CN101441479A - Control apparatus and control method of vehicle error correcting - Google Patents
Control apparatus and control method of vehicle error correcting Download PDFInfo
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- CN101441479A CN101441479A CNA2007101778000A CN200710177800A CN101441479A CN 101441479 A CN101441479 A CN 101441479A CN A2007101778000 A CNA2007101778000 A CN A2007101778000A CN 200710177800 A CN200710177800 A CN 200710177800A CN 101441479 A CN101441479 A CN 101441479A
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Abstract
The invention discloses a vehicle deviation-correction control device and a method for controlling the same. The deviation-correction control device comprises an object to be detected, and a sensor and a controller arranged on the front end and the rear end of the vehicle respectively; and the control method comprises a forward movement control method and a backward movement control method, wherein the forward movement control method comprises that when the vehicle moves forwards, the sensor arranged on the front end of the vehicle detects the state of the vehicle body, and when the vehicle body is detected to deviate from the object to be detected, the controller performs reverse deviation-correction control on the vehicle body so that the vehicle moves back to a right running route; and the backward movement control method comprises that when the vehicle moves backwards, the sensor arranged on the rear end of the vehicle detects the state of the vehicle body; when the vehicle body is detected to deviate from the object to be detected, the controller performs the reverse deviation-correction control on the vehicle; at the same time, the sensor arranged on the front end of the vehicle detects the state of the front end of the vehicle; and if the deviation of the front end of the vehicle deviating from the object to be detected reaches a preset value, the controller performs protection control on the front wheels so that the vehicle moves back to the right running route.
Description
Technical field
The present invention relates to a kind of vehicle deviation rectifying control device and control method.
Background technology
In some cases, vehicle can not being driven by people, and needs autonomous driving, for example, and when the container vehicle being carried out safety inspection in customs.But vehicle independently travels sideslip takes place easily, so vehicle need have the correction control device.Existing correction control device generally is made of the ultrasonic ranging sensor and the controller of the vertical wallboard that is arranged on vehicle runway one or both sides, the front end that is arranged on vehicle or rear end.Distance between the front end of ultrasonic ranging sensor detected vehicle or rear end and the vertical wallboard detects distance and equals predeterminable range when vehicle is normally walked.When if detected distance is greater than or less than predeterminable range, vehicle generation sideslip is described, then controller will send the correction instruction control of rectifying a deviation.But this deviation correcting device need be provided as the vertical wallboard that detects target extraly in the runway one or both sides, so the cost height, and need occupy bigger space.In addition, the accuracy of detection of ultrasonic ranging sensor is low, is difficult to be applicable to high-precision correction control.Therefore, need exploitation a kind of cost is low, precision is high correction control device and control method.
Summary of the invention
Therefore, the present invention is intended to design correction control device and the control method that a kind of cost is low, precision is high.
To achieve these goals, the invention provides a kind of vehicle deviation rectifying control device, comprising: detected target, described detected target are tiled on the road that vehicle advances; Be separately positioned on the forward and backward photoelectric sensor of vehicle, described photoelectric sensor is used to detect described detected target; Controller is used for according to the detected information of described photoelectric sensor the vehicle control of rectifying a deviation.
In addition, the present invention also provides a kind of vehicle deviation rectifying control method, this method comprises the control method that retreats when control method and vehicle backing of advancing when vehicle advances, wherein, the control method of advancing is: when vehicle advances, detect the state of vehicle body by the photoelectric sensor that is installed in vehicle front, when detecting vehicle body and depart from detected target, controller is carried out oppositely correction control to vehicle, so that make vehicle get back to correct enforcement path; Retreating control method is: when vehicle rollback; detect the state of vehicle body by the photoelectric sensor that is installed in rear vehicle end; when detecting vehicle body and depart from detected target; controller is carried out oppositely correction control to vehicle; simultaneously, detect the state of body structure, if vehicle front departs from detected target when reaching scheduled volume by the photoelectric sensor that is installed in vehicle front; controller is carried out front-wheel protection control, so that make vehicle get back to correct enforcement path.
