WO2020191694A1 - Procédé de commande et dispositif de commande pour plateforme mobile et support de stockage - Google Patents

Procédé de commande et dispositif de commande pour plateforme mobile et support de stockage Download PDF

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Publication number
WO2020191694A1
WO2020191694A1 PCT/CN2019/080014 CN2019080014W WO2020191694A1 WO 2020191694 A1 WO2020191694 A1 WO 2020191694A1 CN 2019080014 W CN2019080014 W CN 2019080014W WO 2020191694 A1 WO2020191694 A1 WO 2020191694A1
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WIPO (PCT)
Prior art keywords
movable platform
control
target
instruction
parameter
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Application number
PCT/CN2019/080014
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English (en)
Chinese (zh)
Inventor
马建云
应佳行
商志猛
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980005012.4A priority Critical patent/CN111226103A/zh
Priority to PCT/CN2019/080014 priority patent/WO2020191694A1/fr
Publication of WO2020191694A1 publication Critical patent/WO2020191694A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the embodiments of the present application relate to the field of intelligent control, and in particular, to a control method, control device, and storage medium of a movable platform.
  • a mobile platform as an example of a vehicle
  • more and more vehicles are equipped with car driving assistance systems.
  • the car driving assistance system can use the camera, millimeter wave radar, ultrasonic radar and other sensor modules installed on the vehicle to sense the surrounding environment to achieve self-control.
  • Adaptive Cruise Control (ACC) function, lane keeping function, automatic parking function, emergency collision warning function, etc. improve vehicle driving safety.
  • the embodiments of the present application provide a control method, control equipment and storage medium of a movable platform. There is no need to modify the system of the movable platform.
  • the various modules of the movable platform can work together to improve the mobile security of the movable platform. .
  • an embodiment of the present application provides a method for controlling a movable platform, the method including:
  • the adjusted operation instruction is sent to an actuator, so that the actuator performs a control operation according to the adjusted operation instruction.
  • an embodiment of the present application provides a control device, the control device including: a memory and a processor;
  • the memory is used to store program instructions
  • the processor calls the program instructions stored in the memory to execute the following steps:
  • the adjusted operation instruction is sent to the actuator, so that the actuator performs a control operation according to the adjusted operation instruction.
  • an embodiment of the present application provides a computer-readable storage medium, which is characterized in that it includes: the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to perform steps such as :
  • the adjusted operation instruction is sent to the actuator, so that the actuator performs a control operation according to the adjusted operation instruction.
  • the control device can receive the operation instruction sent by the instruction generation module of the movable platform, obtain the target control parameter of the movable platform, adjust the operation instruction according to the target control parameter, and obtain the adjusted operation instruction, and adjust The latter operation instruction is sent to the actuator of the movable platform, so that the actuator executes the control operation according to the adjusted operation instruction.
  • the operation is simple and convenient, and the efficiency of the automatic control can be improved.
  • the control equipment and the modules of the movable platform can work together to improve the mobile security of the movable platform.
  • FIG. 1a is a schematic diagram of a network topology structure for controlling a movable platform according to an embodiment of the present application
  • FIG. 1b is a schematic diagram of another network topology structure for controlling a movable platform according to an embodiment of the present application
  • FIG. 1c is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present application
  • FIG. 2 is a schematic flowchart of another method for controlling a movable platform provided by an embodiment of the present application
  • FIG. 3 is a schematic flowchart of another method for controlling a movable platform according to an embodiment of the present application
  • FIG. 4 is a schematic diagram of another network topology structure for controlling a movable platform provided by an embodiment of the present application
  • FIG. 5 is a schematic flowchart of another method for controlling a movable platform according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of another network topology structure for controlling a movable platform provided by an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of another method for controlling a movable platform according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of another network topology structure for controlling a movable platform according to an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a traditional gear shift strategy provided by an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a gearbox provided by an embodiment of the application.
  • FIG. 11 is a schematic structural diagram of a movable platform provided by an embodiment of the application.
  • Fig. 12 is a schematic structural diagram of a control device provided by an embodiment of the present application.
  • the gear shift strategy of the traditional movable platform is shown in Figure 9.
  • the gear shift strategy includes the following three layers: on the premise of collecting the measured parameters, the measured parameters include at least the moving speed of the movable platform and the engine speed And throttle and other parameters, the first layer matches the shift characteristic curve according to the shift mode, that is, the measured parameters are analyzed and processed, and the processed parameters are obtained.
  • the analysis and processing include summation, filtering, averaging and weighting, etc., and then process according to The latter parameters are matched with the shift characteristic curve.
  • the second layer performs short-term transient response based on the measured parameters.
  • the third layer responds to manual up/down gears according to the engine speed limit.
  • the engine speed of the movable platform and the moving speed of the movable platform are matched with the gear position of the movable platform, that is, if the speed of the movable platform decreases, the gear position of the movable platform is reduced; if it is movable As the speed of the platform increases, the gear position of the movable platform is increased.
  • the traditional gear shift strategy has the problem of poor control effect. For example, when the current road type of the movable platform is uphill, the movable platform is usually in a high-speed and high-gear state, resulting in insufficient power of the movable platform. Therefore, it is necessary to lower the gear of the movable platform to improve the mobile platform. Power through the uphill. According to the traditional gear shifting strategy, the movable platform can only be switched to a low gear after the moving speed is reduced, the control efficiency is low, and the traction provided to the movable platform is low.
