The invention discloses an IGV vehicle steering control method, an IGV vehicle and a storage medium, and the method comprises the following steps: obtaining the initial speed of the IGV vehicle, and obtaining a search distance; acquiring a control distance within the search distance; adjusting the initial speed into an initial adjustment speed according to the control distance and a preset distance control condition; according to the initial adjustment speed and a preset error condition, adjusting the initial adjustment speed into a re-adjustment speed; obtaining a reference steering track; and according to the reference steering track and the preset steering track, the IGV is controlled to steer at the readjustment speed according to the preset steering sign. According to the invention, the control distance, the preset distance control condition, the preset error condition, the reference steering track and the preset steering track are used for comprehensive judgment, the influence of model change and data error of the IGV vehicle is considered, and the tracking driving stability and safety of the IGV vehicle are improved; and the accident that wheels of the IGV are abruptly changed and generate large-amplitude yawing to turn over is avoided.
本发明公开了一种IGV车的转向控制方法、IGV车及存储介质,该方法包括如下步骤:获取IGV车的初始速度,并获得搜索距离;在搜索距离内,获取控制距离;根据控制距离和预设距离控制条件,将初始速度调整为初调速度;根据初调速度和预设误差条件,将初调速度调整为复调速度;获得参考转向轨迹;根据参考转向轨迹和预设转向轨迹,控制IGV车以复调速度按预设转向标志进行转向。本发明通过利用控制距离、预设距离控制条件、预设误差条件、参考转向轨迹和预设转向轨迹进行综合判断,考虑了IGV车的模型变化及数据误差的影响,提高了IGV车循迹行驶的稳定性和安全性,避免IGV车的车轮产生突变并产生大幅度的横摆而侧翻的事故。
IGV vehicle steering control method, IGV vehicle and storage medium
IGV车的转向控制方法、IGV车及存储介质
06.02.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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