EP-4737241-A1 - VEHICLE CONTROL METHOD, MULTI-PURPOSE VEHICLE, AND GARDEN WORK VEHICLE

EP4737241A1EP 4737241 A1EP4737241 A1EP 4737241A1EP-4737241-A1

Abstract

Provided are a vehicle control method, a multi-purpose vehicle, and a garden work vehicle, which can ensure an accurate response to a control intention of a user and optimize user experience. The multi-purpose vehicle includes a drive mechanism, a control mechanism, and an auxiliary control mechanism. The auxiliary control mechanism includes: a control state sensing component, configured to determine a control state of a user with respect to the control mechanism, the control state including a straight-line control state and a non-straight-line control state; a traveling state sensing component, configured to determine the traveling state of the multi-purpose vehicle, the traveling state including a straight-line traveling state and a non-straight-line traveling state; and a calibration controller component, configured to determine that the multi-purpose vehicle is traveling abnormally in response to a mismatch between the traveling state and the control state. The calibration controller component is further configured to adjust, in response to determining that the multi-purpose vehicle is traveling abnormally, the operating state of the drive mechanism to match the traveling state with the control state.

Inventors

WANG, Haodong
ZHANG, SHENGWEN
SHU, Chao

Assignees

Jiangsu Dongcheng M&E Tools Co., Ltd.

Dates

Publication Date: 20260506
Application Date: 20240529

Claims (20)

