CN-121985289-A - Dual-vehicle linkage cross coupling synchronous control method and system

CN121985289ACN 121985289 ACN121985289 ACN 121985289ACN-121985289-A

Abstract

The application relates to the technical field of vehicle control, in particular to a double-vehicle linkage cross coupling synchronous control method and system. The method comprises the steps of collecting quality indexes of a wireless communication link of a partner vehicle, calculating a weight factor of communication quality based on the quality indexes, obtaining a report state of the partner vehicle, generating an estimated state of the partner vehicle, obtaining an effective partner vehicle state according to the report state and the estimated state of the partner vehicle, calculating a synchronous error vector based on the real-time state of the vehicle and the effective partner vehicle state, and generating a control command according to the synchronous error vector to drive a power and/or steering executing mechanism to implement cross coupling synchronous control. The problem that the stability and safety of a carrying task are affected due to the fact that the control system receives inaccurate or delayed partner vehicle state information and accordingly misjudges a synchronous error and sends out an improper correction instruction is solved.

Inventors

LI MI
YANG LIN
LI ZIRUI
Long Chengfeng

Assignees

江苏亿控智能装备有限公司

Dates

Publication Date: 20260505
Application Date: 20260402

Claims (10)

1. The double-vehicle linkage cross coupling synchronous control method is characterized by comprising the following steps of: collecting quality indexes of a wireless communication link of a partner vehicle, wherein the quality indexes at least comprise received signal strength, data packet delay fluctuation, data packet loss rate and data freshness; Calculating a weight factor of the communication quality based on the quality index; Obtaining a report state of the partner vehicle, and generating an estimated state of the partner vehicle according to the latest trusted report state of the partner vehicle, a vehicle kinematic model and odometer and/or inertial measurement data, wherein the report state comprises at least one of position, speed and/or gesture; performing linear weighted fusion on the report state and the estimated state of the partner vehicle according to a weight factor to obtain an effective partner vehicle state, wherein the weight factor reduces the weight of the report state and increases the weight of the estimated state of the partner vehicle when the weight factor is reduced; calculating a synchronization error vector based on the host vehicle real-time status and the active partner vehicle status, the synchronization error vector including at least one of position, speed and/or attitude errors; And generating a control instruction according to the synchronous error vector to drive the power and/or steering executing mechanism to implement cross coupling synchronous control.
2. The two-vehicle linkage cross-coupling synchronization control method according to claim 1, wherein linearly weighted fusing the reported state and the estimated state of the partner vehicle according to the weight factor to obtain an effective partner vehicle state, comprises: Monitoring the motion state and preset path information of the vehicle, and evaluating the situation risk level according to the motion state and the preset path information; Calculating the communication confidence coefficient of the report state according to the situation risk level and the combination of the quality index; Calculating the confidence coefficient of the sensor for the estimated state of the partner vehicle according to the situation risk level and the vibration characteristics of the vehicle obtained by combining detection; And when the communication confidence coefficient is lower than a preset first threshold value and the sensor confidence coefficient is lower than a preset second threshold value, adjusting the weight factor according to the situation risk level, and carrying out linear weighted fusion on the report state and the estimated state of the partner vehicle according to the adjusted weight factor so as to obtain the effective partner vehicle state.
3. The method for controlling synchronization of two-vehicle linkage cross coupling according to claim 2, wherein the method further comprises, after monitoring the motion state and the preset path information of the vehicle and evaluating the situation risk level according to the motion state and the preset path information: acquiring local map information of the surrounding environment of the vehicle; comparing the local map information with the preset path information to obtain a comparison result so as to identify abnormal parts blocked by temporary barriers, occupied by temporary barriers or deviation from an actual passable area in the preset path information; updating the preset path information based on the comparison result, and adjusting the situation risk level according to the updated preset path information; And scheduling the threshold value and the weight factor for calculating the communication confidence and the sensor confidence according to the adjusted situation risk level.
4. The method for controlling the synchronous control of the double-car linkage cross coupling according to claim 3, wherein the step of obtaining the local map information of the surrounding environment of the car comprises the following steps: calculating a view shielding area of the vehicle-mounted environment sensing sensor based on the carried weight size and the motion state of the vehicle; identifying a fixed shielding area according to preset path information and known fixed obstacle distribution; acquiring supplementary local map information in the view shielding area and/or the fixed shielding area; and fusing the local map information with the supplementary local map information to generate non-blind area local map information, and comparing the non-blind area local map information with the preset path information.