Compared with prior art, the present invention detects band and in the front and back of vehicle one group of photoelectric sensor is set respectively by tiling on the road of advancing at vehicle, and need not to be provided with extraly vertical wallboard, so the present invention take up space little, cost is low, and the accuracy of detection height of photoelectric sensor.
Description of drawings
Fig. 1 is that vehicle deviation rectifying control device of the present invention is used synoptic diagram;
Fig. 2 is the structural representation of vehicle deviation rectifying control device of the present invention;
Fig. 3 is the control method schematic diagram of vehicle deviation rectifying control device of the present invention when advancing;
Fig. 4 is the control method schematic diagram of vehicle deviation rectifying control device of the present invention when retreating.
Embodiment
As depicted in figs. 1 and 2, vehicle deviation rectifying control device of the present invention comprises: detected target 1; Be separately positioned on the forward and backward sensor 2 of vehicle 4, sensor 2 is used to detect detected target 1; Controller 3 is used for according to sensor 2 detected information vehicle 4 control of rectifying a deviation.
Particularly, as shown in Figure 2, detected target 1 comprises the black-tape 101 at middle part and is positioned at the leukorrhea 102 of black-tape 101 both sides, and described detected target 1 is tiled on the road that vehicle 4 advances; Sensor 2 is two groups of photoelectric sensors, be installed in respectively the vehicle front and back ends below, relative with detected target 1, every group of photoelectric sensor 2 comprises four photoelectric probe that are arranged in a row, four photoelectric probe of one group of photoelectric sensor 2 of front are expressed as f1, f2, f3, f4, and four photoelectric probe of one group of photoelectric sensor 2 of back are expressed as b1, b2, b3, b4.Two row's photoelectric probe f1, f2, f3, f4, b1, b2, b3, b4 are connected with controller respectively by signal wire, certainly, also can be wireless.Wherein, when vehicle 4 was exercised along correct enforcement path, the centre of forward and backward two groups of photoelectric sensors 2 two photoelectric probe f2, f3, b2, b3 laid respectively in black-tape 101 zones of detected target 1 (as shown in Figure 1).
Preferably, detected target is made by the PVC material, particularly, is made the long band of a white background earlier by the PVC material, then, coats a black-tape in the centre of long band.Certainly, also can make the long band of a white by the PVC material earlier, then, make the narrower long band of a black by the PVC material, the long band of black that at last will be narrower adheres to the centre of the long band of white of broad.Need to prove that the material of detected target is not limited to PVC, can also be any other any material, as long as it can make said structure and shape.
Fig. 3 and Fig. 4 show the control method schematic diagram of vehicle deviation rectifying control device illustrated in figures 1 and 2.This method comprises with the correction control device: detected target 1, be separately positioned on vehicle forward and backward sensor 2 and controller 3.
When comprising control method of advancing (as shown in Figure 3) when vehicle advances and vehicle backing, this vehicle deviation rectifying control method retreats control method (as shown in Figure 4);
The control method of advancing is: when vehicle advances, the state of the sensor vehicle body by being installed in vehicle front, when detecting vehicle body and depart from detected target (shown in Fig. 3 B-Fig. 3 E), controller is carried out oppositely correction control to vehicle, so that make vehicle get back to correct enforcement path (as shown in Figure 3A);
The described control method that retreats is: when vehicle rollback; the state of the sensor vehicle body by being installed in rear vehicle end; when detecting vehicle body and depart from detected target (shown in Fig. 4 A); controller is carried out oppositely correction control to vehicle; simultaneously; the state of the sensor body structure by being installed in vehicle front; when if vehicle front departs from detected target and reaches scheduled volume (shown in Fig. 4 B); controller is carried out front-wheel protection control, so that make vehicle get back to correct enforcement path (shown in Fig. 4 C).
