiment, track wheel pitch is used to characterize the separation distance between two track wheels located on opposite sides of the track vehicle.
In this embodiment, the wheel speeds of the tracked vehicle corresponding to the current time include the left wheel speed and the right wheel speed of the tracked vehicle.
In this embodiment, the angular velocity is used to characterize the angular velocity of the tracked vehicle along the Z-axis. Alternatively, the angular velocity of the tracked vehicle corresponding to the current moment may be obtained by means of an inertial measurement unit mounted on the tracked vehicle.
Specifically, the left wheel rotational speed of the tracked vehicle corresponding to the current time may be obtained according to the running speed and the angular speed of the tracked vehicle corresponding to the current time and the track wheel pitch of the tracked vehicle by using the following formula 1, and the right wheel rotational speed of the tracked vehicle corresponding to the current time may be obtained according to the running speed and the angular speed of the tracked vehicle corresponding to the current time and the track wheel pitch of the tracked vehicle by using the following formula 2.
Wherein, formula 1 and formula 2 are expressed as:
vl k ＝v k -d/2×w k (equation 1)
vr k ＝v k +d/2×w k (equation 2)
In the above formula 1 and formula 2, vl k Indicating the left wheel speed, vr, of the tracked vehicle corresponding to the kth instant (current instant) k Indicating the right wheel speed, v, of the tracked vehicle corresponding to the kth moment k Representing the travel speed of the tracked vehicle corresponding to the kth moment, d representing the track pitch, w of the tracked vehicle k Indicating the angular velocity of the tracked vehicle corresponding to the kth time (i.e., the angular velocity of the tracked vehicle's body along the Z-axis).
Step S104, determining the running direction of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle.
Alternatively, a Kalman filtering algorithm may be utilized to determine the direction of travel of the tracked vehicle corresponding to the current time based on the rotational speed of the wheels of the tracked vehicle corresponding to the current time, the vehicle size of the tracked vehicle.
Alternatively, the vehicle dimensions of the tracked vehicle may include track ground contact length for characterizing the contact length of any one track of the tracked vehicle with the ground.
Optionally, a virtual front wheel rotation angle observation value of the tracked vehicle corresponding to the current moment is obtained according to the left wheel rotation speed and the right wheel rotation speed of the tracked vehicle corresponding to the current moment, the track wheel distance of the tracked vehicle and the track ground contact length, a virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the current moment is obtained according to the virtual front wheel rotation angle observation value of the tracked vehicle corresponding to the current moment and the virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the previous moment, and the running direction of the tracked vehicle corresponding to the current moment is determined according to the virtual front wheel rotation angle estimation value of the tracked vehicle corresponding to the current moment.
The previous time and the current time are any two continuous detection times in all detection times of the crawler vehicle, and the previous time is the previous detection time of the current time.
Alternatively, each detection time of the tracked vehicle may be determined according to a preset sampling time interval of the tracked vehicle, and a previous time to the current time may be determined according to the current time determined in each detection time, for example, in the case where the current time is denoted as the kth time, the previous time to the current time may be denoted as the kth-1 time.
In summary, the scheme provided by the embodiment of the application can accurately determine the driving direction of the crawler-type vehicle without measuring the front wheel turning angle of the vehicle.
Fig. 2 is a process flow chart of a method for determining a traveling direction of a tracked vehicle according to another exemplary embodiment of the present application, which is a specific implementation of the above step S104, and as shown in the drawing, the present embodiment mainly includes the following steps:
step S202, obtaining a virtual front wheel rotation angle observation value of the tracked vehicle corresponding to the current moment according to the wheel rotation speed, the track wheel distance and the track grounding length of the tracked vehicle corresponding to the current moment, and continuing to step S210.
In an alternative embodiment, the virtual front wheel angle observation of the tracked vehicle corresponding to the current time may be obtained from the left and right wheel speeds of the tracked vehicle corresponding to the current time, the track wheel spacing of the tracked vehicle, the track ground length, the steering pole lateral offset of the left track of the tracked vehicle, the steering pole lateral offset of the right track of the tracked vehicle, using equation 3 below.
