CN117302233A - Semitrailer acceleration compensation method, device, equipment and storage medium - Google Patents
Semitrailer acceleration compensation method, device, equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
- B60W2300/145—Semi-trailers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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Abstract
The invention discloses a semitrailer acceleration compensation method, device and equipment and a storage medium, and belongs to the technical field of automobile control. The semitrailer acceleration compensation method comprises the steps of obtaining planning acceleration, a current hinging angle, a current vehicle speed and a current load mass at the current moment; based on the current hinge angle, the current vehicle speed and the current load mass, performing linear interpolation in a preset three-dimensional space to obtain curve acceleration compensation quantity; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass; and obtaining an acceleration control amount based on the planned acceleration and the curve acceleration compensation amount. The invention can correct the problem of reduced longitudinal control acceleration performance of the semitrailer caused by curve scenes, so that the semitrailer can smoothly complete turning.
Description
Technical Field
The present invention relates to the field of automotive control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for compensating acceleration of a semitrailer.
Background
The semitrailer comprises a tractor and a trailer, when the load is large and the vehicle turns greatly, the hinging angle of the tractor and the trailer is large, the tractor and the trailer are folded, the friction force of the trailer, which is needed to be overcome by the driving force of the tractor, is increased compared with that of the vehicle when the vehicle runs straight, the longitudinal control acceleration performance is reduced, and the vehicle cannot smoothly complete the turning.
The acceleration compensation scheme of the related art is not applicable to the semitrailer model.
Disclosure of Invention
The invention mainly aims to provide a semitrailer acceleration compensation method, device and equipment and a storage medium, and aims to solve the technical problem that the longitudinal acceleration performance of a semitrailer is reduced during turning in the related art.
In order to achieve the above object, the present invention provides a method for compensating acceleration of a semitrailer, comprising the steps of:
acquiring planning acceleration, a current hinging angle, a current vehicle speed and a current load mass at the current moment;
based on the current hinge angle, the current vehicle speed and the current load mass, linear interpolation is carried out in a preset three-dimensional space, and curve acceleration compensation quantity is obtained; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass;
and obtaining the acceleration control quantity based on the planned acceleration and the curve acceleration compensation quantity.
Optionally, the step of acquiring the planned acceleration at the current moment includes:
acquiring current position information, pre-aiming time and planned path of a tractor at the current moment; each position node in the planning path has planning position information, planning speed and planning acceleration;
the step of obtaining the acceleration control amount based on the acceleration and the curve acceleration compensation amount comprises the following steps:
taking a position node closest to the current position information of the tractor in the planned path as an initial node, and determining a reference position node based on the position node after traversing the initial node in the pre-aiming time;
calculating to obtain a speed closed-loop acceleration correction amount based on the current position information, the current vehicle speed and the reference position node of the tractor;
and obtaining the acceleration control quantity based on the planned acceleration, the curve acceleration compensation quantity and the speed closed-loop acceleration correction quantity.
Optionally, the step of calculating a speed closed-loop acceleration correction amount based on the current position information of the tractor, the current vehicle speed and the reference position node includes:
determining the position error amount of the tractor and the reference position node, and the last position error amount and the previous time speed error amount of the tractor at the last time;
based on the position error amount and the previous position error amount, calculating to obtain a position closed-loop speed correction amount through a formula I;
obtaining a speed error amount based on the current vehicle speed, the position closed-loop speed correction amount and the planned speed;
based on the speed error amount, the previous moment speed error amount and the position error amount, calculating to obtain a speed closed-loop acceleration correction amount through a formula II;
equation one: v p ＝kp_p*E p +ki_p*∑E p +kd_p*(E p -E p-1 )；
Wherein v is p For position closed loop speed correction, E p E is the position error amount p-1 As the previous time position error amount, kp_p is a position error proportional coefficient, ki_p is a position error integral coefficient, and kd_p is a position error differential coefficient;
formula II: a, a v ＝kp_v*E v +ki_v*∑E p +kd_v*(E v -E v-1 )；
Wherein a is v For speed closed loop acceleration correction, E v E is the speed error amount v-1 The previous time velocity error amount kp_v is a velocity error proportional coefficient, ki_v is a velocity error integral coefficient, and kd_v is a velocity error differential coefficient.