  • a gear control module is added between the command generation module and the gear execution module.
  • the connection relationship between the modules can be seen in Figure 8, so that the gear The position control is separated from the speed of the movable platform, so that the movable platform can be in a suitable gear, and the control effect of the movable platform is improved.
  • the control device can obtain the target gear parameter of the movable platform, generate an analog signal (that is, the adjusted operation instruction) according to the target gear parameter, and control the gear of the movable platform according to the analog signal , In order to keep the gear of the movable platform in the highest efficiency range.
  • there is no need to wait to reduce or increase the moving speed of the movable platform before switching the gears of the movable platform and the gears of the movable platform can be directly converted to improve control efficiency.
  • sensor data can be obtained.
  • the sensor data includes driving environment information, such as driving
  • the environmental information includes slope information, which is obtained by a video sensor or an inertial measurement unit (IMU), and the slope information includes the angle, length, etc. of the uphill.
  • the control device may determine the target gear of the movable platform according to the current moving speed and slope information of the movable platform, for example, the target gear is 1st gear.
  • the control device can change the gear in the operation instruction to 1 gear, obtain the adjusted operation instruction, and send the operation instruction to the gear execution module without requiring a movable platform to reduce the moving speed.
  • the gear execution module can Reducing the gear of the movable platform to the first gear, the movable platform uses a low gear and a high moving speed to pass uphill, which can increase the traction of the movable platform through the uphill, and can improve the movable platform to quickly pass uphill.
  • the control device determines that the current type of road on the movable platform is a turning road based on the sensor data.
  • sensor data includes driving environment information, such as The driving environment information includes the turning information of the turning road.
  • the turning information may be obtained by a video sensor or an inertial measurement unit (IMU).
  • the turning information includes the turning angle and length of the turning road.
  • the control device may determine the target gear of the movable platform according to the current moving speed and turning information of the movable platform, for example, the target gear is 3 gears.
  • control device can change the gear in the operation instruction to 3 gears, obtain the adjusted operation instruction, and send the operation instruction to the gear execution module without increasing the moving speed of the movable platform.
  • the execution module can raise the gear position of the movable platform to 3 gears, so that the movable platform can use the high-end low moving speed to pass through the turning road, which can reduce the fuel consumption of the movable platform and achieve higher energy efficiency.
  • the above-mentioned gear position execution module may be a gear position gearbox (hereinafter referred to as a gearbox).
  • the structure of the gearbox of the movable platform can be seen in Figure 10.
  • the gearbox is realized by planetary gears.
  • the central axis is the sun gear, and the outside is surrounded by planetary gears.
  • one side of the planet carrier serves as a support to carry the planetary gears, and the other side performs coaxial power transmission.
  • the outermost ring of the planetary gear is the internal gear (also called the ring gear).
  • some planetary gear sets are transformed into two sets of pinions to transmit power to each other. One group is in contact with the sun gear and the other group is in contact with the ring gear. It is called a double pinion planetary gear set.
  • the connection relationship of the accelerator box, the oil pump and the hydraulic coupler of the movable platform can be seen in Fig. 11.
  • the hydraulic couplers are connected to the engine.
  • the oil pump Next to it is the oil pump, and then the power is transmitted to the first planetary gear set (that is, the gearbox).
  • the gearbox is composed of sun gear S1, planetary gear P1, planet carrier PT1 and ring gear H1.
  • the gearbox On the right side of the gearbox is a set of compound planetary gear sets.
  • the two planetary gear sets share the inner ring gear H2, and respectively have two planetary gears P2/P3, planet carrier PT2 and sun gear S2/S3. 6 forward gears/1 reverse gears are combined by brake B1/B2 and clutch K1/K2/K3 composed of different multi-disc clutches.
  • the network architecture for controlling the movable platform may include a movable platform and a control device.
  • the movable platform may be one of a vehicle, a mobile robot, a drone, etc.
  • the control device may control the movable platform for automatic driving or assistance Driving equipment.
  • FIG. 1a is a network architecture diagram for controlling the movable platform.
  • the network architecture may include the movable platform and the control device
  • the movable platform and the control device may be deployed in different housings, for example, the movable platform is deployed in the housing 12 and the control device is deployed in the housing 11.
  • control device may be deployed in a movable platform.
  • Figure 1b is a diagram of the network architecture for controlling the movable platform.
  • the network architecture can include the movable platform and the control device.
  • the control device can be deployed on the movable platform, that is, the control device and the movable platform are Deployed in the same shell.
  • the following takes the network architecture of FIG. 1b as an example for description.
  • the movable platform may at least include an instruction generation module and an executor, the instruction generation module is connected to the control device, and the executor is connected to the control device.
  • the instruction generation module can be used to generate a variety of instructions, such as operation instructions and control instructions.
  • the operation instructions can include at least one or more of steering operation instructions, brake operation instructions, and gear operation instructions.
  • the control instructions can be It includes at least one of automatic control instructions, auxiliary control instructions, and manual control instructions.
  • the control device is used to adjust the instructions generated by the instruction generation module and send the adjusted instructions to the actuator.
