CN108909713A - A kind of driving driving method - Google Patents
A kind of driving driving method Download PDFInfo
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- CN108909713A CN108909713A CN201810729718.2A CN201810729718A CN108909713A CN 108909713 A CN108909713 A CN 108909713A CN 201810729718 A CN201810729718 A CN 201810729718A CN 108909713 A CN108909713 A CN 108909713A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of driving driving method, the method includes：Central processing unit monitors the rear car wheel speed in logistic car, obtains the first faster rotating wheel and the second faster rotating wheel；First faster rotating wheel and the second faster rotating wheel include wheel position information；When a wheel drive speed in the first faster rotating wheel and the second faster rotating wheel is zero, and another wheel drive speed is greater than preset value, central processing unit sends locked wheel instruction to control unit for vehicle and increases driving instruction；The wheel position information of locked wheel instruction is corresponding greater than the wheel position information of preset value with wheel drive speed, and the wheel position information for increasing driving instruction is corresponding with the wheel position information that wheel drive speed is zero；Control unit for vehicle determines locked wheel instruction according to wheel position information and increases the corresponding wheel of driving instruction institute, and driving instruction control wheel work is instructed and increased according to locked wheel.
Description
Technical field
The present invention relates to technical field of data processing more particularly to a kind of driving driving methods.
Background technique
With the development of economy with the progress of science and technology, people's lives rhythm is also getting faster, allegro life style
So that city logistics are increasingly by the attention of relevant department.Currently, many logistics platforms can not solve " last one kilometer "
Problem.And if not only human cost is high using traditional artificial logistics mode, dispatching efficiency is also very low.And with artificial intelligence
The emergence of energy and the continuous promotion of human cost, the logistics distribution based on artificial intelligence technology is also increasingly focused in market
Vehicle, for the intelligent automatic demand for driving logistic car, what is shown is especially urgent.Although there has been correlation in automatic Pilot field
Technology, still, at present automatic Pilot logistic car still can not intelligently, be efficiently completed logistics task.
Especially, when logistic car passes through raised road surface, it may occur however that since travel speed is inadequate, a rear car
Wheel has rolled at bump, and the situation that another rear wheel is hanging.In this case, due to one in driving wheel
A wheel fast idle, and the current driving force of another wheel is not enough to the road surface for driving vehicle by protrusion, so that vehicle
Continue output power but still not continuing to travel.If needing to manually adjust the driving force of each wheel in vehicle at this time, have
Carry on the back unpiloted principle.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of driving driving method, wheel in vehicle is monitored
Rear car wheel speed when another rear car wheel speed is greater than preset value, determine at a wheel when a rear car wheel speed is zero
In vacant state, it will be in the wheel locked of vacant state, while increasing the driving force of another non-vacant state wheel, thus
Increase vehicle adhesive force so that vehicle encounter because driving force deficiency due to caused by can not be by bump part when, can
Raised road surface is had to pass through, continues to travel.Originally it is that the driving driving method that embodiment provides is more intelligent, science, and
Increase the degree of automation of automatic driving vehicle.
To achieve the above object, the present invention provides a kind of driving driving method, the method includes：
Central processing unit in logistic car monitors the rear car wheel speed in the logistic car, obtains the first vehicle wheel rotation speed
Degree and the second faster rotating wheel；
First faster rotating wheel and second faster rotating wheel include wheel position information；
When a wheel drive speed in first faster rotating wheel and second faster rotating wheel is zero, and
When another wheel drive speed is greater than preset value, control unit for vehicle of the central processing unit into the logistic car is sent
Locked wheel instruction and increase driving instruction；
The locked wheel instruction and the increase driving instruction include the wheel position information；The locked wheel refers to
The wheel position information of order is corresponding greater than the wheel position information of preset value with the wheel drive speed, and the increase drives
The wheel position information of instruction is corresponding with the wheel position information that the wheel drive speed is zero；
The control unit for vehicle determines that the locked wheel instruction and the increase are driven according to the wheel position information
The corresponding wheel of dynamic instruction institute, and the wheel work is controlled according to the locked wheel instruction and the increase driving instruction
Make.