5. The two-vehicle linkage cross-coupling synchronization control method according to claim 1, wherein performing linear weighted fusion on the report state and the estimated state of the partner vehicle according to a weight factor to obtain an effective partner vehicle state, comprises: performing a time stamp freshness check on the report status of the partner vehicle, and judging the report status as expired when the data freshness exceeds a preset time threshold; Triggering short-time retransmission when the report state is judged to be out of date or continuous packet loss is detected to reach preset times in a preset time window; If the updated report state is not obtained within the maximum waiting time, reducing the weight factor to be not smaller than a lower limit value according to a preset weight reduction rule; and carrying out linear weighted fusion on the report state and the estimated state of the partner vehicle according to the weight factors after weight reduction to obtain the effective partner vehicle state.
6. The method for simultaneous control of two-vehicle linkage cross-coupling according to claim 4, wherein calculating a view blocking area of the vehicle-mounted environment-aware sensor based on a size of a weight to be carried and a motion state of the vehicle comprises: acquiring real-time deformation information of the external contour of the weight; dynamically updating a three-dimensional geometric model of the weight according to the weight size and the real-time deformation information; Acquiring the installation position and the view field parameters of the vehicle-mounted environment sensing sensor, and calculating the real-time pose information of the vehicle based on the motion state of the vehicle; And obtaining the vision shielding area through three-dimensional geometric calculation based on the dynamically updated three-dimensional geometric model, the installation position, the view field parameters and the real-time pose information of the vehicle.
7. The method for controlling the synchronous cross coupling of the double-car linkage according to claim 6, wherein the step of obtaining the real-time deformation information of the outer contour of the weight comprises the following steps: Acquiring deformation data of a hinged part and/or a key flexible area of the weight; Constructing a multi-section deformation topological structure of the weight based on the deformation data in combination with the structural connection relation of the weight and the flexible characteristic of the material; And calculating real-time deformation information of the external contour of the weight based on the multi-section deformation topological structure.
8. The method for simultaneous control of two-vehicle linkage cross-coupling according to claim 7, further comprising, before calculating the real-time deformation information of the outer profile of the weight: Acquiring tiny relative displacement and/or angle change data output by arranging a micro sensor at the joint of a weight structure in advance; Performing association analysis on the micro relative displacement and/or angle change data and the deformation data to obtain a recognition result for recognizing a connection point with implicitly changed connection rigidity or flexibility characteristics; According to the identification result, adjusting local rigidity or flexibility parameters in the structural connection relation; Based on the adjusted structure connection relation and the material flexibility characteristic, the multi-section deformation topological structure is updated, and the updated multi-section deformation topological structure is used for calculating real-time deformation information of the external contour of the weight.
9. The method for controlling the synchronous control of the double-car linkage cross coupling according to claim 8, wherein adjusting the local rigidity or the flexibility parameter in the structural connection relation according to the identification result comprises: Acquiring the ambient temperature of the joint output by the temperature sensor at the hinge part of the weight; based on the environmental temperature and the thermal expansion coefficient and the cold contraction coefficient of the material, performing temperature compensation on the micro relative displacement and/or angle change data to obtain compensated micro data; monitoring the vibration frequency and the impact load amplitude of the hinged part of the weight, accumulating the acting time, and evaluating the fatigue damage degree based on the acting time and the fatigue characteristic curve of the weight material; correcting local rigidity or flexibility parameters in the structural connection relation according to the compensated inching data and the fatigue damage degree; Based on the corrected parameters and the flexible characteristics of the materials, updating the multi-section deformation topological structure, and using the updated topological structure for calculating real-time deformation information of the external contour of the weight.
10. A dual-car linkage cross-coupling synchronous control system, comprising: The monitoring module is used for collecting quality indexes of a wireless communication link of the partner vehicle, wherein the quality indexes at least comprise received signal strength, data packet delay fluctuation, data packet loss rate and data freshness; a weight factor calculation module for calculating a weight factor of the communication quality based on the quality index; The calculating module of the estimated state, is used for obtaining the report state of the partner vehicle, the up-to-date credible report state of the partner vehicle, vehicle kinematic model and mileometer and/or inertial measurement data generation of the estimated state of the partner vehicle, the said report state includes at least one in position, speed and/or posture; The fusion module is used for carrying out linear weighted fusion on the report state and the estimated state of the partner vehicle according to the weight factors to obtain an effective partner vehicle state, wherein the weight factors reduce the weight of the report state and increase the weight of the estimated state of the partner vehicle when the weight factors are reduced; The error calculation module is used for calculating a synchronous error vector based on the real-time state of the vehicle and the state of the effective partner vehicle, wherein the synchronous error vector comprises at least one of position, speed and/or attitude errors; And the instruction generation module is used for generating a control instruction according to the synchronous error vector so as to drive the power and/or steering executing mechanism to implement cross coupling synchronous control.