Wherein, formula 3 is expressed as:
in the above formula 3, σ k Virtual front wheel steering angle observation value vl representing a crawler vehicle corresponding to the kth time (current time) k Indicating the left wheel speed, vr, of the tracked vehicle corresponding to the kth moment k Indicating the right wheel rotational speed of the tracked vehicle corresponding to the kth time, d indicating the track wheel spacing of the tracked vehicle, L indicating the track ground contact length of the tracked vehicle, a l Represents the steering pole lateral offset, a, of the left track of a tracked vehicle r Indicating the steering pole lateral offset of the right track of the tracked vehicle.
In this embodiment, the steering electrode lateral offset of the left track of the tracked vehicle and the steering electrode lateral offset of the right track of the tracked vehicle may be set according to the ground material on which the tracked vehicle is traveling. The ground material may include, but is not limited to: sand ground, cement ground, earth ground, etc.
For example, in the case of ground materials on which the tracked vehicle is traveling, the steering pole lateral offset of the left track of the tracked vehicle may be set to 0.2 (i.e., a l =0.2), the steering-pole lateral offset for the right track of the tracked vehicle may be set to 0.4 (i.e. a r ＝0.4)。
Step S204, obtaining a virtual front wheel steering angle predicted value of the tracked vehicle corresponding to the current moment according to the virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the previous moment, the time interval between the current moment and the previous moment and the steering wheel rotation angular speed of the tracked vehicle corresponding to the current moment, and continuing step S210.
In this embodiment, the following equation 4 may be used to obtain the predicted value of the virtual front wheel steering angle of the tracked vehicle corresponding to the current time according to the estimated value of the virtual front wheel steering angle of the tracked vehicle corresponding to the previous time, the time interval between the current time and the previous time, the steering wheel rotational speed of the tracked vehicle corresponding to the current time, and the preset unit state matrix.
Wherein, formula 4 is expressed as:
in the above-mentioned formula 4,representing a virtual front wheel steering angle predicted value of the tracked vehicle corresponding to the kth time (current time), F k Representing a preset unit state matrix, x k-1 Representing a virtual front wheel steering angle estimate for a tracked vehicle corresponding to time k-1 (preceding time), B k Indicating the time interval between the current time and the previous time, u k Indicating the steering wheel rotational angular velocity of the tracked vehicle corresponding to the kth moment.
In the present embodiment, B k The value may be a constant value (i.e. the time intervals between any two adjacent detection moments may be equal), or B k The value may also be a variable value (i.e. there is a difference between any two adjacent detection moments), and those skilled in the art may set any value according to actual requirements, which is not limited by the present application.
In the present embodiment, F k For a given identity state matrix (which can be regarded as an operator), where F k For example, the dimension of the matrix can be adjusted according to actual requirements by a person skilled in the art, and the application is not limited thereto.
In this embodiment, the rotational angular velocity of the track vehicle corresponding to the current time of day of steering wheel rotation may be calculated using an encoder mounted on the track vehicle.
Step S206, obtaining a state covariance matrix prediction result of the tracked vehicle according to the state covariance matrix estimation result of the tracked vehicle and the noise state matrix of the tracked vehicle corresponding to the current moment, and continuing step S208 and step S212.
In this embodiment, the following equation 5 may be used to obtain the prediction result of the state covariance matrix of the tracked vehicle according to the state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix, and the noise state matrix of the tracked vehicle corresponding to the current moment.
Wherein, formula 5 is expressed as:
in the above-mentioned formula 5,representing the prediction result of the state covariance matrix of the tracked vehicle, F k Representing a preset unit state matrix, P representing the estimated result of the state covariance matrix of the tracked vehicle,/for>Represents the transposition of a preset unit state matrix, Q k And (3) representing a noise state matrix of the tracked vehicle corresponding to the kth moment, and obtaining a state covariance matrix prediction result of the tracked vehicle.
In this embodiment, Q k Representing the variance matrix of the discrete time process noise (typically assumed to be gaussian white noise).
Step S208, obtaining a gain value of the tracked vehicle corresponding to the current moment according to the state covariance matrix estimation result and the state covariance matrix prediction result of the tracked vehicle and the noise measurement matrix of the tracked vehicle corresponding to the current moment, and continuing to step S210.
In this embodiment, the following formula 6 may be used to obtain the gain value of the tracked vehicle corresponding to the current time according to the estimated result of the state covariance matrix of the tracked vehicle, the predicted result of the state covariance matrix, the preset unit measurement matrix, and the noise measurement matrix of the tracked vehicle corresponding to the current time.