Optionally, the step of obtaining the acceleration control amount based on the planned acceleration, the curve acceleration compensation amount, and the speed closed-loop acceleration correction amount includes:
acquiring the self-weight mass of the tractor, the self-weight mass of the trailer, the pitch angle of the tractor and the relative pitch angle of the trailer and the tractor;
obtaining a trailer pitch angle based on the tractor pitch angle and the relative pitch angle;
calculating and obtaining a ramp acceleration compensation amount based on the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer;
and obtaining the acceleration control quantity based on the ramp acceleration compensation quantity, the planned acceleration, the curve acceleration compensation quantity and the speed closed-loop acceleration correction quantity.
Optionally, the step of calculating and obtaining the ramp acceleration compensation amount based on the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer includes:
the ramp acceleration compensation quantity is obtained through calculation according to a formula III based on the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer;
wherein a is p For the slope acceleration compensation quantity, M is the current load mass, M g Is the weight of the trailer, M q Alpha is the weight of the tractor 1 Is the pitch angle of the trailer, alpha 0 G is the gravitational acceleration, the pitch angle of the tractor.
Optionally, after the step of obtaining the acceleration control amount based on the planned acceleration and the curve acceleration compensation amount, the method further includes:
based on the current vehicle speed and the acceleration control quantity, obtaining a brake control quantity and an accelerator control quantity;
and sending the brake control quantity and the accelerator control quantity to the drive-by-wire chassis.
Optionally, the step of obtaining the brake control amount and the accelerator control amount based on the current vehicle speed and the acceleration control amount includes:
and inquiring a brake-accelerator calibration table based on the current vehicle speed and the acceleration control quantity to obtain a brake control quantity and an accelerator control quantity.
In addition, in order to achieve the above object, the present invention also provides a semitrailer acceleration compensation device, which comprises:
the information acquisition module is used for acquiring the planning acceleration, the current hinge angle, the current vehicle speed and the current load mass at the current moment;
the acceleration compensation module is used for carrying out linear interpolation in a preset three-dimensional space based on the current hinge angle, the current vehicle speed and the current load mass to obtain curve acceleration compensation quantity; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass;
and the acceleration control module is used for obtaining the acceleration control quantity based on the planned acceleration and the curve acceleration compensation quantity.
In addition, to achieve the above object, the present invention also provides a semitrailer acceleration compensation apparatus, the apparatus comprising: the system comprises a memory, a processor and a semitrailer acceleration compensation program stored on the memory and capable of running on the processor, wherein the semitrailer acceleration compensation program is configured to realize the steps of the semitrailer acceleration compensation method.
In addition, in order to achieve the above object, the present invention further provides a computer readable storage medium, on which a semitrailer acceleration compensation program is stored, which when executed by a processor, implements the steps of the semitrailer acceleration compensation method as described above.
According to the invention, based on the current hinge angle, the current vehicle speed and the current load mass, linear interpolation is carried out in a preset three-dimensional space, the curve acceleration compensation quantity in the current state is obtained, and the curve acceleration compensation quantity is added into the acceleration control quantity, so that the problem of reduced longitudinal control acceleration performance of the semitrailer caused by a curve scene can be corrected, and the semitrailer can smoothly complete turning.
Drawings
FIG. 1 is a schematic diagram of a semitrailer acceleration compensation apparatus for a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the method for compensating acceleration of a semitrailer according to the present invention;
FIG. 3 is a flow chart of a second embodiment of the method for compensating acceleration of a semitrailer according to the present invention;
FIG. 4 is a flow chart of a third embodiment of the acceleration compensation method of the present invention;
FIG. 5 is a schematic diagram of an exemplary flow frame of a method for compensating acceleration of a semitrailer according to the present invention;
fig. 6 is a schematic diagram of functional modules of a first embodiment of the acceleration compensation method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Analysis of the related art reveals that: the related art is mainly used for carrying out longitudinal acceleration compensation control on a passenger car, the type of a semitrailer is not considered, and the longitudinal control acceleration performance is reduced due to the fact that the tractor and the trailer are folded when the semitrailer turns under a large-load scene, and further the acceleration performance is reduced when the semitrailer turns.