Description

Dual-vehicle linkage cross coupling synchronous control method and system Technical Field The application relates to the technical field of vehicle control, in particular to a double-vehicle linkage cross coupling synchronous control method and system. Background In the field of modern industrial production and logistics, a plurality of independent vehicles are often adopted for linkage transportation in order to efficiently and safely transport large, ultra-long or special-shaped heavy objects. The vehicle exchanges the motion state in real time through wireless communication, and keeps the relative position, speed and posture consistent through cross coupling synchronous control, thereby avoiding structural damage caused by torsion, shearing or compressive stress and ensuring the safety and stability of carrying. However, in real environments there is a hidden risk of the communication link, such as intermittent fading caused by slight degradation of the physical connection of the antenna, impairing the reliability of the data exchange between vehicles. When the state of the partner vehicle received by the controller is inaccurate or delayed, the synchronous error can be misjudged and an improper deviation correcting instruction is issued, so that the deviation is difficult to be eliminated, the movement inconsistency of the two vehicles is amplified, and even the protection of a bottom driving motor is triggered, so that the stability and the safety of a task are influenced. Specifically, when the vehicle is running on an uneven road for a long period of time, the contact state of the antenna connection part is unstable due to impact and vibration, and the contact impedance fluctuates, so that the wireless signal is strong and weak. Critical packets (position, speed, pose, etc.) therefore suffer from impaired integrity or reduced timeliness, concurrent retransmission and loss, and critical synchronization instructions and feedback create unacceptable delays or deletions. When the two-vehicle controllers perform cross-coupling calculations accordingly, deviations are generated from the estimation of the buddy state, and the resulting synchronization errors deviate from true relative motion, forming "pseudo-synchronization errors". The error correction is performed by the speed ring and the steering command generated based on the error, and the relative position and the speed difference are further increased, so that the weight carried together is subjected to uneven shearing, torsion or compressive stress. Under the condition of continuous communication disturbance and error correction, the control algorithm misinterprets the phenomenon into serious physical deviation and frequently sends out a large-amplitude instruction, so that the motor is required to output excessive moment in a short time. The drive overload protection is thus repeatedly triggered, with intermittent "soft" and response hysteresis occurring in the vehicle. Under the working conditions of narrow curves and the like requiring high transient response, the system is difficult to provide sufficient torque to finish accurate steering and speed adjustment, and potential safety hazards exist. Meanwhile, the remote monitoring often only displays 'overlarge synchronous error', and malignant coupling between 'intermittent communication-false error misjudgment-hardware protection' is difficult to reveal, so that fault positioning and handling are more difficult. In view of the above, there is a need in the art for improvements. Disclosure of Invention The application discloses a double-vehicle linkage cross-coupling synchronous control method and a system, which aim to solve the problems that in the prior art, as a communication system faces to problems, the control system receives inaccurate or delayed state information of a partner vehicle, so that a synchronous error is wrongly judged and an improper correction instruction is sent out, and the stability and the safety of a carrying task are affected. The technical scheme of the application is as follows: In a first aspect, the application discloses a double-vehicle linkage cross-coupling synchronous control method, which comprises the following steps: Acquiring quality indexes of a wireless communication link of a partner vehicle, wherein the quality indexes at least comprise received signal strength, data packet delay fluctuation, data packet loss rate and data freshness; Calculating a weight factor of the communication quality based on the quality index; Obtaining a report state of the partner vehicle, and generating an estimated state of the partner vehicle according to the latest trusted report state of the partner vehicle, a vehicle kinematic model and the odometer and/or inertial measurement data, wherein the report state comprises at least one of position, speed and/or gesture; performing linear weighted fusion on the report state and the estimated state of the partner vehicle accordin