In order to solving a problem that the existing unmanned system has certain danger in a special working environment, the invention provides a driving control method of an unmanned pure electric tractor. In the tractor control process, an unmanned controller sends a request signal of a vehicle to a whole vehicle controller in real time; the whole vehicle controller firstly judges whether a remote control signal exists or not, and whether a tractor is in a remote control mode or an unmanned mode is determined according to the fact that the remote control signal is an interrupt signal; and afterthe remote control mode or the unmanned mode is determined, the whole vehicle controller controls the corresponding actuating mechanism to act according to a request signal sent by the unmanned controller. According to the invention, when the unmanned tractor performs field operation in an unmanned mode, switching between the unmanned mode and a remote control mode can be realized through the whole vehicle controller if an unmanned system has a fault or an emergency situation, so that the driving safety of the tractor in the whole operation process is ensured.
本发明针对现有无人驾驶系统在特殊工作环境下存在一定危险性问题,提出了一种无人纯电动拖拉机行车控制方法,在拖拉机控制过程中,无人驾驶控制器向整车控制器实时发送车辆的请求信号,整车控制器首先判断是否存在遥控信号,根据遥控信号为中断信号确定拖拉机处在遥控模式或无人模式;在确定遥控模式或无人模式后,根据无人驾驶控制器发出的请求信号整车控制器控制相应执行机构动作。本发明能够使无人驾驶拖拉机在无人模式下进行田间作业时,如遇到无人驾驶系统故障或者紧急情况时,能通过整车控制器实现无人模式和遥控模式的切换,保证整个作业过程中的拖拉机行驶安全。
Driving control method of unmanned pure electric tractor
一种无人纯电动拖拉机行车控制方法
2020-04-17
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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