Therefore, the invention carries out linear interpolation in the preset three-dimensional space based on the current hinging angle, the current vehicle speed and the current load mass to obtain the curve acceleration compensation quantity in the current state, and adds the curve acceleration compensation quantity into the acceleration control quantity, thereby being capable of correcting the problem of the reduction of the longitudinal control acceleration performance of the semitrailer caused by curve scenes and enabling the semitrailer to smoothly complete the turning.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a semitrailer acceleration compensation device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the semitrailer acceleration compensation apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the semi-trailer acceleration compensation apparatus and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a data storage module, a network communication module, a user interface module, and a semitrailer acceleration compensation program may be included in a memory 1005 as one type of computer-readable storage medium.
In the semitrailer acceleration compensation apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with other apparatuses; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the semitrailer acceleration compensation apparatus of the present invention may be disposed in the semitrailer acceleration compensation apparatus, and the semitrailer acceleration compensation apparatus invokes a semitrailer acceleration compensation program stored in the memory 1005 through the processor 1001, and executes the semitrailer acceleration compensation method provided by the embodiment of the present invention.
An embodiment of the invention provides a method for compensating acceleration of a semitrailer, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for compensating acceleration of the semitrailer.
In this embodiment, the method for compensating acceleration of a semitrailer includes:
step S100: and acquiring the planned acceleration, the current hinge angle, the current vehicle speed and the current load mass at the current moment.
Step S200: and performing linear interpolation in a preset three-dimensional space based on the current hinge angle, the current vehicle speed and the current load mass to obtain the curve acceleration compensation quantity.
The horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the articulation angle, and the vertical axis represents the vehicle load mass.
Step S300: and obtaining the acceleration control quantity based on the planned acceleration and the curve acceleration compensation quantity.
Specifically, in the turning process of the semitrailer, the planned acceleration, the current hinge angle, the current vehicle speed and the current load mass of the semitrailer at the current moment are obtained in real time. In the specific implementation process, the current hinging angle is calculated and obtained by the sensing module through identifying the posture of the trailer, the current load mass is obtained through load measuring equipment or cloud control, the current vehicle speed is obtained according to information fed back by the drive-by-wire chassis, and the planning acceleration is obtained according to the track planning result provided by the planning module. The hinge angle is an included angle at the hinge position of the tractor and the trailer. The track planning result comprises planning track point coordinates, planning speed and planning acceleration.
And according to the current hinge angle, the current vehicle speed and the current load mass, linear interpolation is carried out in a preset three-dimensional space, so that the curve acceleration compensation quantity can be obtained. Wherein, the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass. It will be appreciated that the acceleration performance of a semitrailer in cornering is reduced, mainly due to the size of the articulation angle, the load mass of the vehicle and the speed of the vehicle. Therefore, a preset three-dimensional space of the hinge angle, the vehicle load and the vehicle speed can be established, and the curve acceleration compensation quantity under the anchor value can be obtained by selecting the anchor values (the intersection point values of the three-dimensional interpolation table) with different dimensions for test calibration.
Therefore, in actual application, the curve acceleration compensation quantity in the current state can be obtained through linear interpolation in a three-dimensional space according to the real-time hinge angle, the real-time vehicle speed and the current load. And finally, summing the obtained planned acceleration and the curve acceleration compensation quantity in the current state to obtain the final acceleration control quantity.
For example: in a specific application scene, the following three-dimensional space table 1 is obtained by selecting anchoring values (intersection values of a three-dimensional interpolation table) with different dimensions for test calibration:
TABLE 1
If the speed of the semitrailer is v, the loading mass is M, and the hinge angle isAnd v 0 <v<v 1 ，M 0 <M<M 1 ，Then the following interpolation calculation is performed according to the curve acceleration compensation amount at the corresponding anchoring value in the three-dimensional space table 1:
wherein a is h1 、a h2 、a h3 、a h4 、a h5 、a h6 All are calculated intermediate quantities, a h The final curve acceleration compensation amount.
