CN109491364A - A kind of drive robot system and control method for vehicle testing - Google Patents
A kind of drive robot system and control method for vehicle testing Download PDFInfo
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- CN109491364A CN109491364A CN201811377453.0A CN201811377453A CN109491364A CN 109491364 A CN109491364 A CN 109491364A CN 201811377453 A CN201811377453 A CN 201811377453A CN 109491364 A CN109491364 A CN 109491364A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The invention discloses a kind of drive robot systems and control method for vehicle testing, high-precision model- following control is carried out to preset driving trace for realizing drive robot system by track following unit, by adjusting the front wheel angle and travel speed of vehicle, so that vehicle follows preset target trajectory to travel, the target instruction target word of high-precision track following unit is issued to test vehicle to realize, realizes the motion control to vehicle.Remote data transmission unit is for realizing the communication of the real time full duplex of tested vehicle and monitoring center, monitoring center can send instructions down at any time controls tested vehicle, interior drive robot system then acquires the vehicle condition information of tested vehicle in real time, realizes the long-range monitoring to tested vehicle-state.The present invention realizes the automatic test that vehicle is tested in blocking test field in such a way that location technology is combined with high-precision track following technology, and control precision is high, reproducible, durability is strong.
Description
Technical field
The present invention relates to be used for Vehicular automatic driving technical field, and in particular to a kind of drive machine for vehicle testing
People's system and control method.
Background technique
According to the provisions of laws and regulations of country, all vehicles are had to before factory sale by stringent qualification test
And test, a critically important link is exactly to carry out the test of vehicle performance in closed proving ground in testing.It is sealing
In the proving ground closed, tested vehicle passes through a variety of typical road surfaces, such as Belgian road, road of paddling as requested.Mesh
It is preceding in this testing process, be still that tested vehicle is driven by above-mentioned section, by prolonged using pilot steering person
It repeats to drive, to obtain the evaluation index of vehicle performance.Pilot steering, which is tested, has human cost height, can not full-time survey
The defects of trying, be larger to driver's actual bodily harm.
Summary of the invention
The purpose of the present invention is to provide a kind of drive robot systems and control method for vehicle testing, to overcome
The deficiencies in the prior art.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of drive robot system for vehicle testing, including control unit and the positioning being connect with control unit
With navigation elements, track following unit, mechanical operating parts control unit and remote data transmission unit；
Positioning is with navigation elements for obtaining longitude and latitude positional information and vehicle of the vehicle under global coordinates system in real time
Course information, and will acquire information and be sent to control unit；
Track following unit is used for vehicle movement track following, and pursuit path information is sent to control unit；
Mechanical operating parts control unit is connected to control unit and vehicle execution unit, executes the control of control unit transmitting
Signal processed；
Remote data transmission unit is for the data transmission between control unit and monitoring center；
Controller unit is used to receive the location information that positioning is sent with navigation elements, and sends pending control signal extremely
Mechanical operating parts control unit.
Further, positioning and navigation elements include the preset UWB positioning system of integrated navigation and test site, integrated navigation
Including differential GPS, inertial navigation and wheel speed meter unit, UWB positioning system includes on board unit and trackside beacon element.
Further, vehicle execution unit uses DC brushless motor for power output.
A kind of control method of drive robot system, comprising the following steps:
Step 1), by position with navigation elements obtain in real time longitude and latitude positional information of the vehicle under global coordinates system and
The course information of vehicle；
Step 2), the longitude and latitude positional information that step 1) is obtained and course information are converted by coordinate, by global coordinates
It is that position is converted into local coordinate system position；
Step 3), according to local coordinate system position, the high-precision to vehicle movement track is realized using track following algorithm
Tracking；
3) step 4) obtains the object control information of line traffic control execution unit through the above steps.
Further, that global coordinates system position is converted into local coordinate system location formula is as follows:
(xlocal,ylocal, α) and=Tconv(latitude,longitude,heading)
Wherein, α is the front wheel slip angle of vehicle.