  • the control device is also used to transparently transmit the instructions generated by the instruction generation module to the actuator. Transparent transmission refers to control
  • the device does not adjust the instructions from the instruction generation module, but directly sends the instructions from the instruction generation module to the actuator.
  • the actuator is used to execute instructions from the control device.
  • control flow of the control device to the movable platform can be seen in Fig. 1c, and the control flow can include:
  • the control device obtains control instructions and operation instructions from the instruction generation module.
  • the control device determines the control mode of the movable platform according to the control instruction. That is, if the control instruction is an automatic control instruction or an auxiliary control instruction, it is determined that the control mode of the movable platform is an automatic control mode, and step S13 is executed; if the control instruction is a manual control instruction, the control mode of the movable platform is determined In the manual control mode, step S14 is executed.
  • control device can obtain the target control parameter, adjust the operation instruction according to the target control parameter, and obtain the adjusted operation instruction; adjust the control flag of the control instruction to The effective flag is used to obtain the adjusted control instruction, and the adjusted operation instruction and the adjusted control instruction are sent to the actuator, so that the actuator automatically executes the control operation according to the adjusted operation instruction.
  • the valid flag and the invalid flag can be composed of one or more of numbers, words, and conformance.
  • the valid flag can be 1, and the invalid flag can be 0.
  • the operation command is a steering operation command
  • the control command is an automatic control command
  • the target control parameter is a target steering angle.
  • the control device may adjust the steering angle in the steering operation instruction to the target steering angle to obtain the adjusted steering operation instruction, adjust the control flag of the control instruction to 1, and obtain the adjusted control instruction.
  • the control device sends the adjusted steering operation instruction and the adjusted control instruction to the actuator so that the actuator can automatically perform the steering operation.
  • the control device can adjust the control flag of the control instruction to an invalid flag, obtain the adjusted control instruction, and adjust the parameters in the operation instruction to invalid control parameters. Get the adjusted operating instructions.
  • the control device sends the adjusted operation instruction and the adjusted control instruction to the actuator, so that the actuator executes the corresponding control operation according to the manual operation of the user.
  • the invalid control parameter may be a default control parameter or a control parameter presented in other ways.
  • the invalid control parameter may be zero.
  • the operation instruction is a steering operation instruction
  • the control instruction is a manual control instruction.
  • the control device may adjust the steering angle of the steering operation instruction to 0 to obtain the adjusted operation instruction, and adjust the control flag of the control instruction to 0 to obtain the adjusted control instruction. Send the adjusted operating instructions and control instructions to the actuator so that the actuator can perform steering operations according to the user's manual operation.
  • the movable platform may further include sensors for acquiring sensor data of the movable platform.
  • the sensor data includes mobile data and mobile environment data of the movable platform, and the mobile data may include the position of the movable platform. And speed, etc., mobile environment data can include road types, obstacle information and traffic signal status, etc.
  • the sensor can send sensor data to the command control module, and the command control module can generate target control parameters based on the sensor data.
  • the sensor may include at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor.
  • vision sensors can include monocular vision, binocular vision, or multi-eye vision.
  • Laser sensors can include ToF rangefinders and lidars.
  • Radar sensors can include ultrasonic radars and millimeter wave radars.
  • Attitude sensors can include GNSS position sensors, IMU inertial measurement unit, multi-axis attitude sensor. It can be understood that the sensor is not limited to the above-exemplified types, and it can be used with sensors that implement the
  • an embodiment of the present application provides another method for controlling a movable platform. Please refer to Fig. 2. This method is applied to the control device in Fig. 1a or Fig. 1b. The method includes:
  • S201 Receive an operation instruction sent by the instruction generation module of the movable platform.
  • the control device can receive operation instructions sent by the instruction generation module of the movable platform.
  • the operation instruction may be generated by the instruction generation module, or the operation instruction may be obtained by the instruction generation module from other modules in the movable platform, and the operation instruction may include steering operation instructions and brake operation instructions And at least one or more of gear operation instructions.
  • control instruction sent by the instruction generation module is received, the control instruction is an automatic control instruction or an auxiliary control instruction, the control flag bit of the control instruction is adjusted to a valid flag, and the adjusted control instruction is obtained.
  • the adjusted control instruction is sent to the actuator, and the adjusted control instruction is used to instruct the actuator to automatically execute the adjusted operation instruction.
  • the control device can receive the control instruction sent by the instruction generation module. If the control instruction is an automatic control instruction or an auxiliary control instruction, the control device can adjust the control flag bit of the control instruction to a valid flag to obtain the adjusted control instruction. The adjusted control instruction is sent to the actuator, and step S201 is executed, so that the control mode of the movable platform is an automatic control or an auxiliary control mode. If the control instruction is a manual control instruction, the control device can adjust the control flag of the control instruction to an invalid flag, obtain the adjusted control instruction, send the adjusted control instruction to the actuator, and end this time Process to make the control mode of the movable platform in manual control mode.
  • the control instruction may include at least one of an automatic steering control instruction, an automatic braking control instruction, and an automatic control instruction for shifting gears.
  • the control device can adjust the steering control flag of the automatic steering control command to a valid flag, obtain the adjusted steering control command, and send the adjusted steering control command to Actuator.
  • the control command is an automatic brake control command
  • the control device can adjust the brake control flag of the automatic brake control command to a valid flag, obtain the adjusted brake control command, and send the adjusted brake control command to the actuator.
