CN111506098A - Method for regulating and controlling position and attitude of automatic driving vehicle and carriage - Google Patents
Method for regulating and controlling position and attitude of automatic driving vehicle and carriage Download PDFInfo
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- CN111506098A CN111506098A CN202010380134.6A CN202010380134A CN111506098A CN 111506098 A CN111506098 A CN 111506098A CN 202010380134 A CN202010380134 A CN 202010380134A CN 111506098 A CN111506098 A CN 111506098A
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- 230000001276 controlling effect Effects 0.000 title claims abstract description 24
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims description 49
- 238000006073 displacement reaction Methods 0.000 claims description 47
- 230000008569 process Effects 0.000 abstract description 13
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/08—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/10—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type pneumatic
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Abstract
The disclosure relates to the technical field of unmanned vehicles, and discloses an automatic driving vehicle and a carriage pose regulating and controlling method. The automatic driving vehicle comprises a chassis, a carriage, a pose detection part, a balance part and a controller, wherein the pose detection part is positioned on the carriage, the balance part is positioned between the chassis and the carriage, and the pose detection part and the balance part are respectively and electrically connected with the controller; the pose detection part is used for detecting pose parameters of the carriage; the balance part is used for adjusting the pose state of the carriage; the controller is used for controlling the balancing part to adjust the pose state of the carriage according to the pose parameter of the carriage detected by the pose detection part. The technical scheme disclosed by the invention is applied to the unmanned technology, the change of the position and the posture of the carriage can be eliminated in the running process of the automatic driving vehicle, and the stability of the carriage is improved.
Description
Technical Field
The disclosure relates to the technical field of unmanned vehicles, in particular to an automatic driving vehicle and carriage pose regulating and controlling method.
Background
Currently, autonomous vehicles have many applications, such as for distribution, security, and passenger use. In some special cases, there may be certain requirements for the vertical stability of the autonomous vehicle. If the mobile office vehicle is used, the carriage needs to be as stable as possible; take-away delivery vehicles require that the vehicle be kept as level as possible to avoid spillage of the take-away soup. Therefore, an automatic driving vehicle is to be designed to improve the stability of the vehicle compartment.
Disclosure of Invention
To solve the technical problems described above or at least partially solve the technical problems described above, the present disclosure provides an autonomous vehicle and a car pose regulating method.
The invention provides an automatic driving vehicle which comprises a chassis, a carriage, a pose detection part, a balance part and a controller, wherein the pose detection part is positioned on the carriage, the balance part is positioned between the chassis and the carriage, and the pose detection part and the balance part are respectively and electrically connected with the controller;
the pose detection part is used for detecting pose parameters of the carriage;
the balance part is used for adjusting the pose state of the carriage;
the controller is used for controlling the balancing part to adjust the pose state of the carriage according to the pose parameter of the carriage detected by the pose detection part.
Optionally, the controller is specifically configured to control the balancing unit to adjust the car to the horizontal according to the pose parameter when it is determined that the inclination angle of the car exceeds a set threshold.
Optionally, the pose detection unit includes an accelerometer and a gyroscope;
the accelerometer is used for detecting the vertical displacement of the carriage at the accelerometer;
the gyroscope is used for detecting the inclination angle and the inclination direction of the carriage.
Optionally, the balance portion includes a plurality of vertical telescopic mechanisms, and the chassis and the carriage are connected through the vertical telescopic mechanisms.
Optionally, the balancing part comprises four vertical telescopic mechanisms, and the four vertical telescopic mechanisms enclose a rectangle;
one pair of opposite sides of the rectangle is parallel to the length direction of the carriage, and in the vertical direction, the geometric center of the rectangle is positioned at the center of the carriage.
Optionally, the pose detection portion is located at the bottom of the carriage, and in the vertical direction, the pose detection portion is located at the geometric center of the rectangle.
Optionally, the vertical telescopic mechanism comprises a hydraulic rod or a pneumatic rod, a fixed end of the vertical telescopic mechanism is fixed on the chassis, and a free end of the vertical telescopic mechanism is fixed on the carriage.
The present disclosure also provides a carriage pose regulating method, executed by a controller in an autonomous vehicle provided by the present disclosure, including:
acquiring pose parameters of the carriage via a pose detection section;
and controlling a balancing part to adjust the pose state of the carriage according to the acquired pose parameters of the carriage.