Further, in one embodiment, step S100 includes: and acquiring the current position information, the pre-aiming time and the planned path of the tractor at the current moment.
Each location node in the planned path has planned location information, a planned speed, and a planned acceleration.
Specifically, a planning path is obtained according to a path planning result provided by a planning module, a plurality of position nodes are arranged in time in the planning path, and each position node contains planning position information, planning speed and planning acceleration at corresponding moments. Therefore, the planned acceleration at the current moment can be acquired according to the pre-aiming time. It can be understood that the semitrailer moves in real time, and the problem that the calculated result is not matched with the current state of the semitrailer due to the fact that the calculated result lags relative to the semitrailer state can be avoided by setting the pre-aiming time to provide a control advance.
At this time, in the implementation process, step S300 includes:
step S310: and taking a position node closest to the current position information of the tractor in the planned path as an initial node, and determining a reference position node based on the position node after traversing the initial node by the pre-aiming time.
Step S320: and calculating a speed closed-loop acceleration correction amount based on the current position information, the current vehicle speed and the reference position node of the tractor.
Step S330: and obtaining the acceleration control quantity based on the planned acceleration, the curve acceleration compensation quantity and the speed closed-loop acceleration correction quantity.
Specifically, in the present embodiment, the acceleration control amount further includes a speed closed-loop acceleration correction amount. Before calculating the velocity closed loop acceleration correction, a reference position node for calculation needs to be first determined from the planned path. In the implementation process, a position node closest to the current position of the tractor in the planned path can be used as an initial node, and then the reference position node corresponding to the pre-aiming time is determined according to the position node after the initial node is traversed according to the pre-aiming time.
For example: the current tractor position coordinates are (x a ,y a ) If the pre-aiming time is T, searching the current tractor position (x) according to the planned track a ,y a ) Setting the pretightening distance of the nearest point to zero, traversing the position nodes backwards based on the point, and selecting a position node (x t ,y t ,v t ,a t ,t t ) As a reference location node. Wherein the pre-sighting distance is the initial node relative to the current tractor position (x a ,y a ) Because the initial node is a distance from the current position (x a ,y a ) The closest position node, the pretightening distance of this point is thus set to zero.
And then based on the current tractor position (x a ,y a ) Reference position node (x t ,y t ,v t ,a t ,t t ) The current vehicle speed v can be calculated to obtain the speed closed-loop acceleration correction quantity a v 。
In one embodiment, the velocity closed loop acceleration modifier a v The calculation process step S320 includes:
step S321: the position error amount of the tractor and the reference position node is determined, and the last position error amount and the previous time speed error amount of the tractor at the last time are determined.
Step S322: based on the position error amount and the previous position error amount, a position closed-loop speed correction amount is calculated by a formula I.
Step S323: the speed error amount is obtained based on the current vehicle speed, the position closed-loop speed correction amount, and the planned speed.
Step S324 calculates the velocity closed-loop acceleration correction amount according to the formula two based on the velocity error amount, the previous time velocity error amount, and the position error amount.
Specifically, first, the position error amount of the tractor and the reference position node and the last position error amount E of the tractor at the last moment are determined p-1 And a previous time speed error amount E v-1 。
Knowing the current tractor position (x a ,y a ) Reference position node (x t ,y t ,v t ,a t ,t t ) The amount of position error can be calculated by the formula three:
and (3) a formula III:
wherein E is p Is the amount of positional error of the tractor from the reference position node.
Known position error amount E p And a previous time speed error amount E p-1 The position closed loop velocity correction can be calculated by the formula one:
equation one: v p ＝kp_p*E p +ki_p*∑E p +kd_p*(E p -E p-1 )；
Wherein v is p For the position closed loop velocity correction, kp_p is the position error proportional coefficient, ki_p is the position error integral coefficient, and kd_p is the position error differential coefficient.