Preferably, the control unit for vehicle in the central processing unit into the logistic car sends locked wheel instruction
Before increase driving instruction, the method also includes：
The central processing unit monitors the front vehicle wheel driving speed in the logistic car, obtains third faster rotating wheel
With the 4th faster rotating wheel.
It is further preferred that control unit for vehicle of the central processing unit into the logistic car sends locked wheel
Instruction and increase driving instruction are specially：
When the wheel drive speed in the third faster rotating wheel and the 4th faster rotating wheel is zero, and it is described
A wheel drive speed in first faster rotating wheel and second faster rotating wheel is zero, and another wheel drive speed
When degree is greater than preset value, control unit for vehicle of the central processing unit into the logistic car send locked wheel instruction and
Increase driving instruction.
Preferably, the control unit for vehicle determines the locked wheel instruction and described according to the wheel position information
Increase the corresponding wheel of driving instruction institute, and according to the locked wheel instruction and increase driving instruction control
Wheel works：
The control unit for vehicle determines corresponding first of the locked wheel instruction according to the wheel position information
Wheel sets zero for the driving force of first wheel, so that first wheel locked；
The control unit for vehicle according to the wheel position information determine the increase driving instruction corresponding to second
Wheel increases the driving force of second wheel, to increase the adhesive force of second wheel.
It is further preferred that before the driving force for increasing by second wheel, the method also includes：
The central processing unit obtains the driving force of second wheel according to coefficient of road adhesion.
It is further preferred that it is described the driving force of second wheel is obtained according to coefficient of road adhesion before, it is described
Method further includes：
The central processing unit obtains logistic car road environment information by the camera unit；
The coefficient of road adhesion is obtained according to the logistic car road environment information.
It is further preferred that the adhesive force of first wheel is zero when the driving speed of second wheel is 0.
It is further preferred that determining that the increase driving refers to according to the wheel position information in the control unit for vehicle
The second corresponding wheel is enabled, the driving force of second wheel is increased, thus after increasing by the adhesive force of second wheel,
The method also includes：
The central processing unit monitors the rear wheel driving speed in the logistic car；
When the velocity of rotation of second wheel is greater than zero, the central processing unit is sent out to the control unit for vehicle
Locked release is sent to instruct；
The control unit for vehicle controls first wheel according to the locked releasing instruction and works.
A kind of driving driving method provided in an embodiment of the present invention monitors the rear car wheel speed of wheel in vehicle, when one
Rear car wheel speed is zero, when another rear car wheel speed is greater than preset value, determines that a wheel is in vacant state, will be in outstanding
The wheel locked of dummy status, while the driving force for increasing another non-vacant state wheel makes to increase the adhesive force of vehicle
Vehicle is obtained when can not be by bump part caused by encountering due to driving force deficiency, can be passed through with raised road
Face continues to travel.It originally is that the driving driving method that embodiment provides is more intelligent, scientific, and increases automatic driving vehicle
The degree of automation.
Detailed description of the invention
Fig. 1 a is a kind of schematic diagram of rear wheel vacant state provided in an embodiment of the present invention；
Fig. 1 b is the schematic diagram of another rear wheel vacant state provided in an embodiment of the present invention；
Fig. 2 is the flow chart of driving driving method provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The driving driving method proposed for a better understanding of the present invention, first to driving driving method proposed by the present invention
Application scenarios be illustrated.
Logistic car can be understood as the automatic driving vehicle for sending operation with charge free for logistics.It is added in logistic car multiple
Cabinet puts article for accessing, and logistic car can be travelled according to order requirements to designated position, and provided and deposited in designated position
Pick and place article service.
In general, practical road surface that logistic car is travelled and being unlikely to be very smooth, it is likely to deposit in practical road surface
Deceleration strip in uneven situation, such as on road will form protrusion in road surface.Logistic car is automatic driving vehicle,
Vehicle chassis rear wheel drive, and four wheels in vehicle all have independent suspension.When logistic car is with current traveling speed
When degree is by raised road surface, it may occur however that since travel speed is inadequate, a rear wheel has been rolled in bump
Place, and the situation that another rear wheel is hanging.In this case, due to a wheel fast idle in driving wheel, and it is another
The current driving force of one wheel is not enough to drive vehicle by the road surface of protrusion again so that vehicle continue output power but still
It can not continue to travel.If needing to manually adjust the driving force of each wheel in vehicle at this time, there is the unpiloted principle of back, therefore
Unpiloted logistic car needs to have the ability from main process task above situation.