Wherein, formula 6 is expressed as:
in the above formula 6, K k A gain value representing that the tracked vehicle corresponds to the kth time (current time), P represents the estimation result of the state covariance matrix of the tracked vehicle, H k Representing a preset unit measurement matrix,transposed matrix representing a predetermined unit measurement matrix, < >>Representing the prediction result of a state covariance matrix of a tracked vehicle, R k A noise measurement matrix representing that the tracked vehicle corresponds to the kth time (current time).
In the present embodiment, H k Measuring and calculating a matrix (which can be regarded as an operator) for a given unit, wherein H k For example, the dimension of the matrix can be adjusted according to actual requirements by a person skilled in the art, and the application is not limited thereto.
In this embodiment, the identity measurement matrix H is preset k And a preset unit state matrix F k May be the same matrix.
Step S210, obtaining a virtual front wheel rotation angle estimated value of the tracked vehicle corresponding to the current moment according to the virtual front wheel rotation angle predicted value of the tracked vehicle corresponding to the current moment, the gain value of the tracked vehicle corresponding to the current moment and the virtual front wheel rotation angle observed value of the tracked vehicle corresponding to the current moment, and continuing to step S214.
In this embodiment, the virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the current time may be obtained according to the virtual front wheel steering angle predicted value of the tracked vehicle corresponding to the current time, the gain value of the tracked vehicle corresponding to the current time, the virtual front wheel steering angle observed value of the tracked vehicle corresponding to the current time, and the preset unit measurement matrix by using equation 7.
Wherein, formula 7 is expressed as:
in the above formula 7, x k Representing a virtual front wheel steering angle estimate of the tracked vehicle corresponding to the kth time (current time),representing a virtual front wheel steering angle prediction value of the tracked vehicle corresponding to the kth moment, K k A gain value, z, representing the tracked vehicle corresponding to the kth time k Representing a virtual front wheel steering angle observation of the tracked vehicle corresponding to the kth time (i.e., σ of equation 3 k )，H k Representing a preset unit measuring matrix.
Step S212, updating the estimation result of the state covariance matrix of the tracked vehicle according to the unit matrix, the gain value of the tracked vehicle corresponding to the current moment, the preset unit measurement matrix and the prediction result of the state covariance matrix of the tracked vehicle, and continuing to step S214.
In this embodiment, the estimation result of the state covariance matrix of the tracked vehicle may be updated according to the preset identity matrix, the gain value of the tracked vehicle corresponding to the current time, the preset identity measurement matrix, and the prediction result of the state covariance matrix of the tracked vehicle by using equation 8.
Wherein, formula 8 is expressed as:
in the above formula 8, P represents the updated estimation result of the state covariance matrix of the tracked vehicle, I represents the preset identity matrix, K k Indicating that the tracked vehicle corresponds to the kth time (whenFront time) gain value, H k Representing a preset unit measurement matrix,and representing the state covariance matrix prediction result of the tracked vehicle.
In this embodiment, the preset identity matrix is the same as the preset identity measurement matrix and the preset identity state matrix, i.e. i=h k ＝ k 。
Step S214, updating the current time and the previous time of the tracked vehicle according to each detection time of the tracked vehicle and the detection time corresponding to the current time, and continuing to execute step S202, step S204 and step S206.
Illustratively, the current time may be updated to the k+1 th time, the previous time to the current time to the k time, and so on, based on each of the detected times (k-2 th time, k-1 th time, k time, k+1 th time, k+2 th time … …) of the tracked vehicle, the detected time corresponding to the current time (e.g., k time).
In summary, in this embodiment, only the inertial measurement unit and the encoder are required to be installed on the tracked vehicle, by calculating the virtual front wheel steering angle observed value of the tracked vehicle corresponding to the current time and combining the virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the previous time with the virtual front wheel steering angle observed value of the tracked vehicle corresponding to the current time, the virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the current time is obtained, so that the accuracy of the virtual front wheel steering angle estimated result can be improved, the driving direction of the tracked vehicle can be accurately determined without the need of the vehicle front wheel steering angle measured value, and the method is particularly suitable for the application field of the tracked vehicle.
Fig. 3 shows a process flow diagram of a method of adjusting the direction of travel of a tracked vehicle according to an exemplary embodiment of the application, which essentially comprises the following steps:
step S302, determining the estimated running direction of the tracked vehicle corresponding to the current moment according to the vehicle speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle.
