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CN-121973642-A - Quick ramp information and vehicle running state acquisition method

CN121973642ACN 121973642 ACN121973642 ACN 121973642ACN-121973642-A

Abstract

The invention relates to a quick acquisition method for ramp information and vehicle running state, which is based on a first acceleration sensor arranged parallel to the running direction of a vehicle and a second acceleration sensor perpendicular to the first acceleration sensor, and is used for synchronously measuring and obtaining a first acceleration component along the direction of a slope and a second acceleration component perpendicular to the direction of the slope, analyzing the gradient angle and the running acceleration of the current ramp according to the projection relation between the second acceleration component and the gravity acceleration in the direction perpendicular to the direction of the slope, and carrying out torque compensation control on a vehicle driving motor by utilizing the gradient angle and the running acceleration. Aiming at the limitations of the ramp detection of the existing GPS and gyroscope, the invention uses the dual vertical acceleration sensor as a basic core, constructs a ramp information and vehicle running state acquisition system with low cost, high real-time performance and full scene adaptation, and effectively solves the problems of slow ramp detection response, high cost, insufficient precision and load interference of the industrial vehicle in closed and complex scenes.

Inventors

  • REN PANYUAN
  • DU WEI
  • LI FEI
  • YAO XIN

Assignees

  • 河南嘉晨智能控制股份有限公司

Dates

Publication Date
20260505
Application Date
20260210

Claims (10)

  1. 1. A quick acquisition method for ramp information and vehicle running state is characterized in that: based on a first acceleration sensor arranged parallel to the running direction of the vehicle and a second acceleration sensor perpendicular to the first acceleration sensor, synchronously measuring to obtain a first acceleration component along the slope direction and a second acceleration component perpendicular to the slope direction; Analyzing the gradient angle of the current ramp according to the projection relation between the second acceleration component and the gravity acceleration in the direction vertical to the slope; Analyzing the running acceleration of the vehicle according to the projection relation between the first acceleration component and the gravity acceleration in the direction along the slope; And performing torque compensation control on the vehicle driving motor by using the obtained gradient angle and the running acceleration.
  2. 2. The method for quickly acquiring the ramp information and the vehicle running state according to claim 1, wherein the actual acceleration of the vehicle along the ramp direction is acquired, the ratio of the difference value of the actual acceleration and the running acceleration to the actual acceleration is taken as the accuracy, and the accuracy is compared with a threshold value to obtain the credibility.
  3. 3. The method for quickly acquiring the ramp information and the vehicle running state according to claim 2, wherein if the accuracy is lower than the threshold, the analysis result is determined to be reliable and used for subsequent torque compensation control, and if the accuracy is higher than or equal to the threshold, the analysis result is determined to be not reliable and a standby control strategy is started.
  4. 4. The method for quickly acquiring the ramp information and the vehicle running state according to claim 3, wherein the step of starting the standby control strategy comprises the steps of discarding the analysis result, and performing torque compensation control by using the slope angle and the running acceleration data which are determined to be reliable in the last time, or performing torque compensation control by using the slope information estimated based on a vehicle running resistance balance equation.
  5. 5. The method for quickly acquiring the information on the slope and the running state of the vehicle according to claim 1, wherein an additional torque required for overcoming the component of the gravity in the direction of the slope is calculated according to the gradient angle, and the additional torque is superimposed with a compensation torque determined according to the driver's required torque and the actual running acceleration as a total target torque output of the drive motor.
  6. 6. The method for quickly acquiring the ramp information and the vehicle running state according to claim 2, wherein the method is characterized in that vehicle load data are acquired in real time based on a pressure sensor arranged at a vehicle load part, a load gradient angle correction factor is constructed based on a vehicle type, the gradient angle is corrected by using the correction factor, and the calculation process of the correction factor comprises the following steps: S1, acquiring basic parameters of a vehicle, including rated load mass and a maximum climbing angle of the vehicle; S2, calculating a load ratio and a gradient ratio, wherein the load ratio is the ratio of real-time load data to rated load mass, and the gradient ratio is the ratio of the analyzed gradient angle to the maximum climbing angle; s3, fusing the load ratio and the gradient ratio to form a first influence factor, taking the load ratio as a second influence factor, and weighting and fusing the first influence factor and the second influence factor to form a correction factor; s4, carrying out validity verification on the obtained correction factors, if the correction factors exceed a preset range, calling average correction factors of similar historical working conditions to be output as temporary effective correction factors, triggering alarm reminding, and if the correction factors are within the preset range, outputting the effective correction factors.
  7. 7. The method for quickly acquiring the ramp information and the vehicle running state according to claim 6, wherein weights of the first influence factor and the second influence factor are adjusted based on the range of credibility.
  8. 8. The method for quickly acquiring the ramp information and the vehicle running state according to claim 7, wherein the weights of the first influence factor and the second influence factor are reduced if the reliability is judged to be reliable, and the weights of the first influence factor and the second influence factor are increased if the reliability is judged to be unreliable.
  9. 9. The method for quickly acquiring the ramp information and the vehicle running state according to claim 6, wherein when the credibility is determined to be unreliable, an estimated gradient value based on a longitudinal dynamics equation of the vehicle is introduced on the basis of correcting the initial gradient angle through a correction factor, and the estimated gradient value and the corrected gradient angle are subjected to weighted fusion to obtain a final gradient angle.
  10. 10. The method for quickly acquiring the ramp information and the vehicle running state according to claim 1 is characterized in that the method is used for carrying out filtering denoising and outlier rejection on original signals output by a first acceleration sensor and a second acceleration sensor, and the filtering denoising is realized by a discrete Kalman filter.