Planning speed v of known reference position node t Position closed loop speed correction v p Current vehicle speed v, speed errorThe amount can be calculated by the formula four:
equation four: e (E) v ＝v t +v p -v；
Wherein E is v Is the amount of speed error.
Known speed error amount E v Error amount E of speed at previous time v-1 Amount of positional error E p The speed closed-loop acceleration correction can be calculated by the formula II:
formula II: a, a v ＝kp_v*E v +ki_v*∑E p +kd_v*(E v -E v-1 )；
Wherein a is v For the velocity closed loop acceleration correction, kp_v is the velocity error proportional coefficient, ki_v is the velocity error integral coefficient, and kd_v is the velocity error differential coefficient.
Finally, at the known speed, the closed-loop acceleration correction amount a v Planned acceleration a t Curve acceleration compensation amount a h In the case of (a), the acceleration control amount a can be obtained by summing up the formula five:
formula five: a=a v +a t +a h 。
In the embodiment, on the basis of conventional speed closed-loop acceleration correction and compensation, linear interpolation is performed in a preset three-dimensional space based on the current hinge angle, the current vehicle speed and the current load mass, the curve acceleration compensation quantity in the current state is obtained, and the curve acceleration compensation quantity is added into the acceleration control quantity, so that the problem of longitudinal control acceleration performance reduction of the semitrailer caused by a curve scene can be corrected, and the semitrailer can smoothly complete turning.
In another embodiment, when the acceleration compensation device of the semitrailer detects that the articulation angle is smaller than the preset minimum value, the system energy effect on the longitudinal acceleration of the trailer is negligible because of the small folding of the tractor and the trailer, and the acceleration compensation device does not perform curve acceleration compensation on the semitrailer.
Further, a second embodiment is proposed based on the first embodiment, referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the method for compensating acceleration of a semitrailer according to the present invention.
In this embodiment, step S330 includes:
step S331: and acquiring the self-weight mass of the tractor, the self-weight mass of the trailer, the pitch angle of the tractor and the relative pitch angle of the trailer and the tractor.
Step S332: and obtaining the trailer pitch angle based on the tractor pitch angle and the relative pitch angle.
Step S333: and calculating and obtaining the ramp acceleration compensation amount based on the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer.
Step S334: and obtaining the acceleration control quantity based on the ramp acceleration compensation quantity, the planned acceleration, the curve acceleration compensation quantity and the speed closed-loop acceleration correction quantity.
Specifically, in the present embodiment, the acceleration control amount further includes a ramp acceleration compensation amount. Before the ramp acceleration compensation quantity is calculated, firstly, the self-weight mass of the tractor, the self-weight mass of the trailer, the pitch angle of the tractor and the relative pitch angle of the trailer and the tractor are required to be obtained, then the pitch angle of the trailer is calculated according to the pitch angle and the relative pitch angle of the tractor, and then the ramp acceleration compensation quantity is calculated according to the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer, and finally the ramp acceleration compensation quantity, the planning acceleration, the curve acceleration compensation quantity and the speed closed-loop acceleration correction quantity are summed to obtain the acceleration control quantity.
The trailer pitch angle can be obtained by subtracting the relative pitch angle from the tractor pitch angle. For example: tractor pitch angle alpha is known 0 And the relative pitch angle is alpha, the trailer pitch angle alpha 1 ＝α 0 -α。
In one embodiment, the calculation process step S333 of the ramp acceleration compensation amount includes:
and calculating to obtain the ramp acceleration compensation quantity through a formula III based on the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer.
In particular, the self-weight mass M of the tractor is known q Weight M of trailer g The pitch angle of the current loading mass M and the tractor is alpha 0 Trailer pitch angle alpha 1 The ramp acceleration compensation amount can be calculated by the formula III:
wherein a is p G is the gravity acceleration, which is the slope acceleration compensation amount.
