The invention discloses a control method of a traction type electric carrying moped, and relates to the technical field of load transportation equipment, comprising the steps of integrating a sensor, an inertial measurement unit and a depth camera on a vehicle body; obtaining road slope information, road roughness information and various sensor data; preprocessing the sensor data to obtain processed sensor data; establishing a relationship between the traction force borne by the vehicle body, the road surface gradient, the road surface roughness and the sensor data through a deep learning method; sensor data in the actual running process of the vehicle body are obtained, and the traction force borne by the current vehicle body, the road surface gradient and the road surface rugged degree are obtained; and control parameters of the vehicle body are adjusted based on the traction force borne by the vehicle body, the road slope and the road roughness. According to the method, the relationship among multiple elements of the scene is established through deep learning, and the relationship is applied to the actual application working condition with few sensors and less information amount, so that information loss required by vehicle body control is complemented, and a better control effect is achieved.
本发明公开了一种牵引式电动运载助力车控制方法,涉及负载运输设备技术领域,包括,在车体集成传感器、惯性测量单元以及深度摄像头;获取路面坡度信息和路面崎岖度信息以及各项传感器数据;对所述传感器数据进行预处理,得到处理后的传感器数据;通过深度学习方法建立车体所受牵引力、路面坡度、路面崎岖度与传感器数据之间的关系;获取车体实际运行过程中的传感器数据,得到当前车体所受牵引力、路面坡度、路面崎岖度;基于车体所受牵引力、路面坡度、路面崎岖度对车体的控制参数进行调节。本发明过深度学习建立场景多要素之间的关系,并将之应用在传感器少、信息量少的实际应用工况中,补全车体控制所需的信息缺失,达到更好的控制效果。
Traction type electric carrying moped control method, device and equipment and storage medium
一种牵引式电动运载助力车控制方法、装置、设备及存储介质
2022-12-06
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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