In this embodiment, the running direction of the tracked vehicle corresponding to the current time may be determined according to the vehicle speed of the tracked vehicle corresponding to the current time and the vehicle size of the tracked vehicle by using the running direction determining method of the tracked vehicle as described in the embodiment of fig. 1 or fig. 2.
Step S304, according to the target running direction of the tracked vehicle corresponding to the current moment and the measured running direction, the adjustment rotating speed of the motor of the steering wheel of the tracked vehicle is obtained.
Alternatively, the target running direction of the tracked vehicle corresponding to the current moment can be obtained according to the path parameters of the target path to be tracked, the position information, the attitude angle information and the vehicle size information of the tracked vehicle corresponding to the current moment.
Alternatively, the target path may include a straight line or a curve, wherein in case the target path is a straight line, the path parameters of the target path may include start point coordinates and end point coordinates of the straight line path, and in case the target path is a curve, the curve path may be segmented into a plurality of continuous straight line segments, and the path parameters of the target path may include start point coordinates and end point coordinates of each straight line segment.
Alternatively, location coordinates, vehicle speed, attitude angle information of the tracked vehicle corresponding to the current time may be obtained using a positioning device (e.g., a Beidou GNSS antenna) on the tracked vehicle.
Optionally, the attitude angle information of the tracked vehicle corresponding to the current time includes pitch angle information, roll angle information, and yaw angle information.
Optionally, the vehicle dimension information of the tracked vehicle includes a track wheel spacing and a track ground contact length of the tracked vehicle.
Optionally, the target driving direction includes a virtual front wheel rotation angle target value of the tracked vehicle, the driving direction includes a virtual front wheel rotation angle calculated value of the tracked vehicle (i.e., the virtual front wheel rotation angle estimated value described in the embodiment of fig. 1 and 2), and the adjustment rotation speed of the motor of the steering wheel of the tracked vehicle may be determined according to a difference result between the virtual front wheel rotation angle target value and the virtual front wheel rotation angle calculated value of the tracked vehicle corresponding to the current time.
Step S306, adjusting the running direction of the tracked vehicle according to the adjustment rotating speed of the motor of the steering wheel of the tracked vehicle.
In particular, the actual rotational speed of the motor of the steering wheel of the tracked vehicle may be adjusted in accordance with the adjusted rotational speed of the motor of the steering wheel of the tracked vehicle such that the tracked vehicle may travel along the target path.
In summary, according to the embodiment of the method for determining the driving direction of each tracked vehicle, the measured driving direction of the tracked vehicle corresponding to the current time can be accurately determined, and the driving direction of the tracked vehicle can be accurately adjusted according to the target driving direction of the tracked vehicle corresponding to the current time, so that the tracked vehicle can drive along the expected target path.
Fig. 4 is a block diagram showing a traveling direction determining apparatus of a tracked vehicle according to an exemplary embodiment of the present application, and as shown in the drawing, the traveling direction determining apparatus 400 of a tracked vehicle of the present embodiment includes: a wheel rotation speed calculation module 402, and a travel direction determination module 404.
The wheel rotation speed calculation module 402 is configured to obtain a wheel rotation speed of the tracked vehicle corresponding to the current time according to a running speed and an angular speed of the tracked vehicle corresponding to the current time and a vehicle size of the tracked vehicle.
The driving direction determining module 404 is configured to determine a driving direction of the tracked vehicle corresponding to the current time according to a wheel rotation speed of the tracked vehicle corresponding to the current time and a vehicle size of the tracked vehicle.
Optionally, the vehicle dimension of the tracked vehicle comprises a track wheel pitch that characterizes a separation distance between two track wheels located on opposite sides of the tracked vehicle; the wheel speeds of the crawler vehicle corresponding to the current moment comprise a left wheel speed and a right wheel speed; the angular velocity of the tracked vehicle corresponding to the current time is obtained using an inertial measurement unit on the tracked vehicle.
Optionally, the vehicle dimensions of the tracked vehicle include a track wheel pitch and a track ground length, the track wheel pitch characterizing a separation distance between two track wheels of the tracked vehicle; the vehicle speed includes a travel speed and an angular speed, and the track ground contact length characterizes a contact length of a track of the tracked vehicle with the ground.