  • the control instruction is an automatic gear control instruction
  • the control device can adjust the gear control flag of the automatic gear control instruction to a valid flag to obtain the adjusted gear control instruction, and then the adjusted gear control instruction Send to the actuator.
  • Step S201 includes: receiving an operation instruction sent by the instruction generation module through the CAN bus.
  • the control device can receive the operation instructions sent by the instruction generation module through the CAN bus, that is, the control device can work with the instruction generation module of the movable platform to improve the safety of the movement of the movable platform.
  • the control device may obtain the target control parameter of the movable platform from the instruction generation module, or determine the target control parameter of the movable platform according to the sensor data of the movable platform.
  • the sensor data of the movable platform may be data obtained by the sensors of the movable platform in real time or according to a preset period.
  • the target control parameter may include the target steering angle; if the operation instruction is a braking operation instruction, the target control parameter may include the target braking parameter; if the operation instruction is a gear operation instruction, the The target control parameter may include a target gear conversion parameter.
  • the control device can adjust the corresponding operation parameter in the operation instruction according to the target control parameter to obtain the adjusted operation instruction. For example, if the operation instruction is a steering operation instruction, the control device may modify the steering angle in the steering operation instruction to the target steering angle to obtain the adjusted steering operation instruction. For another example, if the operation instruction is a brake operation instruction, the control device may modify the brake parameter in the brake operation instruction to the target brake parameter to obtain the adjusted brake operation instruction. For another example, if the operation instruction is a gear operation instruction, the control device can modify the gear conversion parameter in the gear operation instruction to the target gear parameter to obtain the adjusted gear operation instruction.
  • the control device can send the adjusted operating instructions to the actuator, so that the actuator performs control operations according to the adjusted operating instructions, which can realize automatic control of the movable platform without modifying the system of the movable platform.
  • the equipment and the modules of the mobile platform can work together to improve the mobile security of the mobile platform.
  • control device may send the adjusted steering operation instruction to the actuator so that the actuator can automatically perform the steering operation according to the adjusted steering operation instruction.
  • control device can send the adjusted braking operation instruction to the actuator so that the actuator can automatically perform the braking operation according to the adjusted braking operation instruction.
  • control device may send the adjusted gear operation instruction to the actuator, so that the actuator can automatically perform the gear shift operation according to the adjusted gear operation instruction.
  • control device is connected to the actuator through a controller area network CAN bus
  • step S204 includes: sending the adjusted operation instruction to the actuator through the CAN bus.
  • the control device can send the adjusted operation instruction to the actuator through the CAN bus, that is, the control device can work with the actuator to improve the mobile safety of the movable platform.
  • control instruction sent by the instruction generation module is received, and the control instruction is transparently transmitted to the actuator, so that the actuator executes the control operation according to the control instruction.
  • control device may receive the control instruction sent by the instruction generation module, and transparently transmit the control instruction to the actuator, so that the actuator performs the control operation according to the control instruction.
  • control command is a negative pressure control command
  • control device can receive the negative pressure control command sent by the instruction generation module, and forward the negative pressure control command to the actuator, that is, send the negative pressure control command directly to the execution without modification. So that the actuator can perform a negative pressure adjustment operation according to the negative pressure control command.
  • the execution result sent by the executor is received, and the execution result is obtained by the executor executing the control operation, and the execution result is transparently transmitted to the instruction generation module.
  • the control device may receive the execution result sent by the executor and transparently transmit the execution result to the instruction generation module, that is, without modifying the execution result, directly send the execution result to the instruction generation module. It can be seen that the control device can realize mutual transparent transmission, that is, the control device can transparently transmit the control instructions from the instruction generation module to the actuator, and the control device can also transparently transmit the execution result from the actuator to the instruction generation module without affecting the actuator Other functions, that is, the control device can work with the actuator.
  • the control device can receive the operation instruction sent by the instruction generation module of the movable platform, obtain the target control parameter of the movable platform, adjust the operation instruction according to the target control parameter, and obtain the adjusted operation instruction, and adjust The latter operation instruction is sent to the actuator of the movable platform, so that the actuator executes the control operation according to the adjusted operation instruction.
  • the operation is simple and convenient, and the efficiency of the automatic control can be improved.
  • the control equipment and the modules of the movable platform can work together to improve the mobile security of the movable platform.
  • an embodiment of the present application provides another method for controlling the movable platform, please refer to FIG. 3.
  • the difference between the embodiment of this application and FIG. 2 is that the embodiment of this application mainly controls the movable platform to automatically perform steering operations.
  • the network architecture can include a movable platform and a control device
  • the movable platform includes an instruction generation module and an executor
  • the executor can include a steering execution module
  • the control device can Including direction control module.
  • the instruction generation module and the direction control module can be connected to each other.
  • the instruction generation module can be connected to the direction control module through a CAN bus.
  • the direction control module is connected with the steering execution module.
  • the steering execution module can be connected with the direction control module through the CAN bus.
  • the instruction generation module can be used to generate steering operation instructions; the direction control module can adjust the steering operation instructions to obtain the adjusted steering operation instructions, and send the adjusted steering operation instructions to the steering execution module, which can be executed by the steering execution module The adjusted steering operation command to automatically control the steering function of the movable platform.
  • the steering execution module may include an electric power steering system (Electric Power Steering, EPS).