Further, track following algorithm includes the following:
In car body coordinate oxlocalylocalIn, P (xlocal,ylocal) it is point in planning path, L travels circular arc by automobile
Chord length and motor racing forward sight distance, R be the segmental arc radius；Obtain the size of front wheel steering angle are as follows:
H: vehicle wheelbase；P: the lateral distance between vehicle and planning path；
Track algorithm formula is as follows:
(αTarget,FCtarget,BCTarget,HCTarget)=Functionpurepursuit(Mtrajectory,xlocal,ylocal,α)
Wherein αTargetIt is the steering wheel target position information at next control moment that track algorithm calculates,
FCTargetIt is the target throttle opening information at next control moment, BCTargetIt is the target braking amount letter at next control moment
Breath, wherein the control of throttle and braking amount belongs to decoupling relationship；HCTargetIt is the object gear information at next control moment.
Compared with prior art, the invention has the following beneficial technical effects:
A kind of drive robot system for vehicle testing of the present invention, including control unit and connect with control unit
Positioning and navigation elements, track following unit, mechanical operating parts control unit and remote data transmission unit, pass through track
Tracking cell carries out high-precision model- following control to preset driving trace for realizing drive robot system, by adjusting vehicle
Front wheel angle and travel speed so that vehicle follows preset target trajectory to travel, to realize high-precision track
The target instruction target word of tracking cell is issued to test vehicle, realizes the motion control to vehicle.Remote data transmission unit is for real
It is now tested the real time full duplex communication of vehicle and monitoring center, monitoring center can send instructions down at any time controls tested vehicle
, modification test trails and the test frequency, interior drive robot system then acquire the vehicle condition of tested vehicle in real time
Information, and monitoring center is uploaded in real time, realize the long-range monitoring to tested vehicle-state.The present invention is using positioning skill
Art realizes the automatic test of tested vehicle in blocking test field, control essence with the mode that high-precision track following technology combines
Degree is high, reproducible, durability is strong.
A kind of drive robot system control method for vehicle testing, by track following unit for realizing driving
Robot system carries out high-precision model- following control to preset driving trace, by adjusting the front wheel angle and traveling speed of vehicle
Degree, so that vehicle follows preset target trajectory to travel, it will be under the target instruction target word of high-precision track following unit to realize
It is sent to test vehicle, realizes the motion control to vehicle.
Detailed description of the invention
Fig. 1 is the geometric expression schematic diagram of pure tracing model；
Fig. 2 is the flow diagram of the method for the present invention；
The position Fig. 3 robot control mode model structure of the present invention；
Fig. 4 is Vehicle Driver Robot system construction drawing of the present invention.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing:
A kind of drive robot system for vehicle testing, including control unit and the positioning being connect with control unit
With navigation elements, track following unit, mechanical operating parts control unit and remote data transmission unit；
Positioning is with navigation elements for obtaining longitude and latitude positional information and vehicle of the vehicle under global coordinates system in real time
Course information, and will acquire information and be sent to control unit；
Track following unit is used for vehicle movement track following, and pursuit path information is sent to control unit；
Mechanical operating parts control unit is connected to control unit, executes the control signal of control unit transmitting；
Remote data transmission unit is for the data transmission between control unit and monitoring center；
Controller unit is used to receive the location information that positioning is sent with navigation elements, and sends pending control signal extremely
Mechanical operating parts control unit.
Positioning is realized surely with navigation elements in such a way that the preset UWB positioning system of integrated navigation and test site combines
Fixed reliable vehicle location, integrated navigation includes that differential GPS, inertial navigation and wheel speed meter unit, UWB positioning system include on board unit
With trackside beacon element；Positioning and high-precision of the navigation elements for realizing drive robot system in test site are positioned oneself
Determine appearance；
Track following unit follows for realizing drive robot system is high-precision to the progress of preset driving trace, leads to
The front wheel angle and travel speed for crossing control unit control adjustment vehicle, so that vehicle follows preset target trajectory to travel；
Mechanical operating parts control unit is connected to control unit and vehicle execution unit, and vehicle execution unit uses direct current
Brushless motor is power output, is turned by a series of power generation arrangement and mechanical driving device realization to tested vehicle
To, braking, the real-time control of throttle, gear, the target instruction target word of high-precision track following unit is issued to survey to realize
The motion control to vehicle is realized in test run；
Remote data transmission unit is for realizing the communication of the real time full duplex of tested vehicle and monitoring center, remote transmission
Unit uses V2X mechanics of communication, and monitoring center can send instructions down at any time controls tested vehicle, modifies test trails and survey
The frequency is tried, interior drive robot system then acquires the vehicle condition information of tested vehicle in real time, and uploads in real time
Monitoring center realizes the long-range monitoring to tested vehicle-state.