Optionally, the driving direction determining module 404 is further configured to: obtaining a virtual front wheel steering angle observation value of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment, the track wheel distance and the track grounding length; obtaining a virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the current moment according to a virtual front wheel steering angle observed value of the tracked vehicle corresponding to the current moment and a virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the previous moment; determining the running direction of the tracked vehicle corresponding to the current moment according to the virtual front wheel rotation angle estimated value of the tracked vehicle corresponding to the current moment; the preceding time and the current time are any two continuous detection times in all detection times of the crawler-type vehicle, and the preceding time is the previous detection time of the current time.
Optionally, the driving direction determining module 404 is further configured to: obtaining a virtual front wheel steering angle predicted value of the tracked vehicle corresponding to the current moment according to the virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the previous moment, the time interval between the current moment and the previous moment, the steering wheel rotation angular speed of the tracked vehicle corresponding to the current moment and a preset unit state matrix; obtaining a gain value of the tracked vehicle corresponding to the current moment according to a state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix, a preset unit measurement matrix, a noise state matrix and a noise measurement matrix of the tracked vehicle corresponding to the current moment; and obtaining a virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the current moment according to the virtual front wheel steering angle predicted value of the tracked vehicle corresponding to the current moment, the gain value of the tracked vehicle corresponding to the current moment, the virtual front wheel steering angle observed value of the tracked vehicle corresponding to the current moment and the preset unit measurement matrix.
Optionally, the driving direction determining module 404 is further configured to: acquiring a state covariance matrix prediction result of the tracked vehicle according to a state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix and a noise state matrix of the tracked vehicle corresponding to the current moment; and obtaining a gain value of the tracked vehicle corresponding to the current moment according to the state covariance matrix estimation result and the state covariance matrix prediction result of the tracked vehicle, the preset unit measurement matrix and the noise measurement matrix of the tracked vehicle corresponding to the current moment.
Optionally, the driving direction determining module 404 is further configured to: and updating a state covariance matrix estimation result of the tracked vehicle according to a preset identity matrix, a gain value of the tracked vehicle corresponding to the current moment, the preset identity measurement matrix and a state covariance matrix prediction result of the tracked vehicle.
Fig. 5 is a block diagram showing a traveling direction adjusting device for a tracked vehicle according to an exemplary embodiment of the present application. As shown in the figure, the travel direction adjustment device 500 of the tracked vehicle of the present embodiment includes: a travel direction determination module 502, an adjustment rotation speed determination module 504, and a travel direction adjustment module 506.
A measured driving direction determining module 502, configured to determine, by using the driving direction determining device of the tracked vehicle according to claim 10, a measured driving direction of the tracked vehicle corresponding to the current time according to a vehicle speed of the tracked vehicle corresponding to the current time and a vehicle size of the tracked vehicle.
And the adjustment rotation speed determining module 504 is configured to obtain an adjustment rotation speed of a motor of a steering wheel of the tracked vehicle according to the target running direction of the tracked vehicle corresponding to the current moment and the measured running direction.
And the running direction adjusting module 506 is used for adjusting the running direction of the tracked vehicle according to the adjusting rotating speed of the motor of the steering wheel of the tracked vehicle.
Optionally, the adjustment rotation speed determination module 504 is further configured to: and obtaining the target running direction of the tracked vehicle corresponding to the current moment according to the path parameters of the target path, the position information, the attitude angle information and the vehicle size information of the tracked vehicle corresponding to the current moment.
Another embodiment of the present application also provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the method for determining a running direction of a tracked vehicle according to any one of claims 1 to 7 or implements the method for adjusting a running direction of a tracked vehicle according to any one of claims 8 to 9.
Another embodiment of the present invention provides an electronic device, including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are in communication with each other through the communication bus.
Fig. 6 is a block diagram of an electronic device according to an exemplary embodiment of the present invention, and as shown in fig. 6, the electronic device 600 of the present embodiment may include a processor (processor) 602, a communication interface (communication interface) 604, and a memory (memory) 606.
Processor 602, communication interface 604, and memory 606 may communicate with each other via a communication bus 608.
The communication interface 604 is used to communicate with other electronic devices, such as terminal devices or servers.
The processor 602 is configured to execute the computer program 610, and may specifically perform relevant steps in the above-described method embodiments, that is, perform steps in the method described in the above-described embodiments.
In particular, the computer program 610 may comprise program code comprising computer operating instructions.