  • the control method of the movable platform of the embodiment of the present application may include the following steps S301 to S305.
  • S301 Receive an operation instruction sent by the instruction generation module of the movable platform.
  • the direction control module can receive the operation instruction sent by the instruction generation module of the movable platform.
  • the operation instruction may be a steering operation instruction.
  • S302 Receive sensor data sent by sensors in the movable platform.
  • the movable platform can obtain the sensor data of the movable platform in real time through the sensor or periodically.
  • the sensor may obtain sensor data of the movable platform every preset time period, the preset time period may refer to 10 ms, and the direction control module may obtain the sensor data from the sensor every preset time period.
  • the sensor may be a vision sensor or a laser sensor, etc.
  • the sensor data may be mobile environment data, and the mobile environment data may be the turning angle of the road where the movable platform is located.
  • the sensor may be a positioning sensor, and the sensor data may be the current position of the movable platform.
  • the direction control module can determine the target steering angle of the movable platform according to the sensor data, and the target steering angle is adjusted by the movable platform
  • the steering angle specifically, the target steering angle refers to the steering angle of the steering wheel of the movable platform.
  • the direction control module may determine the target steering angle of the movable platform according to the turning angle of the road where the movable platform is located.
  • the movable platform may include a preset movement track, and when the mobile platform moves according to the preset movement track, the direction control module may be based on the current position of the movable platform and the preset movement track Determine the target steering angle of the movable platform.
  • the sensor data includes the turning angle of the road where the movable platform is located, and the target control parameter is the target steering angle.
  • Step S303 includes: determining the first steering angle according to the turning angle, and determining the first steering angle according to the first steering angle and The current second steering angle of the movable platform determines the target steering angle of the movable platform.
  • the direction control module may determine the first steering angle according to the turning angle of the turning road, and the first steering angle is the angle that the movable platform needs to turn through the turning road. Further, the direction control module may determine the target steering angle of the movable platform according to the first steering angle and the current second steering angle of the movable platform.
  • the direction control module determines that the first steering angle is 60 degrees to the left according to the turning angle of the turning road, and the current steering angle (ie, the second steering angle) of the movable platform is 30 degrees to the left
  • the direction control module can be based on the first The steering angle and the second steering angle determine the target steering angle, that is, the target steering angle is 30 degrees to the left.
  • S304 Modify the steering angle in the operation instruction to the target steering angle, and obtain the adjusted operation instruction.
  • the direction control module can modify the steering angle in the operation instruction to the target steering angle to obtain the adjusted operation instruction. For example, if the target steering angle is 30 degrees to the left, the direction control module can modify the steering angle in the operation instruction to 30 degrees to the left to obtain the adjusted operation instruction.
  • the direction control module can send the adjusted operation instruction to the steering execution module, so that the steering execution module performs control operations according to the adjusted operation instruction, and can automatically control the steering function of the movable platform.
  • the control device may receive the operation instruction sent by the instruction generation module of the movable platform, obtain sensor data of the movable platform, and determine the target steering angle of the movable platform according to the sensor data.
  • the steering angle of the operation instruction is modified to the target steering angle, and the adjusted operation instruction is obtained, and the adjusted operation instruction is sent to the steering execution module of the movable platform, so that the steering execution module executes the steering operation according to the adjusted operation instruction.
  • There is no need to modify the system of the movable platform only the control device needs to modify the steering angle in the operation instruction, and the steering function of the movable platform can be automatically controlled.
  • the operation is simple and convenient, and the efficiency of automatic control can be improved.
  • the control equipment and the modules of the movable platform can work together to improve the mobile security of the movable platform.
  • an embodiment of the present application provides another method for controlling the movable platform. Please refer to FIG. 5.
  • the difference between the embodiment of this application and FIG. 2 is that the implementation of this application
  • the example mainly controls the movable platform to automatically perform braking operations.
  • the embodiments of the present application can be applied to the network architecture in FIG. 6.
  • the network architecture may include a movable platform and a control device.
  • the movable platform includes an instruction generation module and an actuator.
  • the actuator may include a brake execution module, and the control device may Including brake control module.
  • the instruction generation module and the brake control module can be connected to each other.
  • the instruction generation module can be connected to the brake control module through a CAN bus.
  • the brake control module is connected with the brake execution module.
  • the brake execution module can be connected with the brake control module through the CAN bus.
  • the instruction generation module can be used to generate brake operation instructions; the brake control module can adjust the brake operation instructions to obtain the adjusted brake operation instructions, and send the adjusted brake operation instructions to the brake execution module, which can be executed by the brake execution module The adjusted brake operation command to automatically control the brake function of the movable platform.
  • the brake execution module may include, for example, an Anti-lock Braking System (ABS).
  • the control method of the movable platform of the embodiment of the present application may include the following steps S401 to S405.
  • S401 Receive an operation instruction sent by the instruction generation module of the movable platform.
  • the brake control module may receive the operation instruction sent by the instruction generation module of the movable platform, and the operation instruction may be a brake operation instruction.
  • S402 Receive sensor data sent by sensors in the movable platform.
  • the brake control module can receive sensor data sent by the sensor of the movable platform.
  • the sensor can be a vision sensor or a laser sensor.