A vehicle control method, comprising: obtaining calibration request information, wherein the calibration request information is used to request control of vehicle traveling based on a preset trajectory; obtaining a current operating parameter of a target vehicle based on the calibration request information, wherein the operating parameter comprises at least one of an attitude parameter, a heading angle parameter, or a displacement parameter; calculating target compensation data in response to a mismatch between the operating parameter and the preset trajectory, wherein the target compensation data is used to correct traveling deviation of the vehicle to make the vehicle travel in accordance with the preset trajectory; and correcting a driving mode of the vehicle based on the target compensation data, to cause the vehicle to travel along the preset trajectory.
The vehicle control method according to claim 1, wherein prior to obtaining the calibration request information, the method further comprises: detecting whether a calibration function is activated; obtaining a first control parameter and a second control parameter of the target vehicle; calculating a control deviation value between the first control parameter and the second control parameter; and generating the calibration request information in response to the control deviation value being within a preset range and the calibration function being activated, wherein: the first control parameter is used to control the vehicle to travel to the left; and the second control parameter is used to control the vehicle to travel to the right.
The vehicle control method according to claim 1, wherein: the operating parameter of the vehicle comprises a target attitude angle; and obtaining the operating parameter of the vehicle comprises: obtaining first data transmitted by a first sensor and second data transmitted by a second sensor; and performing fusion processing on the first data and the second data based on an attitude resolution algorithm to obtain the target attitude angle, wherein the attitude angle refers to an angle of a sensor in a world coordinate system where the vehicle is located.
The vehicle control method according to claim 1, wherein prior to calculating the target compensation data, the method further comprises: obtaining a type of the preset trajectory, wherein the type comprises at least one of straight-line traveling, right-turn traveling, or left-turn traveling; obtaining, based on the type of the preset trajectory, a preset operating parameter matching the type of the preset trajectory; and determining, in response to a mismatch between the current operating parameter and the preset operating parameter, that the current operating parameter does not match the preset trajectory.
The vehicle control method according to claim 1, wherein: the operating parameter of the vehicle comprises a target attitude angle; and calculating the target compensation data comprises: obtaining a preset angle matching the preset trajectory; calculating a target angle based on a difference between the target attitude angle and the preset angle; obtaining a driving parameter of the vehicle; and calculating the target compensation data based on the driving parameter of the vehicle and the target angle, wherein the target angle at least comprises one of a first angle and a second angle, wherein the first angle refers to an angle for driving the vehicle to deviate to the left to reduce the difference between the attitude angle and the preset angle, and wherein the second angle refers to an angle for driving the vehicle to deviate to the right to reduce the difference between the attitude angle and the preset angle.
The vehicle control method according to claim 5, wherein calculating the target compensation data comprises: when the driving parameter of the vehicle comprises a control signal, calculating a target signal based on the target angle and generating the target compensation data based on the target signal, to cause the vehicle to return to the preset trajectory using the control signal; when the driving parameter of the vehicle comprises an initial rotation speed, calculating a target rotation speed based on the target rotation speed, to cause the vehicle to return to the preset trajectory using the control signal; and when the driving parameter of the vehicle comprises an initial torque, calculating a target torque based on the target angle, to cause the vehicle to return to the preset trajectory using the target torque.
The vehicle control method according to claim 5, wherein calculating the target compensation data comprises: obtaining a preset compensation coefficient, historical compensation data calculated in a previous iteration, and a target angle calculated in a current iteration; and calculating the target compensation data based on the preset compensation coefficient, the historical compensation data, and the target angle.
The vehicle control method according to claim 7, wherein correcting the driving mode of the vehicle comprises: obtaining a current driving parameter of the vehicle, wherein the driving parameter comprises at least one of a control signal, a motor torque, or a motor rotation speed; configuring the driving parameter based on the target compensation data; and driving wheels to travel using the driving parameter.
A multi-purpose vehicle, comprising: a drive mechanism, arranged on a frame of the multi-purpose vehicle and configured to drive the multi-purpose vehicle to travel; a control mechanism, coupled to the drive mechanism and configured to control an operating state of the drive mechanism to adjust a traveling state of the multi-purpose vehicle; and an auxiliary control mechanism, configured to monitor the traveling state to determine whether the multi-purpose vehicle is traveling abnormally, and to perform a calibration operation in response to the multi-purpose vehicle traveling abnormally, wherein the auxiliary control mechanism comprises: a control state sensing component, configured to determine a control state of a user with respect to the control mechanism, the control state comprising a straight-line control state and a non-straight-line control state; a traveling state sensing component, configured to determine the traveling state of the multi-purpose vehicle, the traveling state comprising a straight-line traveling state and a non-straight-line traveling state; and a calibration controller component, configured to determine that the multi-purpose vehicle is traveling abnormally in response to a mismatch between the traveling state and the control state; wherein the calibration controller component is further configured to adjust, in response to determining that the multi-purpose vehicle is traveling abnormally, the operating state of the drive mechanism to match the traveling state with the control state.
The multi-purpose vehicle according to claim 9, wherein: the drive mechanism comprises a left driving assembly and a right driving assembly, the left driving assembly being arranged on a left side of the frame, and the right driving assembly being arranged on a right side of the frame, wherein each of the left driving assembly and the right driving assembly comprises a drive motor and a drive wheel mechanically coupled to the drive motor; and the control mechanism comprises a left control assembly and a right control assembly, the left control assembly being arranged on the left side of the frame and coupled to the left driving assembly, the right control assembly being arranged on the right side of the frame and coupled to the right driving assembly, wherein the left control assembly comprises a left control lever, and the right control assembly comprises a right control lever, and wherein each of the left control assembly and the right control assembly further comprises a rotation detection module and a drive controller module, wherein: each of the left control lever and the right control lever is configured to be controllably rotated about a first axis between a first forward position, a neutral position, and a first backward position; the rotation detection module is configured to detect a pivoting direction and angular displacement of a corresponding control lever among the left control lever and the right control lever to generate angular displacement information; and the drive controller module is configured to control, based on the angular displacement information, a rotation direction and a rotation speed of the drive motor in a corresponding driving assembly among the left driving assembly and the right driving assembly.