Optionally, the controlling the balancing unit to adjust the pose state of the carriage according to the acquired pose parameter of the carriage includes:
and when the inclination angle of the carriage is determined to exceed a set threshold value, controlling the balancing part to adjust the carriage to be horizontal according to the pose parameters.
Optionally, when it is determined that the inclination angle of the car exceeds a set threshold, controlling the balancing unit to adjust the car to the horizontal according to the pose parameter includes:
acquiring, via the pose detection portion, a vertical displacement of the carriage at the pose detection portion and an inclination angle and an inclination direction of the carriage;
when the inclination angle of the carriage is determined to exceed a set threshold value, determining the vertical displacement of the carriage at each vertical telescopic mechanism according to the vertical displacement of the carriage at the position of the pose detection part and the inclination angle and the inclination direction of the carriage;
and controlling the vertical telescopic mechanisms to stretch according to the vertical displacement of the carriage at each vertical telescopic mechanism, and adjusting the vertical displacement of the carriage at each vertical telescopic mechanism to be the same.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the automatic driving vehicle and the carriage pose regulating method provided by the embodiment of the disclosure, the balancing part is arranged between the chassis and the carriage, the pose detection part arranged on the carriage is used for detecting the pose parameters of the carriage of the automatic driving vehicle in the driving process, and the controller controls the balancing part to adjust the pose state of the carriage according to the pose parameters, so that the change of the carriage pose can be eliminated, the carriage of the automatic driving vehicle is kept in the required pose state in the driving process, and the stability of the carriage is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic diagram of an autonomous vehicle provided by an embodiment of the disclosure;
fig. 2 is a schematic plane arrangement diagram of the vertical telescopic mechanism and the pose detection portion provided in the embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a carriage pose regulating method provided by the embodiment of the disclosure;
fig. 4 is a specific flow diagram of a car pose regulating method provided by the embodiment of the disclosure.
Wherein, 1, a chassis; 2. a carriage; 3. a pose detection unit; 4. a balancing section; 41. a vertical telescopic mechanism; 100. rectangular.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Fig. 1 is a schematic structural diagram of an autonomous vehicle according to an embodiment of the present disclosure. The automatic driving vehicle can be used as a mobile office vehicle, a take-out delivery vehicle, a mobile dining car and the like which require a carriage to have higher stability. As shown in fig. 1, the autonomous vehicle includes a chassis 1, a carriage 2, a pose detection unit 3, a balance unit 4, and a controller (not shown in the figure), the pose detection unit 3 being located on the carriage 2, the balance unit 4 being located between the chassis 1 and the carriage 2, the pose detection unit 3 and the balance unit 4 being electrically connected to the controller, respectively;
the pose detection part 3 is used for detecting pose parameters of the carriage 2;
the balance part 4 is used for adjusting the pose state of the carriage 2;
the controller is used for controlling the balancing part 4 to adjust the pose state of the carriage 2 according to the pose parameter of the carriage 2 detected by the pose detection part 3.
In this embodiment, the chassis 1 and the carriage 2 are separated, the balance portion 4 can play a role in fixedly connecting the chassis 1 and the carriage 2, and the posture state of the carriage 2 can be adjusted by adjusting the vertical displacement of a plurality of positions (supporting points of the balance portion 4) at the bottom of the carriage 2 by the balance portion 4. In the present disclosure, the pose state may be a horizontal state, a vertical state, or any inclination state; the balance part 4 can change the posture state of the carriage only by adjusting the inclination angle of the carriage 2 relative to a certain plane (such as a horizontal plane). The position and attitude parameters of the carriage 2 at least comprise the inclination angle of the carriage 2, correspondingly, the position and attitude detecting part 3 comprises a device capable of detecting the inclination angle, such as a gyroscope, at the moment, the inclination angle of the carriage 2 is detected in real time by the position and attitude detecting part 3, and the carriage 2 can be adjusted to a required position and attitude state by matching with the adjustment of the position and attitude state of the carriage 2 by the balancing part 4; fig. 1 only schematically shows that the pose detection part 3 is arranged at the bottom of the carriage 2, and in other embodiments of the present disclosure, the pose detection part 3 may be arranged at any position such as the side, the top, or the inside of the carriage as long as the detection of the pose parameters of the carriage 2 can be realized. The controller may be disposed inside or outside the carriage 2, or may be disposed on the chassis 1, which is not limited to this, as long as the controller is electrically connected to the pose detection unit 3 and the balancing unit 4, respectively.