A kind of control method of the drive robot system for vehicle testing, comprising the following steps:
Step 1), by position with navigation elements obtain in real time longitude and latitude positional information of the vehicle under global coordinates system and
The course information (latitude, longitude, heading) of vehicle；
Step 2), by step 1) obtain longitude and latitude positional information and course information need by coordinate convert could incite somebody to action
Global coordinates system position is converted into local coordinate system position:
(xlocal,ylocal, α) and=Tconv(latitude,longitude,heading)
Wherein, α is the front wheel slip angle of vehicle；
Step 3), the vehicle platform where obtaining current time automated driving system are relative to test site coordinate system
After position and course data, the high precision tracking to vehicle movement track is realized using high-precision track following algorithm；
Because blocking test field is tested under environment, when carrying out the test of multiple road situation, the movement velocity of vehicle is always
In low speed environments, thus pure track algorithm can be met the requirements well:
As shown in Figure 1, in car body coordinate oxlocalylocalIn, P (xlocal,ylocal) be planning path on point, L is automobile
The chord length and motor racing forward sight distance of travelled circular arc, R are the radius of the segmental arc.The size of front wheel steering angle can be obtained
Are as follows:
H: vehicle wheelbase；P: the lateral distance between vehicle and planning path；
Traditional pure track algorithm needs to consider the comfort level of the driving safety and passenger of vehicle, thus in tracking essence
Degree aspect slightly has deviation, and drive robot system according to the present invention is only needed without considering the problems of passenger's comfort level
Consider the driving safety constraint of vehicle, thus the tracking accuracy of tested vehicle can be promoted:
(αTarget,FCtarget,BCTarget,HCTarget)=Functionpurepursuit(Mtrajectory,xlocal,ylocal,α)
Wherein αTargetIt is the steering wheel target position information at next control moment that track algorithm calculates,
FCTargetIt is the target throttle opening information at next control moment, BCTargetIt is the target braking amount letter at next control moment
Breath, wherein the control of throttle and braking amount belongs to decoupling relationship；HCTargetIt is the object gear information at next control moment；On
Stating object control information will be exported by the CAN bus of vehicle to the line traffic control execution unit of drive robot system；
3) step 4) obtains the object control information of line traffic control execution unit through the above steps；In order to enable of the invention
Drive robot system can be adapted to various, this drive robot system using a variety of electric drive systems as power come
Source carries out the transmission of dynamical system using transmission system.
Such as Fig. 3, throttle pedipulator uses stepper motor servo control mode, realizes the high accuracy positioning of throttle；Brake
Tool leg is driven using stepper motor, and the control to braking deceleration is realized by self-regulation brake force size；Gear shifting manipulator is
The crucial execution unit of drive robot system, using seven-link assembly two-freedom closed chain mechanism, using two joint angle displacement transducer
Device feeds back mobile message, and the space displacement coordinate of manipulator is determined according to angular displacement, is not needing to carry out automobile gearshift mechanism
Under the premise of transformation, realizes block selecting and hang and pluck the mechanically decoupled of gear both direction movement, it is final to realize to drive robot machinery
The accurate control of hand.
Drive robot obtains positioning oneself information in the high-precision of test site with navigation elements in positioning, track with
Track unit carries out high-precision model- following control to preset driving trace, by adjusting the front wheel angle and travel speed of vehicle,
So that vehicle follows preset target trajectory to travel.After mechanical operating parts unit obtains control information, by a series of dynamic
Force generating apparatus and mechanical driving device realize to the steering of tested vehicle, braking, throttle, gear real-time control, meanwhile,
The vehicle condition information of tested vehicle is acquired in real time, and uploads to monitoring center in real time and tested vehicle-state is remotely supervised
Control, monitoring center can also send instructions down at any time controls tested vehicle, modification test trails and the test frequency etc..