  • the sensor data can be mobile environment data, and the mobile environment data can include the movable platform and obstacles. The distance between the movable platform and the stop line of the intersection and the state of the traffic lights at the intersection, etc.
  • the obstacle may be a stationary object, such as a stopped vehicle or an object stacked on a road, or the obstacle may be a moving object, such as a moving vehicle, pedestrian, or animal.
  • S403. Determine a target control parameter of the movable platform according to the sensor data, where the target control parameter is a target braking parameter, and the target braking parameter includes at least one of braking time, position, and speed.
  • the brake control module can be based on The sensor data determines the target braking parameters of the movable platform.
  • the braking control module can determine the target braking parameters of the movable platform according to the distance between the movable platform and the obstacle.
  • the brake control module can stop according to the movable platform and the intersection.
  • the distance of the line determines the target braking parameters of the movable platform.
  • the sensor data includes the distance between the movable platform and the obstacle
  • the target control parameter is a target braking parameter
  • step S403 includes: according to the distance between the movable platform and the obstacle and the The current moving speed of the movable platform determines the time when the movable platform reaches the location of the obstacle, and the target braking parameter is determined according to the time.
  • the braking control module determines the time for the movable platform to reach the location of the obstacle according to the distance and the current moving speed of the movable platform.
  • the movable platform suspends movement before reaching the obstacle, even if the movable platform suspends movement within 2s.
  • the brake control module can be based on the speed of the obstacle, the current speed of the movable platform, and the movable platform and the obstacle. The distance between determines the time when the movable platform meets the obstacle, and the target braking parameter of the movable platform is determined according to the time of encounter.
  • S404 Modify the brake parameter in the operation instruction to the target brake parameter to obtain the adjusted operation instruction.
  • the brake control module can modify the brake parameter in the operation instruction to the target brake parameter to obtain the adjusted operation instruction.
  • the brake control module can modify the braking time in the operation instruction to the braking time included in the target braking parameter, and/or modify the braking position in the operation instruction to the braking position included in the target braking parameter, and/ Or, modify the braking speed in the operation instruction to the braking speed included in the target braking parameter to obtain the adjusted operation instruction.
  • the brake control module can send the adjusted operation instruction to the brake execution module, so that the brake execution module performs control operations according to the adjusted operation instruction, and can automatically control the braking function of the movable platform.
  • the control device may receive the operation instruction sent by the instruction generation module of the movable platform, obtain sensor data of the movable platform, and determine the target braking parameter of the movable platform according to the sensor data. Modify the brake parameter of the operating instruction to the target brake parameter to obtain the adjusted operating instruction, and send the adjusted operating instruction to the actuator of the movable platform so that the actuator performs the braking operation according to the adjusted operating instruction.
  • the control device needs to modify the brake parameters in the operating instructions to automatically control the brake function of the movable platform.
  • the operation is simple and convenient, and the efficiency of automatic control can be improved.
  • the control equipment and the modules of the movable platform can work together to improve the mobile security of the movable platform.
  • FIG. 7 Another method for controlling the movable platform is provided in the embodiment of the present application, please refer to FIG. 7.
  • the difference between the embodiment of the present application and FIG. 2 is that the embodiment of the present application mainly controls the movable platform to automatically execute gear operation instructions.
  • the embodiments of the present application may be applied to the network architecture in FIG. 8.
  • the network architecture may include a movable platform and a control device.
  • the movable platform includes an instruction generation module and an executor, and the executor may include a gear execution module.
  • the control device may include a gear control module.
  • the instruction generation module and the gear control module can be connected to each other.
  • the instruction generation module can be connected to the gear control module through a CAN bus.
  • the gear position control module is connected to the gear position execution module.
  • the gear position execution module can be connected to the gear position control module through a CAN bus.
  • the instruction generation module can be used to generate gear operation instructions; the gear control module can adjust the gear operation instructions to obtain the adjusted gear operation instructions, and send the adjusted gear operation instructions to the gear execution module,
  • the gear execution module can execute the adjusted gear operation instruction to automatically control the gear function of the movable platform.
  • the gear execution module can include an electronic control unit (ECU) and so on.
  • the control method of the movable platform of the embodiment of the present application may include the following steps S301 to S305.
  • S501 Receive an operation instruction sent by the instruction generation module of the movable platform.
  • the gear control module may receive an operation instruction sent by the instruction generation module of the movable platform, and the operation instruction may be a gear operation instruction.
  • S502 Receive sensor data sent by sensors in the movable platform.
  • the gear control module can acquire sensor data sent by sensors in the movable platform, and the sensor data can include at least the type of road in front of the movable platform, the distance between the movable platform and the obstacle, and the speed of the obstacle.
  • the sensor data can include at least the type of road in front of the movable platform, the distance between the movable platform and the obstacle, and the speed of the obstacle.
  • the target control parameter is a target gear conversion parameter.
  • the target gear conversion parameter includes at least one of a target gear, a gear conversion time, and a position.
  • the movable platform can reduce the moving speed of the movable platform by executing the gear operation instruction to avoid the movable platform colliding with the obstacle; or, when the movable platform is moving During the process, the movable platform can reduce or increase the moving speed of the movable platform by executing the gear operation instruction, so that the moving speed of the movable platform matches the road type. Therefore, during the movement of the movable platform, the gear control module can determine the target gear conversion parameter of the movable platform according to the sensor data.
