CL2019001024A1 - Method and system used by a multi-axis articulated vehicle that follows a center lane line. - Google Patents

Method and system used by a multi-axis articulated vehicle that follows a center lane line.

Info

Publication number
CL2019001024A1
CL2019001024A1 CL2019001024A CL2019001024A CL2019001024A1 CL 2019001024 A1 CL2019001024 A1 CL 2019001024A1 CL 2019001024 A CL2019001024 A CL 2019001024A CL 2019001024 A CL2019001024 A CL 2019001024A CL 2019001024 A1 CL2019001024 A1 CL 2019001024A1
Authority
CL
Chile
Prior art keywords
vehicle
rail line
system used
navigation
follows
Prior art date
Application number
CL2019001024A
Other languages
Spanish (es)
Inventor
Xiaoguang Li
Xiwen Yuan
Lei Xiao
Jing Peng
Xiaoqing Jiang
Xiaocong Liu
Chenlin Zhang
Tian Zhu
Original Assignee
Crrc Zhuzhou Electric Locomotive Res Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Crrc Zhuzhou Electric Locomotive Res Institute Co Ltd filed Critical Crrc Zhuzhou Electric Locomotive Res Institute Co Ltd
Publication of CL2019001024A1 publication Critical patent/CL2019001024A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

Abstract

UN MÉTODO Y SISTEMA UTILIZADO POR UN VEHÍCULO ARTICULADO MULTIEJE QUE SIGUE UNA LÍNEA DE CARRIL CENTRAL. EL MÉTODO COMPRENDE: S1.- ADQUIRIR UNA DESVIACIÓN DE NAVEGACIÓN VISUAL Y UNA ESTIMACIÓN DE NAVEGACIÓN DE UN VEHÍCULO; Y S2.- CALCULAR, DE ACUERDO CON LA DESVIACIÓN DE NAVEGACIÓN VISUAL Y LA ESTIMACIÓN DE NAVEGACIÓN DEL VEHÍCULO, Y USANDO UN ALGORITMO PID INCREMENTAL, UN ÁNGULO DE GIRO DE RUEDA DELANTERA ESPERADO DEL VEHÍCULO, Y CONTROLAR UNA RUEDA DELANTERA DEL VEHÍCULO PARA CAMBIAR UNA DIRECCIÓN. EL SISTEMA COMPRENDE: UN MÓDULO DE IDENTIFICACIÓN DE LÍNEA DE CARRIL, UNA UNIDAD DE ADQUISICIÓN DE DATOS, UNA UNIDAD DE CONTROL DE DETERMINACIÓN Y UNA UNIDAD DE EJECUCIÓN. EL SISTEMA TIENE LAS VENTAJAS DE GARANTIZAR QUE UN VEHÍCULO SIGA DE MANERA EFICAZ, EN UN PROCESO DE CONDUCCIÓN AUTOMÁTICA, UNA LÍNEA DE CARRIL CENTRAL, IMPLEMENTAR EL SEGUIMIENTO AUTOMÁTICO Y EL CONTROL AUTOMÁTICO DEL VEHÍCULO CON RESPECTO A LA LÍNEA DE CARRIL CENTRAL, MEJORAR LA CONDUCCIÓN SEGURA Y REDUCIR LA INTENSIDAD DE TRABAJO DE UN CONDUCTOR.A METHOD AND SYSTEM USED BY A MULTI-AXLE ARTICULATED VEHICLE FOLLOWING A CENTRAL RAIL LINE. THE METHOD INCLUDES: S1.- ACQUIRE A VISUAL NAVIGATION DEVIATION AND A NAVIGATION ESTIMATE OF A VEHICLE; AND S2.- CALCULATE, ACCORDING TO THE VISUAL NAVIGATION DEVIATION AND THE VEHICLE'S NAVIGATION ESTIMATION, AND USING AN INCREMENTAL PID ALGORITHM, AN EXPECTED FRONT WHEEL TURNING ANGLE OF THE VEHICLE, AND CHECK A FRONT WHEEL CHAIR DIRECTION. THE SYSTEM INCLUDES: A RAIL LINE IDENTIFICATION MODULE, A DATA ACQUISITION UNIT, A DETERMINATION CONTROL UNIT AND AN EXECUTION UNIT. THE SYSTEM HAS THE ADVANTAGES OF ENSURING THAT A VEHICLE EFFECTIVELY FOLLOWS, IN AN AUTOMATIC DRIVING PROCESS, A CENTRAL RAIL LINE, IMPLEMENTING AUTOMATIC MONITORING AND AUTOMATIC CONTROL OF THE VEHICLE WITH RESPECT TO THE CENTER CARRIAGE CONDUCT. SAFE AND REDUCE THE WORK INTENSITY OF A DRIVER.

CL2019001024A 2016-10-19 2019-04-15 Method and system used by a multi-axis articulated vehicle that follows a center lane line. CL2019001024A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610910594.9A CN107933686B (en) 2016-10-19 2016-10-19 A kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system

Publications (1)

Publication Number Publication Date
CL2019001024A1 true CL2019001024A1 (en) 2019-10-25

Family

ID=61928973

Family Applications (1)

Application Number Title Priority Date Filing Date
CL2019001024A CL2019001024A1 (en) 2016-10-19 2019-04-15 Method and system used by a multi-axis articulated vehicle that follows a center lane line.

Country Status (3)

Country Link
CN (1) CN107933686B (en)
CL (1) CL2019001024A1 (en)
WO (1) WO2018072647A1 (en)

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CN110861643A (en) * 2019-10-18 2020-03-06 中国第一汽车股份有限公司 Unmanned vehicle one-way tunnel passing method and unmanned vehicle
CN111966104A (en) * 2020-08-21 2020-11-20 上海电气集团智能交通科技有限公司 Fusion navigation vehicle automatic driving system and method based on magnetic nail
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CN112362069B (en) * 2020-11-16 2022-11-11 浙江大学 Modular automatic driving algorithm development verification system and method
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CN113624520B (en) * 2021-07-29 2023-05-16 东风汽车集团股份有限公司 System, method and medium for calculating vehicle understeer gradient coefficient in real time based on machine vision technology
CN114355924B (en) * 2021-12-28 2023-10-13 北京理工大学 Improved pure tracking path tracking method
CN114906173B (en) * 2022-06-30 2023-07-21 电子科技大学 Automatic driving decision method based on two-point pre-aiming driver model
CN115593510A (en) * 2022-11-30 2023-01-13 禾多科技（北京）有限公司（Cn） Vehicle control method and device, storage medium, and electronic device
CN117519190A (en) * 2023-11-30 2024-02-06 上海联适导航技术股份有限公司 Novel articulated vehicle control method

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Also Published As

Publication number Publication date
NZ752017A (en) 2020-10-30
CN107933686B (en) 2019-11-29
CN107933686A (en) 2018-04-20
WO2018072647A1 (en) 2018-04-26

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