The invention provides an unmanned vehicle step climbing control method and device, an unmanned vehicle and a readable storage medium. Relates to the technical field of unmanned vehicle control. The method comprises the steps that when it is determined that the front side is a step, a front wheel connecting rod leg and a rear wheel connecting rod leg are controlled to swing clockwise to a balance mode through a first steering engine and a second steering engine respectively; based on the balance mode, a first steering engine is used for controlling a front wheel connecting rod leg to swing anticlockwise till a front wheel is lapped on a step; based on the state that the front wheels are lapped on the steps, the rear wheel connecting rod legs are controlled by a second steering engine to swing to the backward straightening state in the anticlockwise direction, and the unmanned vehicle is controlled by a motor to move forwards to climb on the steps; according to the embodiment of the invention, the swing angles of the front wheel connecting rod leg and the rear wheel connecting rod leg are respectively controlled through the first steering engine and the second steering engine, and the form of the unmanned vehicle is subjected to conversion control, so that the probability that the wheels are stuck and slip all the time can be reduced when the unmanned vehicle encounters a higher step, and the unmanned vehicle can climb the step smoothly.

    本申请提供了一种无人车爬台阶控制方法、装置、无人车及可读存储介质;涉及无人车控制技术领域。该方法包括:在确定前方为台阶时,通过第一舵机和第二舵机分别控制前轮连杆腿和后轮连杆腿沿顺时针方向摆动至平衡模式;基于平衡模式,通过第一舵机控制前轮连杆腿沿逆时针方向摆动至前轮搭在台阶上;基于前轮搭在台阶上的状态,通过第二舵机控制后轮连杆腿沿逆时针方向摆动至向后摆直状态,通过电机控制无人车向前行进爬上台阶;本申请实施例,通过第一舵机和第二舵机分别控制前轮连杆腿和后轮连杆腿的摆动角度,对无人车的形态进行变换控制,使得在遇到较高的台阶时也可以降低车轮被卡一直打滑的概率,可以顺利爬上台阶。


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    Title :

    Unmanned vehicle step climbing control method and device, unmanned vehicle and readable storage medium


    Additional title:

    无人车爬台阶控制方法、装置、无人车及可读存储介质


    Contributors:
    LI ZHIWEN (author) / LIAO LUNJIA (author) / CHEN CHUNYU (author) / TAN HUAN (author)

    Publication date :

    2024-06-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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