For example, when an autonomous vehicle passes through an uneven road surface such as a small pit, a small bump, an up-down slope, or the like, the posture state of a carriage may change, and further, the environment inside the vehicle may be affected, such as the inclination or scattering of objects, the scattering of liquid, or the tilting of people inside the carriage. According to the automatic driving vehicle provided by the embodiment of the disclosure, when the pose state of the carriage changes due to an external environment, the pose detection part detects the pose parameters of the carriage and transmits the pose parameters to the controller; the controller determines the changed pose state according to the received pose parameters, and then controls the balancing part to adjust the pose state of the carriage so as to adjust the carriage to an in-situ pose state (or a preset pose state), eliminate the change of the carriage pose and improve the stability of the carriage.
In summary, according to the autonomous driving vehicle provided by the embodiment of the disclosure, the balancing unit is disposed between the chassis and the car, the pose detection unit disposed on the car is used to detect the pose parameter of the car in the driving process of the autonomous driving vehicle, and the controller controls the balancing unit to adjust the pose state of the car according to the pose parameter, so that the pose change of the car can be eliminated, the car of the autonomous driving vehicle is kept in the required pose state in the driving process, and the stability of the car is improved.
As an optional embodiment of the disclosure, the controller is specifically configured to control the balancing portion to adjust the car to the horizontal according to the pose parameter when it is determined that the inclination angle of the car exceeds the set threshold.
In an alternative of this embodiment, considering that most autonomous vehicles, such as mobile office vehicles, unmanned delivery vehicles, mobile dining vehicles, unmanned logistics vehicles, etc., require the carriage to be kept as horizontal as possible during driving, the maximum inclinable angle of the carriage can be limited within a small angle range by limiting the inclination angle of the carriage relative to the horizontal plane, so that the carriage can be kept as horizontal as possible, and the stability of the carriage can be ensured. Specifically, the set threshold values may be set according to a requirement (stability requirement) for a tiltable angle of the vehicle compartment without using the vehicle, that is, when the vehicle compartment tilts within a range of the set threshold values, the vehicle compartment may be regarded as being still horizontal or stable. Optionally, the threshold is set to be less than or equal to 5 degrees. According to the scheme, the inclination angle of the carriage can be determined from the pose parameters, when the controller determines that the inclination angle of the carriage exceeds a set threshold value, the carriage is judged to be inclined greatly, and the balance part is controlled to adjust the carriage to be horizontal according to the pose parameters.
Based on the above embodiment, in another optional embodiment of the present disclosure, the pose detection part includes an accelerometer and a gyroscope;
the accelerometer is used for detecting the vertical displacement of the carriage at the accelerometer;
the gyroscope is used for detecting the inclination angle and the inclination direction of the carriage.
Specifically, the controller can calculate the vertical displacement of the balance part at a plurality of supporting points of the balance part according to the vertical displacement of the carriage detected by the accelerometer at the accelerometer and the inclination angle and the inclination direction of the carriage detected by the gyroscope, so that the relative change of the heights of any two supporting points is determined, the vertical displacement of the balance part at the supporting points is controlled to adjust until the relative change of the heights of any two supporting points is eliminated, and the carriage is restored to the preset pose state.
As still another alternative embodiment of the disclosure, the balance part comprises a plurality of vertical telescopic mechanisms, and the chassis and the carriage are connected through the vertical telescopic mechanisms.
The vertical telescopic mechanism is a device which can be stretched and contracted in the vertical direction and the stretching amount of which can be controlled. This embodiment both can realize supporting the multiple spot of carriage through setting up a plurality of vertical telescopic machanisms, improves the fastness that chassis and carriage are connected, can adjust the vertical displacement that corresponds the strong point department through the flexible of each vertical telescopic machanism again, realizes the adjustment to carriage position appearance state. In this embodiment, the balance portion may include three or more vertical telescopic mechanisms. Furthermore, in order to prevent the carriage from toppling over, the balance part comprises at least four vertical telescopic mechanisms.