At this time, the acceleration correction amount a is closed-loop at a known speed v Planned acceleration a t Curve acceleration compensation amount a h Slope acceleration compensation amount a p In the case of (a), the acceleration control amount a can be obtained by summing up the formula six:
formula six: a=a v +a t +a h +a p 。
In the embodiment, on the basis of conventional speed closed-loop acceleration correction and compensation and curve acceleration compensation, the invention carries out ramp acceleration compensation calculation according to the pitch angle of the tractor and the pitch angle of the trailer, obtains the ramp acceleration compensation quantity and adds the acceleration control quantity, so that the problem of unstable ramp longitudinal control caused by inconsistent gradients of the trailer and the tractor and uneven front and rear distribution of the mass of the articulated vehicle can be corrected, and the ramp running of the semitrailer is more stable.
Further, a third embodiment is proposed based on the foregoing embodiment, referring to fig. 4, and fig. 4 is a schematic flow chart of a third embodiment of the acceleration compensation method of the semitrailer according to the present invention.
In this embodiment, after step S300, the method further includes:
step S400: based on the current vehicle speed and the acceleration control quantity, obtaining a brake control quantity and an accelerator control quantity;
step S500: and sending the brake control quantity and the accelerator control quantity to the drive-by-wire chassis.
Specifically, after the acceleration control amount is calculated by the acceleration compensation device of the semitrailer, the brake control amount and the accelerator control amount can be obtained according to the acceleration control amount and the current vehicle speed, and finally the brake control amount and the accelerator control amount are sent to the drive-by-wire chassis, so that the drive-by-wire chassis controls the semitrailer to perform curve driving or ramp driving according to the brake control amount and the accelerator control amount.
Further, in one embodiment, step S400 includes:
and inquiring a brake-accelerator calibration table based on the current vehicle speed and the acceleration control quantity to obtain a brake control quantity and an accelerator control quantity.
Specifically, a brake-accelerator calibration table can be queried according to the current vehicle speed and the acceleration control quantity, so as to obtain a brake control quantity and an accelerator control quantity corresponding to the current vehicle speed and the acceleration control quantity. The brake-accelerator calibration table comprises the corresponding relation between the vehicle speed and the acceleration control quantity and the brake control quantity and the accelerator control quantity, namely a variable combination of the vehicle speed and the acceleration control quantity corresponds to a control quantity combination of the brake control quantity and the accelerator control quantity.
In the embodiment, on the basis of obtaining the acceleration control quantity, the brake-accelerator calibration table is directly inquired according to the acceleration control quantity and the current vehicle speed, so that the brake control quantity and the accelerator control quantity can be obtained, a complex calculation process is avoided, the brake control quantity and the accelerator control quantity can be timely received by the drive-by-wire chassis of the semitrailer, and the brake or the accelerator is adjusted, so that smooth turning or ramp running of the semitrailer is realized.
To enable those skilled in the art to better understand the scope of the claims of the present application. The following description is made by way of specific examples of embodiments in specific application scenarios, and it is understood that the following examples are only used to explain the present application, and are not intended to limit the scope of the claims of the present application.
Examples: in one specific implementation, a flow frame for semitrailer acceleration compensation is shown in fig. 5. In this example, the acceleration compensation includes closed loop speed compensation, closed loop acceleration compensation, curve acceleration compensation, and ramp acceleration compensation.
Firstly, determining a position error according to a reference position node and the current position of a vehicle, carrying out position closed-loop speed correction calculation on the basis of the position error to obtain a position closed-loop speed correction quantity, and carrying out speed compensation. And obtaining a speed error according to the planned speed, the position closed-loop speed correction quantity and the current speed, carrying out speed closed-loop acceleration correction calculation on the basis of the speed error to obtain a speed closed-loop acceleration correction quantity, and carrying out acceleration compensation.
On the basis, the curve acceleration compensation quantity is obtained by carrying out linear interpolation calculation in a preset three-dimensional space according to the vehicle load, the hinge angle and the current vehicle speed. And the slope acceleration compensation quantity is obtained by carrying out slope acceleration compensation calculation by taking the pitch angle of the tractor and the pitch angle of the trailer as inputs. And finally, obtaining an acceleration control quantity according to the speed closed-loop acceleration correction quantity, the planned acceleration, the curve acceleration compensation quantity and the ramp acceleration compensation quantity, inquiring a brake-accelerator calibration table according to the acceleration control quantity and the current vehicle speed, and obtaining an accelerator control quantity and a brake control quantity to control the semi-trailer.