  • the sensor data can include the distance between the movable platform and the obstacle and the speed of the obstacle
  • the gear control module can be based on the distance between the movable platform and the obstacle.
  • the distance, the moving speed of the obstacle, and the current moving speed of the movable platform determine the time when the movable platform meets the obstacle, and the target gear conversion parameter of the movable platform is determined according to the time of encounter.
  • the sensor data includes the road type of the road in front of the movable platform
  • the gear control module may determine the target gear conversion parameter of the movable platform according to the road type of the road in front of the movable platform.
  • the sensor data includes the road type of the road in front of the movable platform
  • the target control parameter is a target gear conversion parameter
  • step S503 includes: obtaining the road type according to the corresponding relationship between the road type and the moving speed According to the corresponding moving speed, the target gear conversion parameter is determined according to the moving speed corresponding to the road type and the current moving speed of the movable platform.
  • the gear control module stores the corresponding relationship between the road type and the moving speed, and the corresponding relationship can be manually set by the user or the gear control module system comes with it.
  • the road type is related to the number of lanes on the road where the mobile platform is located. For example, if the road where the mobile platform is located includes three lanes in the same direction, the road type includes one of the left lane, middle lane, and right lane. Alternatively, the road type may be one of uphill, downhill, and turning.
  • the gear control module can determine the moving speed corresponding to the road type of the road where the movable platform is located according to the corresponding relationship, and determine the target gear conversion parameter according to the moving speed corresponding to the road type and the current moving speed of the movable platform.
  • the gear control module can determine the target gear according to the movement speed corresponding to the left lane and the current movement speed of the movable platform The parameters are converted to increase the moving speed of the movable platform so that the moving speed of the movable platform matches the moving speed corresponding to the left lane.
  • the gear control module can determine the target gear according to the movement speed corresponding to the right lane and the current movement speed of the movable platform The parameters are converted to reduce the moving speed of the movable platform so that the moving speed of the movable platform matches the corresponding moving speed of the right lane.
  • S504 Modify the gear conversion parameter in the operation instruction to the target gear conversion parameter to obtain the adjusted operation instruction.
  • the gear control module can modify the gear conversion parameter in the operation instruction to the target gear conversion parameter to obtain the adjusted operation instruction.
  • the gear control module can modify the gear in the operation instruction to the gear included in the target gear conversion parameter, and/or modify the gear conversion time in the operation instruction to the target gear conversion parameter.
  • the included gear conversion time, and/or the gear conversion position in the operation instruction is modified to the gear conversion position included in the target gear conversion parameter to obtain the adjusted operation instruction.
  • the gear conversion time is the time for the gear execution module to perform the gear conversion
  • the gear conversion position is the position where the gear execution module executes the gear conversion.
  • step S504 includes: obtaining the current gear of the movable platform, and if the gear conversion condition is satisfied between the current gear of the movable platform and the target gear, executing the operation in the operation instruction The step of changing the gear conversion parameter to the target gear conversion parameter to obtain the adjusted operation instruction.
  • the gear position control module can obtain the current gear position of the movable platform, and if the gear shift condition is satisfied between the current gear position of the movable platform and the target gear position, step S504 is executed; if the current gear position of the movable platform is If the gear shift condition is not satisfied between the gear position and the target gear position, this process can be ended.
  • the gear shift condition can be set according to the gear shift protection logic.
  • the gear positions can include P gear, R gear, N gear, D gear and S gear. P gear is parking gear, and R gear is reverse gear. Position, N gear is neutral gear, D gear is forward gear, S gear is sports mode.
  • S505 Send the adjusted operation instruction to the actuator, so that the actuator performs a control operation according to the adjusted operation instruction.
  • the gear control module can send the adjusted operation instruction to the gear execution module, so that the gear execution module executes control operations according to the adjusted operation instruction, and can automatically control the gear conversion function of the movable platform.
  • the control device may receive the operation instruction sent by the instruction generation module of the movable platform, obtain the sensor data of the movable platform, and determine the target gear conversion parameter of the movable platform according to the sensor data. Modify the gear conversion parameter of the operation instruction to the target gear conversion parameter to obtain the adjusted operation instruction, and send the adjusted operation instruction to the actuator of the movable platform so that the actuator executes the gear according to the adjusted operation instruction Bit swap operation.
  • the control equipment needs to modify the gear conversion parameters in the operation instructions to automatically control the gear conversion function of the movable platform.
  • the operation is simple and convenient, and the efficiency of automatic control can be improved.
  • the control equipment and the modules of the movable platform can work together to improve the mobile security of the movable platform.
  • FIG. 12 is a schematic structural diagram of a control device provided by an embodiment of the present application.
  • the control device includes a processor 100 and a memory 101.
  • the memory 101 may include a volatile memory (volatile memory); the memory 101 may also include a non-volatile memory (non-volatile memory); the memory 101 may also include a combination of the foregoing types of memories.
  • the processor 100 may be a central processing unit (CPU).
  • the processor 801 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory is used to store program instructions; the processor calls the program instructions stored in the memory to perform the following steps:
  • the adjusted operation instruction is sent to the actuator, so that the actuator performs a control operation according to the adjusted operation instruction.
  • the target control parameter includes a target steering angle
  • the processor is specifically configured to perform the following steps: modify the steering angle in the operation instruction to the target steering angle to obtain the adjusted operation instruction.