Referring to fig. 4, main control computer receives current location, speed and the engine of each executing agency to drive robot structure
Then the information such as revolving speed according to obtained input data and pre-enter the data into memory, calculate simultaneously defeated in real time
Executing agency's command signal out, meanwhile, control the starting and stopping of engine.In addition, in order to guarantee such as cooling water occurring
Protection test vehicle and testing stand are not damaged when the failures such as temperature is excessively high, blow out, sideslip, the servo control of each executing agency
The mode of air pressure driving, electric drive or pneumoelectric combination drive can be used in system, and servo control unit receives main control unit signal
The intake and exhaust solenoid valve in stepper motor or cylinder chamber is driven afterwards, realizes the control to stepper motor or cylinder location.In order to
Realize the accurate positioning of throttle position, throttle pedipulator uses motor servo control mode；Brake is adjustable using brake force electricity
Pneumatic control；Clutch is then the adjustable pneumatic control of speed electricity；Gear shifting manipulator is using pneumatic seven-link assembly shift execution machine
Structure, length of connecting rod pass through optimization design, and block selecting, the movable machinery plucked into gear both direction decouple, and realize gearing movement machinery
Decouple simplified control, unique cylinder location technology, it may be achieved manipulator any position is accurately positioned, and in addition drives using air pressure
The dynamic elasticity and flexibility for making manipulator behavior that there is people's muscle.
Claims (6)
1. a kind of drive robot system for vehicle testing, which is characterized in that including control unit and and control unit
The positioning of connection and navigation elements, track following unit, mechanical operating parts control unit and remote data transmission unit；
Positioning is with navigation elements for obtaining the course of longitude and latitude positional information and vehicle of the vehicle under global coordinates system in real time
Information, and will acquire information and be sent to control unit；
Track following unit is used for vehicle movement track following, and pursuit path information is sent to control unit；
Mechanical operating parts control unit is connected to control unit and vehicle execution unit, executes the control letter of control unit transmitting
Number；
Remote data transmission unit is for the data transmission between control unit and monitoring center；
Controller unit is used to receive the location information that positioning is sent with navigation elements, and sends pending control signal to machinery
Execution unit control unit.
2. a kind of drive robot system for vehicle testing according to claim 1, which is characterized in that position and lead
The unit that navigates includes the preset UWB positioning system of integrated navigation and test site, and integrated navigation includes differential GPS, inertial navigation and wheel speed meter
Unit, UWB positioning system include on board unit and trackside beacon element.
3. a kind of drive robot system for vehicle testing according to claim 1, which is characterized in that vehicle executes
Component uses DC brushless motor for power output.
4. a kind of control method based on drive robot system described in claim 1, which comprises the following steps:
Step 1) obtains longitude and latitude positional information and vehicle of the vehicle under global coordinates system with navigation elements by positioning in real time
Course information；
Step 2), the longitude and latitude positional information that step 1) is obtained and course information are converted by coordinate, by global coordinates system position
It sets and is converted into local coordinate system position；
Step 3), according to local coordinate system position, the high precision tracking to vehicle movement track is realized using track following algorithm；
3) step 4) obtains the object control information of line traffic control execution unit through the above steps.
5. the control method of drive robot system according to claim 4, which is characterized in that by global coordinates system position
It is as follows to be converted into local coordinate system location formula:
(xlocal,ylocal, α) and=Tconv(latitude,longitude,heading)
Wherein, α is the front wheel slip angle of vehicle.
6. the control method of drive robot system according to claim 4, which is characterized in that track following algorithm includes
It is as follows:
In car body coordinate oxlocalylocalIn, P (xlocal,ylocal) it is point in planning path, L travels the string of circular arc by automobile
Long and motor racing forward sight distance, R are the radius of the segmental arc；Obtain the size of front wheel steering angle are as follows:
H: vehicle wheelbase；P: the lateral distance between vehicle and planning path；
Track algorithm formula is as follows:
(αTarget,FCtarget,BCTarget,HCTarget)=Functionpurepursuit(Mtrajectory,xlocal,ylocal,α)
Wherein αTargetIt is the steering wheel target position information at next control moment that track algorithm calculates, FCTargetIt is
The target throttle opening information at next control moment, BCTargetIt is the target braking amount information at next control moment, wherein
The control of throttle and braking amount belongs to decoupling relationship；HCTargetIt is the object gear information at next control moment.
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| CN111125624A (en) * | 2019-11-29 | 2020-05-08 | 浙江维尔科技有限公司 | Shift lever gear determination method and device |
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