The multi-purpose vehicle according to claim 10, wherein when controlling, based on the angular displacement information, the rotation direction and the rotation speed of the drive motor in the corresponding driving assembly, the drive controller module is configured to: determine, based on the angular displacement information, the pivoting direction and the angular displacement of the corresponding control lever; control, based on the pivoting direction, the rotation direction and the rotation speed of an output shaft of the drive motor; in response to a forward rotation of the control lever, control the output shaft to output power in a first rotation direction to drive the drive wheel forward; in response to a backward rotation of the control lever, control the output shaft to output power in a second rotation direction to drive the drive wheel backward; and proportionally control, based on the angular displacement, the rotation speed of the output shaft of the drive motor.
The multi-purpose vehicle according to claim 10, wherein when determining the control state, the control state sensing component is configured to: determine whether both the left control lever and the right control lever are rotated forward or whether both the left control lever and the right control lever are rotated to the first forward position, wherein the forward rotation refers to rotation towards the first forward position; in response to both the left control lever and the right control lever being rotated forward or both the left control lever and the right control lever being rotated to the first forward position, determine whether the left control lever and the right control lever are aligned; and in response to the left control lever and the right control lever being aligned, determine that the control state of the user with respect to the control mechanism is the straight-line control state.
The multi-purpose vehicle according to claim 12, wherein determining whether both the left control lever and the right control lever are rotated forward comprises: comparing the angular displacement information corresponding to each of the left control lever and the right control lever with a lower angular limit threshold to determine whether the angular displacement information is greater than the lower angular limit threshold; and in response to the angular displacement information corresponding to each of the left control lever and the right control lever being greater than the lower angular limit threshold, determining that both the left control lever and the right control lever are rotated forward.
The multi-purpose vehicle according to claim 12, wherein determining whether both the left control lever and the right control lever are rotated to the first forward position comprises: comparing the angular displacement information corresponding to each of the left control lever and the right control lever with an upper angular limit threshold to determine whether the angular displacement information is greater than the upper angular limit threshold; and in response to the angular displacement information corresponding to each of the left control lever and the right control lever being greater than the upper angular limit threshold, determining that both the left control lever and the right control lever are rotated to the first forward position.
The multi-purpose vehicle according to claim 12, wherein determining whether the left control lever and the right control lever are aligned comprises: determining an absolute value of a difference between the angular displacement information corresponding to the left control lever and the angular displacement information corresponding to the right control lever; comparing the absolute value of the difference with an angular deviation threshold to determine whether the absolute value of the difference is greater than the angular deviation threshold; and in response to the absolute value of the difference being not greater than the angular deviation threshold, determining that the left control lever and the right control lever are aligned.
The multi-purpose vehicle according to claim 12, wherein the control mechanism further comprises an alignment detection device configured to detect whether the left control lever and the right control lever are aligned.
The multi-purpose vehicle according to claim 16, wherein the alignment detection device comprises a signal transmitter and a signal receiver, the signal transmitter being configured to controllably transmit an alignment detection signal for reception by the signal receiver, wherein the signal transmitter and the signal receiver are respectively arranged at ends of the left control lever and the right control lever that are away from the first axis, and the signal transmitter and the signal receiver are opposed to each other when the left control lever and the right control lever are aligned, and wherein determining whether the left control lever and the right control lever are aligned comprises: controlling the signal transmitter to transmit the alignment detection signal; determining whether the signal receiver receives the alignment detection signal from the signal transmitter; and in response to the signal receiver receiving the alignment detection signal, determining that the left control lever and the right control lever are aligned.
The multi-purpose vehicle according to claim 17, wherein the signal transmitter is an infrared signal transmitter, and the signal receiver is an infrared signal receiver.
The multi-purpose vehicle according to claim 17, wherein the signal transmitter is a laser signal transmitter, and the signal receiver is a laser signal receiver.
The multi-purpose vehicle according to claim 16, wherein the alignment detection device comprises a Hall sensing element and a magnetic element, the Hall sensing element being configured to sense a magnetic field strength generated by the magnetic element, wherein the Hall sensing element and the magnetic element are respectively arranged at ends of the left control lever and the right control lever that are away from the first axis, and the Hall sensing element and the magnetic element are opposed to each other when the left control lever and the right control lever are aligned, and wherein determining whether the left control lever and the right control lever are aligned comprises: obtaining a field strength signal generated by the Hall sensing element in response to the magnetic field strength; comparing the field strength signal with a preset field strength threshold to determine whether the field strength signal is greater than or equal to the preset field strength threshold; and in response to the field strength signal being greater than or equal to the preset field strength threshold, determining that the left control lever and the right control lever are aligned.