In a specific example, the case where wheel hanging, is as shown in Figure 1a in vehicle.In fig 1 a, haircut side
To the direction of travel of logistic car is represented, circle A and B represents two front vehicle wheels in logistic car, and circle C and D is represented in logistic car
Two rear wheels, shadow region E represent a convex portion in road surface, such as deceleration strip.Pass through high spot E in logistic car
When, rear wheel C has been rolled at E, so that the rear axle that vehicle connects two rear-wheels is raised.And no road surface is convex at rear wheel D
It rises, therefore rear wheel D can be in vacant state.At this point, vehicle, which can be stuck at E, to be continued if the driving force of wheel C is not big enough
It moves forward.The case where wheel hanging, is as shown in Figure 1 b in another vehicle.In Figure 1b, vehicle heading and protrusion
It is not vertical for locating E, so that two rear wheels in vehicle one in front and one in back pass through at E.Equally, at this point, if the driving force of wheel C
Not big enough, vehicle, which can be stuck in, can not continue to move forward at E.
For this purpose, a kind of driving driving method provided in an embodiment of the present invention, is implemented in unpiloted logistic car, side
Method flow chart is as shown in Figure 1, include the following steps：
Step 110, basis sends mission bit stream work with charge free in logistic car；
Specifically, including central processing unit and control unit for vehicle in logistic car.Wherein, central processing unit can manage
Solution is the brain of logistic car, mainly for the treatment of various algorithms and logic.Control unit for vehicle can be understood as controlling object
Flow the unit of the operation of the traveling part of vehicle.Mission bit stream is sent in central processing unit reception in logistic car with charge free, and parsing, which is sent with charge free, appoints
Business information generates traveling control information and is sent to control unit for vehicle, so that control unit for vehicle is carried out according to traveling control information
Send work with charge free.
What needs to be explained here is that each unit included in logistic car be not limited only to above-mentioned central processing unit and
Control unit for vehicle, those skilled in the art can according to need other unit or assemblies included in self-setting logistic car.
Step 120, the rear car wheel speed in central processing unit monitoring logistic car；
Specifically, central processing unit passes through the wheel speed meter being arranged in logistics chassis in logistic car driving process
The rear car wheel speed in logistic car is monitored, first faster rotating wheel and another second vehicle of rear wheel of a rear wheel are obtained
Take turns velocity of rotation.It is difference faster rotating wheel from which rear wheel, the first faster rotating wheel and the second vehicle wheel rotation
Speed includes wheel position information.
Step 130, whether central processing unit determines in vehicle has a rear wheel to be in vacant state；
Specifically, a wheel drive speed in the first faster rotating wheel and the second faster rotating wheel is zero, and
When another wheel drive speed is greater than preset value, illustrate in two rear wheels, a rear car wheel drive force is insufficient, adhesion of wheels
It is too small, so that wheel is unable to drive vehicle body and moves forward, thus the case where causing wheel drive speed to be zero.At another rear wheel
In vacant state, adhesion of wheels zero, wheel spin, so that wheel drive speed is greater than preset value.At this point, then executing following steps
Rapid 140.And be zero except a wheel drive speed in the first faster rotating wheel and the second faster rotating wheel, and another
Wheel drive speed is greater than in other situations of preset value, illustrates that logistic car can continue normally travel, then returns and execute above-mentioned step
Rapid 120, continue to be monitored rear car wheel speed.
Further specifically, when the first faster rotating wheel is zero, and when the second faster rotating wheel is greater than preset value, say
The corresponding rear car wheel drive force of bright first faster rotating wheel is insufficient, and wheel is unable to drive vehicle body and moves forward, to cause the
The case where one faster rotating wheel is zero.And rear wheel corresponding to the second faster rotating wheel is in vacant state, wheel is high
Speed idle running, thus the case where causing the second wheel drive speed to be greater than preset value.On the contrary, when the second faster rotating wheel is zero, and
When first faster rotating wheel is greater than preset value, illustrate that the corresponding rear car wheel drive force of the second faster rotating wheel is insufficient, wheel
It is unable to drive vehicle body to move forward, thus the case where causing the second faster rotating wheel to be zero.And the first faster rotating wheel institute
Corresponding rear wheel is in vacant state, wheel fast idle, thus the case where causing first round driving speed to be greater than preset value.