In the example, by adding closed-loop acceleration compensation, bend acceleration compensation, ramp acceleration compensation and other multidimensional acceleration compensation in the acceleration control quantity, the acceleration compensation control device of the semitrailer is more accurate in acceleration compensation control of the semitrailer in the curve and ramp running process, and the semitrailer can smoothly complete curve running and stable ramp running.
Further, in order to achieve the above object, the present invention further provides a semitrailer acceleration compensation device, which may include:
the information acquisition module is used for acquiring the planning acceleration, the current hinge angle, the current vehicle speed and the current load mass at the current moment;
the acceleration compensation module is used for carrying out linear interpolation in a preset three-dimensional space based on the current hinge angle, the current vehicle speed and the current load mass to obtain curve acceleration compensation quantity; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass;
and the acceleration control module is used for obtaining the acceleration control quantity based on the planned acceleration and the curve acceleration compensation quantity.
It should be noted that, the functions that can be achieved by each module in the semitrailer acceleration compensation device and the corresponding achieved technical effects may refer to descriptions of specific implementations in each embodiment of the semitrailer acceleration compensation method of the present invention, and for brevity of description, details are not repeated here.
In addition, the embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium stores a semitrailer acceleration compensation program, and the semitrailer acceleration compensation program realizes the steps of the semitrailer acceleration compensation method when being executed by a processor. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present invention, please refer to the description of the method embodiments of the present invention. As an example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
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 system 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 system. Without further limitation, an element defined by the phrase "comprising a semitrailer acceleration compensation" does not exclude that there are additional identical elements in a process, method, article or system comprising the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a computer readable storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The semitrailer acceleration compensation method is applied to a semitrailer, and the semitrailer comprises a tractor and a trailer, and is characterized by comprising the following steps of:
acquiring planning acceleration, a current hinging angle, a current vehicle speed and a current load mass at the current moment;
based on the current hinge angle, the current vehicle speed and the current load mass, performing linear interpolation in a preset three-dimensional space to obtain curve acceleration compensation quantity; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass;
and obtaining an acceleration control amount based on the planned acceleration and the curve acceleration compensation amount.
2. The method for compensating acceleration of a semitrailer according to claim 1, wherein the step of obtaining the planned acceleration at the present moment comprises:
acquiring the current position information, pre-aiming time and planned path of the tractor at the current moment; each position node in the planning path is provided with planning position information, planning speed and planning acceleration;
the step of obtaining the acceleration control quantity based on the planned acceleration and the curve acceleration compensation quantity comprises the following steps:
taking a position node closest to the current position information of the tractor in the planned path as an initial node, and determining a reference position node based on the position node after traversing the initial node by the pre-aiming time;
calculating a speed closed-loop acceleration correction amount based on the current position information of the tractor, the current vehicle speed and the reference position node;
and obtaining the acceleration control quantity based on the planned acceleration, the curve acceleration compensation quantity and the speed closed-loop acceleration correction quantity.
3. The semitrailer acceleration compensation method of claim 2, wherein the step of calculating a speed closed-loop acceleration correction based on the tractor current position information, the current vehicle speed, and the reference position node comprises:
determining the position error amount of the tractor and the reference position node, and the last position error amount and the previous time speed error amount of the tractor at the last time;
calculating to obtain a position closed-loop speed correction amount through a formula I based on the position error amount and the previous position error amount;
obtaining a speed error amount based on the current vehicle speed, the position closed-loop speed correction amount, and the planned speed;
calculating the speed closed-loop acceleration correction amount through a formula II based on the speed error amount, the previous moment speed error amount and the position error amount;
equation one: v p ＝kp_p*E p +ki_p*∑E p +kd_p*(E p -E p-1 )；
Wherein v is p For position closed loop speed correction, E p E is the position error amount p-1 As the previous time position error amount, kp_p is a position error proportional coefficient, ki_p is a position error integral coefficient, and kd_p is a position error differential coefficient;
formula II: a, a v ＝kp_v*E v +ki_v*∑E p +kd_v*(E v -E v-1 )；
Wherein a is v For speed closed loop acceleration correction, E v E is the speed error amount v-1 The previous time velocity error amount kp_v is a velocity error proportional coefficient, ki_v is a velocity error integral coefficient, and kd_v is a velocity error differential coefficient.