The processor 602 may be a Central Processing Unit (CPU), or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the electronic device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
Memory 606 for storing a computer program 610. The memory 606 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
Another embodiment of the present invention provides a computer storage medium having a computer program stored thereon, which when executed by a processor, implements the method described in the above embodiments.
It should be noted that, according to implementation requirements, each component/step described in the embodiments of the present invention may be split into more components/steps, or two or more components/steps or part of operations of the components/steps may be combined into new components/steps, so as to achieve the objects of the embodiments of the present invention.
The above-described methods according to embodiments of the present invention may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium downloaded through a network, so that the methods described herein may be stored on such software processes on a recording medium using a general purpose computer, special purpose processor, or programmable or special purpose hardware such as an ASIC or FPGA. It will be appreciated that the computer, processor, microprocessor controller or programmable hardware includes a memory component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the track vehicle travel direction determination and control methods described herein. Further, when the general-purpose computer accesses code for implementing the track vehicle travel direction determination and control method shown herein, execution of the code converts the general-purpose computer into a special-purpose computer for executing the semantic segmentation method shown herein.
Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
It should be noted that, although specific embodiments of the present application have been described in detail with reference to the accompanying drawings, the present application should not be construed as limiting the scope of the present application. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the present application as described in the claims.
Examples of embodiments of the present application are intended to briefly illustrate technical features of embodiments of the present application so that those skilled in the art may intuitively understand the technical features of the embodiments of the present application, and are not meant to be undue limitations of the embodiments of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the embodiments of the present application, and are not limited thereto; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. A method of determining a direction of travel of a tracked vehicle, comprising:
obtaining the wheel rotating speed of the tracked vehicle corresponding to the current moment according to the running speed and the angular speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle;
and determining the running direction of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle.
2. The method of claim 1, wherein,
the vehicle dimension of the tracked vehicle includes a track wheel pitch that characterizes a separation distance between two track wheels located on opposite sides of the tracked vehicle;
The wheel speeds of the crawler vehicle corresponding to the current moment comprise a left wheel speed and a right wheel speed;
the angular velocity of the tracked vehicle corresponding to the current time is obtained using an inertial measurement unit on the tracked vehicle.
3. The method of claim 1, wherein,
the vehicle dimensions of the tracked vehicle include track wheel spacing and track ground length, the track wheel spacing characterizing a separation distance between two track wheels of the tracked vehicle; the vehicle speed includes a travel speed and an angular speed, and the track ground contact length characterizes a contact length of a track of the tracked vehicle with the ground;
the determining the running direction of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle comprises the following steps:
obtaining a virtual front wheel steering angle observation value of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment, the track wheel distance and the track grounding length;
obtaining a virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the current moment according to a virtual front wheel steering angle observed value of the tracked vehicle corresponding to the current moment and a virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the previous moment;
Determining the running direction of the tracked vehicle corresponding to the current moment according to the virtual front wheel rotation angle estimated value of the tracked vehicle corresponding to the current moment;
the preceding time and the current time are any two continuous detection times in all detection times of the crawler-type vehicle, and the preceding time is the previous detection time of the current time.
4. A method according to claim 3, wherein said obtaining a virtual front wheel angle estimate for the tracked vehicle for the current time from a virtual front wheel angle estimate for the tracked vehicle for the current time and a virtual front wheel angle estimate for the tracked vehicle for the previous time comprises:
obtaining a virtual front wheel steering angle predicted value of the tracked vehicle corresponding to the current moment according to the virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the previous moment, the time interval between the current moment and the previous moment, the steering wheel rotation angular speed of the tracked vehicle corresponding to the current moment and a preset unit state matrix;
obtaining a gain value of the tracked vehicle corresponding to the current moment according to a state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix, a preset unit measurement matrix, a noise state matrix and a noise measurement matrix of the tracked vehicle corresponding to the current moment;
And obtaining a virtual front wheel steering angle estimated value of the tracked vehicle corresponding to the current moment according to the virtual front wheel steering angle predicted value of the tracked vehicle corresponding to the current moment, the gain value of the tracked vehicle corresponding to the current moment, the virtual front wheel steering angle observed value of the tracked vehicle corresponding to the current moment and the preset unit measurement matrix.