  • the target control parameter is a target braking parameter
  • the target braking parameter includes at least one of time, position, and speed of braking
  • the processor is specifically configured to execute the following steps: The brake parameter of is modified to the target brake parameter, and the adjusted operation instruction is obtained.
  • the target control parameter is a target gear conversion parameter
  • the target gear conversion parameter includes at least one of a target gear, a gear conversion time, and a position
  • the processor is specifically configured to execute the following steps : The gear conversion parameter in the operation instruction is modified to the target gear conversion parameter, and the adjusted operation instruction is obtained.
  • the processor is further configured to execute the following steps:
  • the processor is further configured to perform the following steps: receiving a control instruction sent by the instruction generation module, where the control instruction is an automatic control instruction or an auxiliary control instruction; and adjusting the control flag bit of the control instruction to The effective flag is used to obtain the adjusted control instruction; the adjusted control instruction is sent to the actuator, and the adjusted control instruction is used to instruct the actuator to automatically execute the adjusted operation instruction.
  • the processor is further configured to perform the following steps: receiving a control instruction sent by the instruction generation module; transparently transmitting the control instruction to the executor, so that the executor can perform the following steps according to the control instruction Perform regulation operations.
  • the processor is further configured to perform the following steps: receiving an execution result sent by the executor, the execution result being obtained by the executor executing the control operation; and transparently transmitting the execution result to The instruction generation module.
  • the processor is specifically configured to perform the following steps: receiving target control parameters of the movable platform sent by the instruction generation module, where the target control parameters are calculated by the instruction generation module according to sensor data Yes, the sensor data is acquired by the sensor of the movable platform.
  • the processor is specifically configured to perform the following steps: receiving sensor data sent by sensors in the movable platform; and determining target control parameters of the movable platform according to the sensor data.
  • the sensor data includes the turning angle of the road where the movable platform is located, the target control parameter is the target turning angle, and the processor is specifically configured to perform the following steps: determining the first turning angle according to the turning angle Angle; the target steering angle of the movable platform is determined according to the first steering angle and the current second steering angle of the movable platform.
  • the sensor data includes the distance between the movable platform and the obstacle
  • the target control parameter is a target braking parameter
  • the processor is specifically configured to perform the following steps: The distance between the obstacles and the current moving speed of the movable platform determine the time when the movable platform reaches the location of the obstacle; the target braking parameter is determined according to the time.
  • the sensor data includes the road type of the road in front of the movable platform
  • the target control parameter is a target gear conversion parameter
  • the processor is specifically configured to execute the following steps: according to the difference between the road type and the moving speed The corresponding relationship between the two is to obtain the moving speed corresponding to the road type; the target gear conversion parameter is determined according to the moving speed corresponding to the road type and the current moving speed of the movable platform.
  • control device is connected to the instruction generation module through a controller area network CAN bus, and the processor is specifically configured to perform the following steps: receiving an operation instruction sent by the instruction generation module through the CAN bus .
  • control device is connected to the actuator through a controller area network CAN bus
  • processor is specifically configured to execute the following steps: send the adjusted operation instruction to the all-in-one through the CAN bus The actuator.
  • the control device can receive the operation instruction sent by the instruction generation module of the movable platform, obtain the target control parameter of the movable platform, adjust the operation instruction according to the target control parameter, and obtain the adjusted operation instruction, and adjust The latter operation instruction is sent to the actuator of the movable platform, so that the actuator executes the control operation according to the adjusted operation instruction.
  • the operation is simple and convenient, and the efficiency of the automatic control can be improved.
  • the control equipment and the modules of the movable platform can work together to improve the mobile security of the movable platform.
  • a computer-readable storage medium stores a computer program.
  • the control method of the movable platform described in the embodiment corresponding to FIG. 7 can also implement the control device of the embodiment of the invention described in FIG. 12, which will not be repeated here.
  • the computer-readable storage medium may be the internal storage unit of the test device described in any of the foregoing embodiments, such as the hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the vehicle control device, for example, a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD) ) Card, Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the test device.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Le mode de réalisation de la présente invention concerne un procédé de commande et un dispositif de commande pour une plateforme mobile, et un support de stockage, le procédé comprend les étapes consistant à : recevoir une instruction d'opération envoyée par un module de génération d'instruction de la plateforme mobile, acquérir un paramètre de commande cible de la plateforme mobile, ajuster l'instruction d'opération en fonction du paramètre de commande cible pour obtenir une instruction d'opération ajustée, et envoyer l'instruction d'opération ajustée à un actionneur, de telle sorte que l'exécuteur exécute une opération de commande selon l'instruction d'opération ajustée. Les modes de réalisation de la présente invention peuvent être utilisés pour améliorer la sécurité mobile de la plateforme mobile.
PCT/CN2019/080014 2019-03-28 2019-03-28 Procédé de commande et dispositif de commande pour plateforme mobile et support de stockage WO2020191694A1 (fr)

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CN201980005012.4A CN111226103A (zh) 2019-03-28 2019-03-28 一种可移动平台的控制方法、控制设备及存储介质
PCT/CN2019/080014 WO2020191694A1 (fr) 2019-03-28 2019-03-28 Procédé de commande et dispositif de commande pour plateforme mobile et support de stockage

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