4. The semitrailer acceleration compensation method of claim 2, wherein the step of obtaining the acceleration control amount based on the planned acceleration, the curve acceleration compensation amount, and the speed closed-loop acceleration correction amount includes:
acquiring the self-weight mass of the tractor, the self-weight mass of the trailer, the pitch angle of the tractor and the relative pitch angle of the trailer and the tractor;
obtaining a trailer pitch angle based on the tractor pitch angle and the relative pitch angle;
calculating and obtaining a ramp acceleration compensation amount based on the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer;
and obtaining the acceleration control quantity based on the ramp acceleration compensation quantity, the planned acceleration, the curve acceleration compensation quantity and the speed closed-loop acceleration correction quantity.
5. The semitrailer acceleration compensation method of claim 4, wherein the step of calculating a ramp acceleration compensation amount based on the tractor dead weight, the trailer dead weight, the current load weight, the tractor pitch angle, and the trailer pitch angle includes:
calculating to obtain a ramp acceleration compensation amount through a formula III based on the self-weight mass of the tractor, the self-weight mass of the trailer, the current load mass, the pitch angle of the tractor and the pitch angle of the trailer;
and (3) a formula III:
wherein a is p For the slope acceleration compensation quantity, M is the current load mass, M g Is the weight of the trailer, M q Alpha is the weight of the tractor 1 Is the pitch angle of the trailer, alpha 0 G is the gravitational acceleration, the pitch angle of the tractor.
6. The semitrailer acceleration compensation method of any one of the claims 1-5, characterized in, that after the step of deriving an acceleration control amount based on the planned acceleration and the curve acceleration compensation amount, the method further comprises:
based on the current vehicle speed and the acceleration control quantity, obtaining a brake control quantity and an accelerator control quantity;
and sending the brake control quantity and the accelerator control quantity to a drive-by-wire chassis.
7. The semitrailer acceleration compensation method of claim 6, wherein the step of obtaining a brake control amount and a throttle control amount based on the current vehicle speed and the acceleration control amount includes:
and inquiring a brake-accelerator calibration table based on the current vehicle speed and the acceleration control quantity to obtain the brake control quantity and the accelerator control quantity.
8. A semitrailer acceleration compensation device, the device comprising:
the information acquisition module is used for acquiring the planning acceleration, the current hinge angle, the current vehicle speed and the current load mass at the current moment;
the acceleration compensation module is used for carrying out linear interpolation in a preset three-dimensional space based on the current hinge angle, the current vehicle speed and the current load mass to obtain curve acceleration compensation quantity; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass;
and the acceleration control module is used for obtaining the acceleration control quantity based on the planned acceleration and the curve acceleration compensation quantity.
9. A semitrailer acceleration compensation apparatus, the apparatus comprising: a memory, a processor and a semitrailer acceleration compensation program stored on the memory and operable on the processor, the semitrailer acceleration compensation program being configured to implement the steps of the semitrailer acceleration compensation method of any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a semitrailer acceleration compensation program, which when executed by a processor, implements the steps of the semitrailer acceleration compensation method of any one of claims 1 to 7.
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| CN202311547137.4A CN117302233A (en) | 2023-11-17 | 2023-11-17 | Semitrailer acceleration compensation method, device, equipment and storage medium |
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| CN202311547137.4A CN117302233A (en) | 2023-11-17 | 2023-11-17 | Semitrailer acceleration compensation method, device, equipment and storage medium |
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