5. The method of claim 4, wherein the obtaining the gain value of the tracked vehicle corresponding to the current time based on the state covariance matrix estimate of the tracked vehicle, the preset identity state matrix, the preset identity measurement matrix, the noise state matrix and the noise measurement matrix of the tracked vehicle corresponding to the current time comprises:
acquiring a state covariance matrix prediction result of the tracked vehicle according to a state covariance matrix estimation result of the tracked vehicle, the preset unit state matrix and a noise state matrix of the tracked vehicle corresponding to the current moment;
and obtaining a gain value of the tracked vehicle corresponding to the current moment according to the state covariance matrix estimation result and the state covariance matrix prediction result of the tracked vehicle, the preset unit measurement matrix and the noise measurement matrix of the tracked vehicle corresponding to the current moment.
6. The method of claim 5, wherein the method further comprises:
and updating a state covariance matrix estimation result of the tracked vehicle according to a preset identity matrix, a gain value of the tracked vehicle corresponding to the current moment, the preset identity measurement matrix and a state covariance matrix prediction result of the tracked vehicle.
7. The method of claim 4, wherein the steering wheel rotational angular velocity of the tracked vehicle corresponding to the current time is calculated using an encoder mounted on the tracked vehicle.
8. A method of adjusting a direction of travel of a tracked vehicle, comprising:
with the running direction determining method of a tracked vehicle according to any one of claims 1 to 7, a measured running direction of the tracked vehicle corresponding to the current time is determined from a vehicle speed of the tracked vehicle corresponding to the current time, a vehicle size of the tracked vehicle;
obtaining an adjustment rotating speed of a motor of a steering wheel of the tracked vehicle according to the target running direction of the tracked vehicle corresponding to the current moment and the measuring and calculating running direction;
and adjusting the running direction of the tracked vehicle according to the adjustment rotating speed of the motor of the steering wheel of the tracked vehicle.
9. The method of claim 8, wherein the target travel direction of the tracked vehicle corresponding to the current time is determined by:
and obtaining the target running direction of the tracked vehicle corresponding to the current moment according to the path parameters of the target path, the position information, the attitude angle information and the vehicle size information of the tracked vehicle corresponding to the current moment.
10. A travel direction determining device of a tracked vehicle, comprising:
the wheel rotating speed calculation module is used for obtaining the wheel rotating speed of the tracked vehicle corresponding to the current moment according to the running speed and the angular speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle;
and the running direction determining module is used for determining the running direction of the tracked vehicle corresponding to the current moment according to the wheel rotating speed of the tracked vehicle corresponding to the current moment and the vehicle size of the tracked vehicle.
11. A travel direction adjustment device for a tracked vehicle, comprising:
a estimated running direction determining module for determining an estimated running direction of the tracked vehicle corresponding to the current time from a vehicle speed of the tracked vehicle corresponding to the current time, a vehicle size of the tracked vehicle, using the running direction determining apparatus of the tracked vehicle according to claim 10;
The adjustment rotation speed determining module is used for obtaining the adjustment rotation speed of the motor of the steering wheel of the tracked vehicle according to the target running direction of the tracked vehicle corresponding to the current moment and the measured running direction;
and the driving direction adjusting module is used for adjusting the driving direction of the tracked vehicle according to the adjusting rotating speed of the motor of the steering wheel of the tracked vehicle.
12. An electronic device, comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the operation corresponding to the method for determining a traveling direction of a tracked vehicle according to any one of claims 1 to 7 or the operation corresponding to the method for adjusting a traveling direction of a tracked vehicle according to any one of claims 8 to 9.
13. A computer storage medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, implements the method for determining a direction of travel of a tracked vehicle according to any one of claims 1 to 7 or implements the method for adjusting a direction of travel of a tracked vehicle according to any one of claims 8 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310723040.8A CN116654090A (en) | 2023-06-16 | 2023-06-16 | Method and device for determining and controlling running direction of crawler-type vehicle and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310723040.8A CN116654090A (en) | 2023-06-16 | 2023-06-16 | Method and device for determining and controlling running direction of crawler-type vehicle and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117002479A (en) * | 2023-09-18 | 2023-11-07 | 上海联适导航技术股份有限公司 | Track following method of tracked vehicle based on yaw rate |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117002479A (en) * | 2023-09-18 | 2023-11-07 | 上海联适导航技术股份有限公司 | Track following method of tracked vehicle based on yaw rate |
| CN117002479B (en) * | 2023-09-18 | 2024-04-26 | 上海联适导航技术股份有限公司 | Track following method of tracked vehicle based on yaw rate |
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