Optionally, the vertical telescopic mechanism comprises a hydraulic rod or a pneumatic rod, a fixed end of the vertical telescopic mechanism is fixed on the chassis, and a free end of the vertical telescopic mechanism is fixed on the carriage.
In addition, in an embodiment of the present disclosure, referring to fig. 1 and fig. 2, the balance portion 4 includes four vertical telescopic mechanisms 41, and the four vertical telescopic mechanisms 41 enclose a rectangle 100; the four vertical telescopic mechanisms 41 are respectively positioned at four top points of the rectangle 100; one pair of opposite sides of the rectangle 100 is parallel to the length direction X of the compartment, and the geometric center of the rectangle 100 is located at the center of the compartment in the vertical direction. Therefore, by arranging the four vertical telescopic mechanisms 41 in the arrangement mode, under the condition of adjusting the posture state of the carriage, the number of the vertical telescopic mechanisms 41 can be reduced, the control difficulty of the controller on the vertical telescopic mechanisms 41 is reduced, the calculation of vertical displacement is reduced, the carriage can be uniformly supported, and the carriage is effectively prevented from toppling over.
Alternatively, with continued reference to fig. 1 and 2, the posture detecting section 3 is located at the bottom of the carriage 2, and in the vertical direction, the posture detecting section 3 is located at the geometric center of the rectangle 100.
Illustratively, the pose detection part 3 comprises an accelerometer and a gyroscope, the pose detection part 3 is arranged at the bottom of the carriage 2, the bottom of the carriage 2 is parallel to the horizontal plane, and the reference plane of the measurement parameters of the accelerometer and the gyroscope is usually the horizontal plane, so the pose parameters of the carriage 2 detected by the pose detection part 3 received by the controller are based on the horizontal plane, the pose parameters do not need to be converted, and the calculation amount of the controller is reduced. Meanwhile, in the vertical direction, the pose detection part 3 is positioned at the geometric center of the rectangle 100, the controller can use the geometric center as the origin of a space coordinate system, and the vertical displacement of each supporting point is directly calculated by using the pose parameters without converting the space coordinate system, so that the calculation amount of the controller is further reduced.
Based on the above embodiments, in a specific embodiment of the present disclosure, the accelerometer and the gyroscope are installed at the bottom of the carriage, four hydraulic rods arranged in a rectangular shape are arranged between the chassis and the carriage, and the chassis is connected with the carriage through the hydraulic rods. The accelerometer detects the vertical displacement of carriage at accelerometer department, and the gyroscope detects the inclination and the incline direction of carriage. In the running process of the automatic driving vehicle, the accelerometer and the gyroscope detect the pose parameters of the carriage in real time and transmit the pose parameters to the controller, the controller judges whether the inclination angle of the carriage exceeds a set threshold value according to the pose parameters, and when the pose parameters exceed the set threshold value, the controller further calculates the vertical displacement of the carriage at each hydraulic rod according to the vertical displacement of the carriage at the accelerometer and the inclination angle and the inclination direction of the carriage, controls the hydraulic rods to stretch and retract according to the vertical displacement of the carriage at each hydraulic rod, and adjusts the vertical displacement of the carriage at each hydraulic rod to be the same. In this embodiment, in the process of adjusting the vertical displacement of the carriage at each hydraulic rod to be the same, the vertical displacement at each hydraulic rod can be adjusted to a preset vertical displacement, and the vertical displacement at each hydraulic rod can also be adjusted to the vertical displacement at one of the hydraulic rods. Therefore, the carriage can be kept horizontal in the running process of the automatic driving vehicle, and the stability of the carriage is improved.
In addition, the disclosure also provides a carriage pose regulating and controlling method which can be executed by the controller in the automatic driving vehicle provided by the disclosure. Fig. 3 is a schematic flow chart of a carriage pose regulating method provided by the embodiment of the disclosure. As shown in fig. 3, the car pose regulating method includes:
and 110, acquiring the pose parameters of the carriage through the pose detection part.