At this point, then executing following step 140.
In a specific example, in conjunction with shown in Fig. 1 a or Fig. 1 b, central processing unit is monitored by wheel speed meter
The vehicle wheel rotational speed of rear wheel C is the first faster rotating wheel, and the vehicle wheel rotational speed of wheel D is the second faster rotating wheel.And first
The corresponding wheel position information of faster rotating wheel is " left back ", and the corresponding wheel position information of the second faster rotating wheel is
" after right ".If the first faster rotating wheel of wheel C is zero, and the second faster rotating wheel of wheel D is greater than preset value, explanation
Rear wheel D is in vacant state, and forward motion force can not be provided for vehicle body, and wheel C driving force is insufficient, can not equally mention for vehicle body
For forward motion force, so that speed-flow breakdown.At this point, then executing following step 140.
In a preferred embodiment, it is determined in central processing unit hanging with the presence or absence of rear wheel in logistic car
When situation, it is also necessary to reference to the faster rotating wheel of front vehicle wheel.
Further specifically, central processing unit monitors the front vehicle wheel driving speed in the logistic car, third vehicle is obtained
Take turns velocity of rotation and the 4th faster rotating wheel.When in the third faster rotating wheel and the 4th faster rotating wheel
Wheel drive speed is zero, and a wheel drive speed in first faster rotating wheel and second faster rotating wheel
Be zero, and another wheel drive speed be greater than preset value when, illustrate there is a rear wheel to be in vacant state, and vehicle in vehicle
Stagnation, then execute following step 140.
Step 140, central processing unit sends locked wheel instruction to control unit for vehicle and increases driving instruction；
Specifically, a wheel drive speed in the first faster rotating wheel and the second faster rotating wheel is zero, and
When another wheel drive speed is greater than preset value, control unit for vehicle of the central processing unit into logistic car sends locked wheel
Instruction and increase driving instruction.Locked wheel instruction and increase driving instruction include wheel position information.Locked wheel instruction
Wheel position information is corresponding greater than the wheel position information of preset value with wheel driving speed, and increases the wheel of driving instruction
Location information is corresponding with the wheel position information that wheel driving speed is zero.That is, locked wheel instruction is directed to
Wheel driving speed is greater than the wheel of preset value, increases driving instruction and is directed to the wheel that wheel driving speed is zero.
In specific example as shown in Figure 1 a or 1b, the first faster rotating wheel of wheel C is zero, wheel D's
Second faster rotating wheel be greater than preset value, and the corresponding wheel position information of the first faster rotating wheel be " left back ", second
The corresponding wheel position information of faster rotating wheel is " after right ".Then central processing unit sends locked vehicle to control unit for vehicle
Wheel instruction and increase driving instruction, and it is " behind the right side " to increase driving instruction that locked wheel, which instructs corresponding wheel position information,
Corresponding wheel position information is " left back ".That is, central processing unit locks hanging wheel D, and increase non-
The driving force of hanging wheel C.
Step 150, control unit for vehicle determines locked wheel instruction according to wheel position information and increases driving instruction institute
Corresponding wheel；
Specifically, control unit for vehicle is determined according to the wheel position information in locked wheel instruction and increase driving instruction
The corresponding wheel of locked wheel instruction is the first wheel, and increases the second wheel of wheel corresponding to driving instruction.First vehicle
Wheel can be understood as hanging wheel or current driving speed is greater than the wheel of preset value, and the second wheel can be understood as needing to increase
The wheel that the wheel of large driving force or current driving speed are zero.That is when the driving speed of the second wheel is zero, the
The adhesive force of one wheel is zero.