Description

Quick ramp information and vehicle running state acquisition method Technical Field The invention relates to the technical field of vehicle control, in particular to a method for quickly acquiring ramp information and vehicle running states. Background In the scenes of logistics storage, port freight transportation, manufacturing workshops and the like, the electric counter-balanced forklift needs to frequently run on the ramps, such as loading platform ramps and ramps among floors of a warehouse, the running state of the ramps directly determines running safety and energy consumption efficiency, misjudgment of a slope angle can cause the ramps to slip, insufficient driving torque causes flameout, and the running acceleration is out of control to increase the risk of goods dumping and vehicle rollover, meanwhile, accurate state data can guide torque optimization of a driving motor, and energy consumption waste caused by surplus or insufficient power is avoided. Along with the trend of electric and intelligent industrial vehicles, the market demands on real-time performance, accuracy and low cost of the ramp state detection are increasingly urgent. The traditional detection scheme is based on GPS positioning, gyroscope inertial measurement or single sensor indirect calculation, but is limited by the characteristics of industrial scenes (such as closed environments of indoor warehouses, underground garages and the like) and the cost control requirement, the prior art is difficult to balance the precision, response speed and cost, and a specific technical breakthrough is needed. In the core operation scene (such as an indoor warehouse, an underground garage, the inside of a container and a workshop), the GPS signals are shielded by walls, metal structures and cargoes, so that positioning failure or elevation measurement errors are increased rapidly, further gradient angle calculation is completely distorted, and even in the outdoor scene, storm, haze, high-rise building shielding and the like, the GPS signals are attenuated, so that gradient detection precision is reduced, and the safety control requirement cannot be met. Meanwhile, the signal sampling period of the GPS is usually 1-5Hz, the effective elevation difference and the horizontal distance can be calculated only by continuously collecting 2-3 periods, the actual slope angle output delay is long, and when the electric counter-balanced forklift runs on a slope, the torque compensation of the driving motor needs to be responded in a very short time (otherwise, power interruption or sliding easily occurs), and the delay can directly lead to torque control lag to increase the running risk of the slope. Therefore, the prior art needs to be provided with a high-precision GPS module, a signal amplifying circuit and a complex complementary filter chip, and the whole vehicle hardware cost is high. Based on this, the prior art relies on sensors such as GPS and gyroscopes to detect the angle of the ramp, and has problems of slow response, high cost and insufficient precision. Based on this, it is necessary to study a method for quickly acquiring the information of the slope and the running state of the vehicle. Disclosure of Invention In view of the above, the invention aims to provide a method for quickly acquiring ramp information and vehicle running state, which effectively solves the problems of slow response and high cost of the existing ramp detection method. In order to achieve the aim, the technical scheme adopted by the invention is that a method for quickly acquiring the ramp information and the running state of the vehicle, Based on a first acceleration sensor arranged parallel to the running direction of the vehicle and a second acceleration sensor perpendicular to the first acceleration sensor, synchronously measuring to obtain a first acceleration component along the slope direction and a second acceleration component perpendicular to the slope direction; Analyzing the gradient angle of the current ramp according to the projection relation between the second acceleration component and the gravity acceleration in the direction vertical to the slope; Analyzing the running acceleration of the vehicle according to the projection relation between the first acceleration component and the gravity acceleration in the direction along the slope; And performing torque compensation control on the vehicle driving motor by using the obtained gradient angle and the running acceleration. Further, the actual acceleration of the vehicle along the slope direction is obtained, the ratio of the difference value of the actual acceleration and the running acceleration to the actual acceleration is used as the accuracy, and the accuracy is compared with a threshold value to obtain the credibility. Further, if the accuracy is lower than the threshold, the analysis result is determined to be reliable and used for subsequent torque compensation control, and if the accuracy i