The position and posture parameters of the carriage at least comprise an inclination angle of the carriage, correspondingly, the position and posture detection part comprises a device capable of detecting the inclination angle, such as a gyroscope, at the moment, the inclination angle of the carriage is detected in real time through the position and posture detection part, and the carriage can be adjusted to a required position and posture state by matching with the adjustment of the balance part on the position and posture state of the carriage.
In an alternative of this embodiment, the pose detection unit includes an accelerometer for detecting a vertical displacement of the car at the accelerometer, and a gyroscope for detecting an inclination angle and an inclination direction of the car. At this time, the vertical displacement of the car at the accelerometer and the inclination angle and the inclination direction of the car can be acquired through the pose detection portion.
And 120, controlling a balancing part to adjust the pose state of the carriage according to the acquired pose parameters of the carriage.
The pose state can be a horizontal state, a vertical state or any inclined state; the balance part can change the posture state of the carriage by adjusting the inclination angle of the carriage relative to a plane (such as a horizontal plane).
Illustratively, based on step 110, the controller calculates the vertical displacement of the balancing unit at the supporting points according to the vertical displacement of the car at the accelerometer detected by the accelerometer and the inclination angle and the inclination direction of the car detected by the gyroscope, so as to determine the relative change of the heights of any two supporting points, and further control the balancing unit to adjust the vertical displacement of the supporting points until the relative change of the heights of any two supporting points is eliminated, so that the car is restored to the preset pose state.
As another embodiment of the present disclosure, the present embodiment optimizes the above embodiment, and optionally, the controlling the balancing unit to adjust the pose state of the car according to the obtained pose parameter of the car includes: and when the inclination angle of the carriage is determined to exceed the set threshold value, the balance part is controlled to adjust the carriage to be horizontal according to the pose parameters.
Considering that most of automatic driving vehicles, such as mobile office vehicles, unmanned take-out delivery vehicles, mobile dining vehicles and unmanned logistics vehicles, require that the carriage is kept as horizontal as possible during driving, the maximum inclinable angle of the carriage can be limited within a small angle range by limiting the inclined angle of the carriage relative to the horizontal plane, so that the carriage is kept as horizontal as possible, and the stability of the carriage is ensured. Specifically, the set threshold values may be set according to a requirement (stability requirement) for a tiltable angle of the vehicle compartment without using the vehicle, that is, when the vehicle compartment tilts within a range of the set threshold values, the vehicle compartment may be regarded as being still horizontal or stable. Optionally, the threshold is set to be less than or equal to 5 degrees. According to the scheme, the inclination angle of the carriage can be determined from the pose parameters, when the controller determines that the inclination angle of the carriage exceeds a set threshold value, the carriage is judged to be inclined greatly, and the balance part is controlled to adjust the carriage to be horizontal according to the pose parameters.
Optionally, when it is determined that the inclination angle of the car exceeds the set threshold, controlling the balancing unit to adjust the car to the horizontal according to the pose parameter, including: acquiring the vertical displacement of the carriage at the position and posture detection part and the inclination angle and the inclination direction of the carriage through the position and posture detection part; when the inclination angle of the carriage is determined to exceed a set threshold value, determining the vertical displacement of the carriage at each vertical telescopic mechanism according to the vertical displacement of the carriage at the position posture detection part and the inclination angle and the inclination direction of the carriage; and controlling the vertical telescopic mechanisms to stretch according to the vertical displacement of the carriage at each vertical telescopic mechanism, and adjusting the vertical displacement of the carriage at each vertical telescopic mechanism to be the same.
Based on the above technical solution, in a specific embodiment of the present disclosure, as shown in fig. 4, the car pose adjusting method includes:
and step 210, acquiring the vertical displacement of the carriage at the position and posture detection part and the inclination angle and the inclination direction of the carriage through the position and posture detection part.
And step 220, judging whether the inclination angle of the carriage exceeds a set threshold value.
When the inclination angle of the compartment is judged to exceed the set threshold value, step 230 is executed; otherwise, step 250 is performed.
And step 230, determining the vertical displacement of the carriage at each vertical telescopic mechanism according to the pose parameters.
And 240, controlling the vertical telescopic mechanisms to stretch according to the vertical displacement of the carriage at each vertical telescopic mechanism, and adjusting the vertical displacement of the carriage at each vertical telescopic mechanism to be the same.