In specific example as shown in Figure 1 a or 1b, the corresponding wheel position information of locked wheel instruction is
" right after ", increasing wheel position information corresponding to driving instruction is " left back ", then control unit for vehicle is according to the vehicle on " behind the right side "
It takes turns location information and determines that the first corresponding wheel of locked wheel instruction is wheel D；And control unit for vehicle is according to " left back "
Wheel position information determines that increasing the second wheel corresponding to driving instruction is wheel C.The driving speed of the second wheel C is at this time
Zero, adhesive force is not enough to drive vehicle body normally travel, and adhesive force is zero to the first wheel D due to hanging.
Step 160, control unit for vehicle instructs according to locked wheel and increases driving instruction control wheel work；
Specifically, control unit for vehicle sets zero for the driving force of the first wheel, so that the first wheel locked, increases simultaneously
Add the driving force of the second wheel, to increase the adhesive force of the second wheel.This process can be understood as by one it is hanging after
Wheel locked, and driving force is transferred to another rear wheel, so that the process of the driving force of another rear wheel is increased,
Increase non-hanging rear wheel adhesive force with this to realize, so that vehicle passes through raised road surface.
In a preferred embodiment, the increased driving force of the second wheel (i.e. non-hanging rear wheel) institute is central processing
Unit is obtained according to coefficient of road adhesion.Coefficient of road adhesion is smaller, and the increased driving force of the second wheel institute is bigger.For example,
Under rainy day road conditions, coefficient of road adhesion is than small under normal road condition, and the increased driving force of the second wheel institute is also than normal road
It is big under condition, can just vehicle be made to pass through wet-skid road surface.And coefficient of road adhesion can be central processing unit according to logistics bus or train route
Face environmental information obtains, and is also possible to user's input.Logistic car road environment information is that central processing unit is single by camera shooting
What member obtained.Camera unit can be understood as the unit of shooting logistic car ambient condition information.For example, when camera unit takes
Logistic car road environment information be " rainy day " when, central processing unit according to the logistic car road environment information of " rainy day " determination
With " rainy day " to corresponding coefficient of road adhesion, the increased driving of the second wheel institute is then being exported according to coefficient of road adhesion
Power.
In specific example as shown in Figure 1 a or 1b, the driving force of the first wheel D is arranged control unit for vehicle
It is zero, so that the first wheel D is locked, while increasing the driving force of the second wheel C, thus increase the adhesive force of the second wheel C,
So that the second wheel C can with bigger driving force by E at.
Step 170, central processing unit sends locked release to control unit for vehicle and instructs；
Specifically, central processing unit continues to monitor the wheel driving speed of the second wheel in logistic car.When the second vehicle
When the velocity of rotation of wheel is greater than zero, illustrate to make the second wheel that vehicle body be driven to pass through road surface not for the increased driving force of the second wheel
Level land section, then control unit for vehicle releases instruction releasing to the locking state of the first wheel according to locked, and it is former to reply the first wheel
Some driving forces, while the original driving force of the second wheel is replied, so that two rear wheels can work normally.This
Process replys the original driving force of driving wheel it is to be understood that after vehicle passes through Uneven road location, so that vehicle continues basis
Send mission bit stream work with charge free.
In specific example as shown in Figure 1 a or 1b, have zero when rolling the velocity of rotation in E the second wheel C removed
When becoming greater than zero, illustrate that the second wheel C has been successfully passed at E.Then control unit for vehicle releases instruction releasing pair according to locked
The locking state of first wheel D replys the first original driving force of wheel D, while replying the second original driving force of wheel C,
So that vehicle continues basis and sends mission bit stream work with charge free.
It is understood that above-mentioned steps 120-170 is present in during the execution of entire logistic car sends task with charge free, until
The task of sending with charge free terminates.
