Control Method and Related Device
A control method is applied to a vehicle, a robot, or the like that includes a rotating kit. The rotating kit is configured to implement movement of a device. The control method includes obtaining a first yaw rate, where when abnormal yaw occurs on the device, the first yaw rate is related to an average yaw rate of the device in a first time period, and the first time period is earlier than a moment at which the abnormal yaw occurs; obtaining an actual yaw rate of the device at a first moment, where the first moment is later than an end moment of the first time period; and determining, based on a first difference between the first yaw rate and the actual yaw rate, an adjustment amount for reducing the abnormal yaw.
1 . A method comprising:
obtaining a first yaw rate, wherein the first yaw rate is related to an average yaw rate of a terminal device in a first time period;
determining that an abnormal yaw occurs on a terminal device at a first moment after the first time period;
obtaining an actual yaw rate of the terminal device at a second moment after the first time period;
determining an adjustment amount based on a first difference between the first yaw rate and the actual yaw rate; and
reducing the abnormal yaw based on the adjustment amount.
2 . The method of claim 1 , further comprising:
receiving an operation from a steering component of the terminal device wherein the first yaw rate is related to the operation when normal yaw occurs on the terminal device; and
controlling a moving direction of the terminal device based on the operation.
3 . The method of claim 1 , further comprising: determining, when a preset condition is met, that the abnormal yaw occurs on the terminal device, wherein the preset condition comprises one or more of the following:
a second difference between a first torque and a second torque is greater than or equal to a first threshold, wherein the first torque is based on an operation corresponding to a speed control component of the terminal device, and wherein the second torque is an actual torque of a rotating kit of the terminal device; or
a parameter difference between a first rotating component of the rotating kit and a second rotating component of the rotating kit is greater than or equal to a second threshold, wherein the parameter difference comprises at least one of a slip rate difference or a rotation speed difference.
4 . The method of claim 1 , wherein the terminal device is a vehicle.
5 . The method of claim 1 , further comprising:
obtaining an actual torque of a rotating kit of the terminal device;
determining a first torque based on an operation of a speed control component of the terminal device; and
determining, when a difference between the actual torque and the first torque is greater than or equal to a first threshold, to enable steering protection to reduce abnormal yaw of the terminal device.
6 . The method of claim 5 , further comprising:
determining, based on the difference, an adjustment amount; and
controlling a yaw of the terminal device based on the adjustment amount.
7 . The method of claim 5 , wherein the terminal device is a vehicle.
8 . A terminal device comprising:
a memory configured to store instructions; and
one or more processors coupled to the memory and configured to execute the instructions to cause the terminal device to:
obtain a first yaw rate, wherein the first yaw rate is related to an average yaw rate of the terminal device in a first time period,
determine that an abnormal yaw occurs on a terminal device at a first moment after the first time period;
obtain an actual yaw rate of the terminal device at a second moment after the first time period;
determine an adjustment amount based on a first difference between the first yaw rate and the actual yaw rate; and
reduce the abnormal yaw based on the adjustment amount.
9 . The terminal device of claim 8 , further comprises further comprising a steering component configured to control a moving direction of the terminal device, wherein the first yaw rate is related to an operation of the steering component when normal yaw occurs on the terminal device.
10 . The terminal device of claim 8 , further comprising,
a rotating kit configured to implement movement of the terminal device, wherein the rotating kit comprises a first rotating component and a second rotating component, and wherein the first rotating component and the second rotating component are coaxial; and
a speed control component configured to control a moving speed of the terminal device.
11 . The terminal device of claim 10 , wherein the terminal device is a vehicle comprising a first side and a second side, and wherein the rotating kit further comprises a first wheel on the first side and a second wheel on the second side.
12 . The terminal device of claim 8 , wherein the terminal device further comprises a rotating kit and a speed control component, wherein the rotating kit is configured to implement movement of the terminal device, wherein the speed control component is configured to control a moving speed of the terminal device, and wherein the one or more processors are further configured to execute the instructions to cause the terminal device to:
obtain actual torque of the rotating kit;
determine afirst torque based on an operation associated with speed control component; and
determine, when a difference between the actual torque and the first torque is greater than or equal to a first threshold, to enable steering protection, wherein the steering protection reduces abnormal yaw of the terminal device.
13 . The terminal device of claim 12 , wherein the one or more processors are further configured to execute the instructions to cause the terminal device to;
determine an adjustment amount based on the difference; and
control a yaw of the terminal device based on the adjustment amount.
14 . The terminal device of claim 12 , wherein the terminal device is a vehicle comprising a first side and a second side, and wherein the rotating kit comprises a first wheel on the first side and a second wheel on the second side.
15 . The terminal device of claim 10 , wherein the one or more processors are further configured to execute the instructions to cause the terminal device to determine, when a preset condition is met, that the abnormal yaw occurs on the terminal device.
16 . The terminal device of claim 15 , wherein the preset condition comprises one or more of the following:
a second difference between a first torque and a second torque is greater than or equal to a first threshold, wherein the terminal device further comprises a speed control component, and wherein the speed control component is configured to control a moving speed of the terminal device, the first torque is determined based on an operation of the operator on the speed control component, and the second torque is an actual torque at the rotating kit; or
a parameter difference between the first rotating component and the second rotating component is greater than or equal to a second threshold, wherein the parameter difference comprises at least one of a slip rate difference or a rotation speed difference.
17 . A computer program product comprising computer-executable instructions stored on a non-transitory computer-readable storage medium, wherein the computer-executable instructions when executed by one or more processors of an apparatus, cause the apparatus to:
obtain a first yaw rate, wherein the first yaw rate is related to an average yaw rate of the apparatus in a first time period;
determine that an abnormal yaw occurs on the apparatus at a first moment after the first time period;
obtain an actual yaw rate of the apparatus at a second moment after the first time period;
determine an adjustment amount based on a first difference between the first yaw rate and the actual yaw rate; and
reduce the abnormal yaw based on the adjustment amount.
18 . The computer program product of claim 17 , wherein the computer-executable instructions when executed by the one or more processors of the apparatus, further cause the apparatus to:
receive an operation from a steering component of the apparatus, wherein the first yaw rate is related to the operation when normal yaw occurs on the apparatus; and
control a moving direction of the apparatus based on the operation.
19 . The computer program product of claim 17 , wherein the computer-executable instructions when executed by the one or more processors of the apparatus, further cause the apparatus to:
obtain actual torque of a rotating kit of the apparatus;
determine first torque based on an operation of the operator on a speed control component of the apparatus; and
determine, when a difference between the actual torque and the first torque is greater than or equal to a first threshold, to enable steering protection to reduce abnormal yaw of the apparatus.
20 . The computer program product of claim 19 , wherein the computer-executable instructions when executed by the one or more processors of the apparatus, further cause the apparatus to:
determine, based on the difference, an adjustment amount; and
control a yaw of the apparatus based on the adjustment amount.