Description

FIELD The present disclosure relates to the technical field of vehicle engineering, and in particular, to a vehicle control method, a multi-purpose vehicle, and a garden work vehicle. BACKGROUND Compared with a traditional fuel-powered mower, a battery-powered mower has advantages of all-weather zero emissions, zero fuel consumption, low noise, and simple maintenance due to the absence of gasoline, engine oil, air filters, spark plugs, fuel storage, or the like. Drive wheels of the battery-powered mower adopt motors instead of fuel engines, and the motors of the drive wheels may be independently controlled to achieve motion control of the entire vehicle, such as straight-line traveling, reversing, turning, and zero-turn steering. This design reduces structural complexity of the entire vehicle and makes vehicle control more flexible. In some related technical solutions, the battery-powered mower achieves traveling control by independently controlling a left drive wheel through a left control handle and a right drive wheel through a right control handle, and has advantages of fast control response and flexible operation. However, when deviations occur in control signals of the left and right control handles, the left and right drive wheels have different sizes and insufficient tire pressure, or the vehicle travels transversely on a slope, the vehicle fails to accurately respond to a control intention of a driver and cannot maintain straight-line traveling, which requires frequent real-time adjustments during operation, significantly affecting user experience. SUMMARY In view of this, embodiments of the present disclosure provide a vehicle control method, a multi-purpose vehicle, and a garden work vehicle, which can ensure an accurate response to a control intention of a user and optimize user experience. In an aspect, the embodiments of the present disclosure provide a vehicle control method. The vehicle control method includes: obtaining calibration request information, where the calibration request information is used to request control of vehicle traveling based on a preset trajectory; obtaining a current operating parameter of a target vehicle based on the calibration request information, where the operating parameter includes at least one of an attitude parameter, a heading angle parameter, or a displacement parameter; calculating target compensation data in response to a mismatch between the operating parameter and the preset trajectory, where the target compensation data is used to correct traveling deviation of the vehicle to make the vehicle traveling in accordance with the preset trajectory; and correcting a driving mode of the vehicle based on the target compensation data, to cause the vehicle to travel along the preset trajectory. In an implement, prior to obtaining the calibration request information, the method further includes: detecting whether a calibration function is activated; obtaining a first control parameter and a second control parameter of the target vehicle; calculating a control deviation value between the first control parameter and the second control parameter; and generating the calibration request information in response to the control deviation value being within a preset range and the calibration function being activated. The first control parameter is used to control the vehicle to travel to the left; and the second control parameter is used to control the vehicle to travel to the right. In an implement, the operating parameter of the vehicle includes a target attitude angle; and obtaining the operating parameter of the vehicle includes: obtaining first data transmitted by a first sensor and second data transmitted by a second sensor; and performing fusion processing on the first data and the second data based on an attitude resolution algorithm to obtain the target attitude angle. The attitude angle refers to an angle of a sensor in a world coordinate system where the vehicle is located. In an implement, prior to calculating the target compensation data, the method further includes: obtaining a type of the preset trajectory, where the type includes at least one of straight-line traveling, right-turn traveling, or left-turn traveling; obtaining, based on the type of the preset trajectory, a preset operating parameter matching the type of the preset trajectory; and determining, in response to a mismatch between the current operating parameter and the preset operating parameter, that the operating parameter does not match the preset trajectory. In an implement, the operating parameter of the vehicle includes a target attitude angle; and calculating the target compensation data includes: obtaining a preset angle matching the preset trajectory; calculating a target angle based on a difference between the target attitude angle and the preset angle; obtaining a driving parameter of the vehicle; and calculating the target compensation data based on the driving parameter of the vehi