A kind of driving driving method provided in an embodiment of the present invention, the rear car wheel speed of wheel in vehicle is monitored, when one
Rear car wheel speed is zero, when another rear car wheel speed is greater than preset value, determines that a wheel is in vacant state, will be in outstanding
The wheel locked of dummy status, while the driving force for increasing another non-vacant state wheel makes to increase the adhesive force of vehicle
Vehicle is obtained when can not be by bump part caused by encountering due to driving force deficiency, can be passed through with raised road
Face continues to travel.It originally is that the driving driving method that embodiment provides is more intelligent, scientific, and increases automatic driving vehicle
The degree of automation.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, user terminal
Software module or the combination of the two implement.Software module can be placed in random access memory (RAM), memory, read-only storage
Device (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology neck
In any other form of storage medium well known in domain.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of driving driving method, which is characterized in that the driving driving method includes：
Central processing unit in logistic car monitors the rear car wheel speed in the logistic car, obtain the first faster rotating wheel and
Second faster rotating wheel；
First faster rotating wheel and second faster rotating wheel include wheel position information；
When a wheel drive speed in first faster rotating wheel and second faster rotating wheel is zero, and it is another
When a wheel drive speed is greater than preset value, control unit for vehicle of the central processing unit into the logistic car sends locked
Wheel instruction and increase driving instruction；
The locked wheel instruction and the increase driving instruction include the wheel position information；The locked wheel instruction
Wheel position information is corresponding greater than the wheel position information of preset value with the wheel drive speed, and the increase driving instruction
Wheel position information it is corresponding with the wheel position information that the wheel drive speed is zero；
The control unit for vehicle determines that the locked wheel instruction and increase driving refer to according to the wheel position information
The corresponding wheel of institute is enabled, and the wheel is controlled according to the locked wheel instruction and the increase driving instruction and is worked.
2. driving driving method according to claim 1, which is characterized in that in the central processing unit to the logistics
Before control unit for vehicle in vehicle sends locked wheel instruction and increases driving instruction, the method also includes：
The central processing unit monitors the front vehicle wheel driving speed in the logistic car, obtains third faster rotating wheel and
Four faster rotating wheels.
3. driving driving method according to claim 2, which is characterized in that the central processing unit is to the logistic car
In control unit for vehicle send locked wheel instruction and increase driving instruction and be specially：
When the wheel drive speed in the third faster rotating wheel and the 4th faster rotating wheel is zero, and described first
A wheel drive speed in faster rotating wheel and second faster rotating wheel is zero, and another wheel drive speed is big
When preset value, control unit for vehicle of the central processing unit into the logistic car sends locked wheel instruction and increases
Driving instruction.
4. driving driving method according to claim 1, which is characterized in that the control unit for vehicle is according to the wheel
Location information determines the corresponding wheel of the locked wheel instruction and increase driving instruction institute, and according to described locked
Wheel instruction and the increase driving instruction control the wheel work：
The control unit for vehicle determines the first corresponding wheel of the locked wheel instruction according to the wheel position information,
Zero is set by the driving force of first wheel, so that first wheel locked；
The control unit for vehicle according to the wheel position information determine the increase driving instruction corresponding to the second wheel,
Increase the driving force of second wheel, to increase the adhesive force of second wheel.
5. driving driving method according to claim 4, which is characterized in that in the driving for increasing by second wheel
Before power, the method also includes：
The central processing unit obtains the driving force of second wheel according to coefficient of road adhesion.
6. driving driving method according to claim 4, which is characterized in that obtain institute according to coefficient of road adhesion described
Before the driving force for stating the second wheel, the method also includes：
The central processing unit obtains logistic car road environment information by the camera unit；
The coefficient of road adhesion is obtained according to the logistic car road environment information.
7. driving driving method according to claim 4, which is characterized in that when the driving speed of second wheel is zero
When, the adhesive force of first wheel is zero.
8. driving driving method according to claim 4, which is characterized in that in the control unit for vehicle according to the vehicle
Wheel location information determines the second wheel corresponding to the increase driving instruction, increases the driving force of second wheel, thus
After the adhesive force for increasing by second wheel, the method also includes：
The central processing unit monitors the rear wheel driving speed in the logistic car；
When the velocity of rotation of second wheel is greater than zero, the central processing unit is sent to the control unit for vehicle locks
It is dead to release instruction；
The control unit for vehicle controls first wheel according to the locked releasing instruction and works.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729718.2A CN108909713A (en) | 2018-07-05 | 2018-07-05 | A kind of driving driving method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810729718.2A CN108909713A (en) | 2018-07-05 | 2018-07-05 | A kind of driving driving method |
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| CN108909713A true CN108909713A (en) | 2018-11-30 |
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| CN201810729718.2A Pending CN108909713A (en) | 2018-07-05 | 2018-07-05 | A kind of driving driving method |
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