In this step, the vertical displacement of each vertical telescopic mechanism can be adjusted to a preset vertical displacement, and the vertical displacement of each vertical telescopic mechanism can also be adjusted to the vertical displacement of one of the vertical telescopic mechanisms.
And step 250, ending.
According to the carriage pose regulating method provided by the embodiment of the disclosure, the pose detection part arranged on the carriage is used for detecting the pose parameters of the carriage in the running process of the automatic driving vehicle, and the controller controls the balancing part to regulate the pose state of the carriage according to the pose parameters, so that the change of the carriage pose can be eliminated, the carriage of the automatic driving vehicle is kept in the required pose state in the running process, and the stability of the carriage is improved.
The car position and orientation regulation method provided by the embodiment of the disclosure can be executed by the controller in the automatic driving vehicle provided by the embodiment of the disclosure, and the content not described in detail in the embodiment of the car position and orientation regulation method can refer to the embodiment of the automatic driving vehicle, and is not described here again.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic driving vehicle is characterized by comprising a chassis, a carriage, a pose detection part, a balance part and a controller, wherein the pose detection part is positioned on the carriage, the balance part is positioned between the chassis and the carriage, and the pose detection part and the balance part are respectively and electrically connected with the controller;
the pose detection part is used for detecting pose parameters of the carriage;
the balance part is used for adjusting the pose state of the carriage;
the controller is used for controlling the balancing part to adjust the pose state of the carriage according to the pose parameter of the carriage detected by the pose detection part.
2. The autonomous-capable vehicle of claim 1, wherein the controller is specifically configured to control the counterweight to level the car in accordance with the pose parameter upon determining that an angle of inclination of the car exceeds a set threshold.
3. The autonomous-capable vehicle of claim 1, wherein the pose detection portion includes an accelerometer and a gyroscope;
the accelerometer is used for detecting the vertical displacement of the carriage at the accelerometer;
the gyroscope is used for detecting the inclination angle and the inclination direction of the carriage.
4. The autonomous-capable vehicle of claim 1, wherein the counterweight includes a plurality of vertical telescoping mechanisms, the chassis and the wagon being connected by the vertical telescoping mechanisms.
5. The autonomous-capable vehicle of claim 4, wherein the counterweight includes four vertical telescoping mechanisms, the four vertical telescoping mechanisms enclosing a rectangle;
one pair of opposite sides of the rectangle is parallel to the length direction of the carriage, and in the vertical direction, the geometric center of the rectangle is positioned at the center of the carriage.
6. The autonomous-capable vehicle of claim 5, wherein the pose detection portion is located at a bottom of the cabin, and in a vertical direction, the pose detection portion is located at a geometric center of the rectangle.
7. The autonomous-capable vehicle of claims 4-6, wherein the vertical telescoping mechanism comprises a hydraulic or pneumatic rod, a fixed end of the vertical telescoping mechanism is fixed to the chassis, and a free end of the vertical telescoping mechanism is fixed to the cabin.
8. A car pose regulating method, performed by a controller in an autonomous vehicle according to any of claims 1-7, comprising:
acquiring pose parameters of the carriage via a pose detection section;
and controlling a balancing part to adjust the pose state of the carriage according to the acquired pose parameters of the carriage.
9. The car pose regulating method according to claim 8, wherein the step of controlling a balancing unit to adjust the pose state of the car according to the acquired pose parameters of the car comprises the steps of:
and when the inclination angle of the carriage is determined to exceed a set threshold value, controlling the balancing part to adjust the carriage to be horizontal according to the pose parameters.
10. The car pose regulating method according to claim 9, wherein the pose parameters include a vertical displacement of the car at the pose detection section, and an inclination angle and an inclination direction of the car;
controlling the balancing part to adjust the carriage to the horizontal according to the pose parameters, and the method comprises the following steps:
determining the vertical displacement of the carriage at each vertical telescopic mechanism according to the pose parameters;
and controlling the vertical telescopic mechanisms to stretch according to the vertical displacement of the carriage at each vertical telescopic mechanism, and adjusting the vertical displacement of the carriage at each vertical telescopic mechanism to be the same.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117554197A (en) * | 2023-11-14 | 2024-02-13 | 中汽研汽车检验中心(武汉)有限公司 | Intelligent detection device for top strength of cab and control method thereof |
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