Preferably, below with reference to Fig. 3 the present invention's control method of advancing is described, it comprises the steps:
FS1: detect described detected target with being arranged on one group of preceding photoelectric sensor of car, and send the information that is detected to controller;
FS2: when centre two photoelectric probe f2, f3 of photoelectric sensor are positioned at black-tape 101 zones before detecting car (as shown in Figure 3A), not executivecontrol function of controller;
FS3: in the centre of photoelectric sensor before detecting car two photoelectric probe f2, f3 one is positioned at black-tape 101 zones, when another is positioned at outside black-tape 101 zones (shown in Fig. 3 B-Fig. 3 C), and controller is carried out oppositely fine setting to vehicle and controlled so that make vehicle get back to correct enforcement path (as shown in Figure 3A);
FS4: when the centre of photoelectric sensor before detecting car two photoelectric probe f2, f3 are positioned at outside black-tape 101 zones (shown in Fig. 3 D-Fig. 3 E), controller is carried out oppositely big regulation and control system so that make vehicle get back to correct enforcement path (as shown in Figure 3A) to vehicle.
Preferably, below with reference to Fig. 4 control method behind the present invention is described, it comprises the steps:
BS1: one group of photoelectric sensor that usefulness is arranged on behind the car detects described detected target, and sends the information that is detected to controller;
BS2: when the centre of photoelectric sensor after detecting car two photoelectric probe b2, b3 are positioned at black-tape 101 zones (shown in Fig. 4 C), not executivecontrol function of controller;
BS3: two the photoelectric probe b2 in the centre of the photoelectric sensor after detecting car, one among the b3 is positioned at black-tape 101 zones, when another is positioned at outside black-tape 101 zones (not shown in the figure), vehicle is carried out oppositely fine setting control with controller so that two photoelectric probe b2 in centre of photoelectric sensor after making car, b3 turns back in black-tape 101 zones, afterwards, detect described detected target with one group of photoelectric sensor before the car again, and send the information that is detected to controller, the information that photoelectric sensor detected of controller before according to car is carried out front-wheel protection control again to vehicle, promptly, two the photoelectric probe f2 in the centre of the photoelectric sensor before detecting car, when one or two among the f3 was positioned at outside black-tape 101 zones (shown in Fig. 4 B), controller carried out oppositely to front-wheel that correction control makes vehicle get back to correct enforcement path (shown in Fig. 4 C);
BS4: two the photoelectric probe b2 in the centre of the photoelectric sensor after detecting car; when b3 is positioned at outside the black-tape zone (shown in Fig. 4 A); vehicle is carried out oppositely big regulation and control system with controller so that two photoelectric probe b2 in centre of photoelectric sensor after making car; b3 turns back in black-tape 101 zones; afterwards; detect described detected target with one group of photoelectric sensor before the car again; and send the information that is detected to controller; the information that photoelectric sensor detected of controller before according to car is carried out front-wheel protection control again to vehicle; promptly; two the photoelectric probe f2 in the centre of the photoelectric sensor before detecting car; when one or two among the f3 was positioned at outside black-tape 101 zones, controller is carried out the control of oppositely rectifying a deviation to front-wheel made vehicle get back to correct enforcement path (shown in Fig. 4 C).
Particularly, each adjustment angle of aforementioned reverse fine setting control is 1-6 degree.Need to prove that oppositely each adjustment angle of fine setting control can keep invariable, as 3 degree; Also can be as the case may be, increase progressively one by one or fall progressively, 1 degree for example increases progressively at every turn or falls progressively.
Particularly, each adjustment angle of aforementioned oppositely big regulation and control system is 7-13 degree.Need to prove that each adjustment angle of oppositely big regulation and control system can keep invariable, as 10 degree; Also can be as the case may be, increase progressively one by one or fall progressively, 1 degree for example increases progressively at every turn or falls progressively.
[the variation example that other is possible]
The photoelectric probe of every group of photoelectric sensor of the present invention is not limited to four, also can be six or more a plurality of, as long as it can detect and judge vehicle body and depart from.
Detected target of the present invention is not limited to the centre for black-tape zone, both sides are the structure in leukorrhea zone, can also be that the centre is the structure in black-tape zone for leukorrhea zone, both sides.This variation should belong to a kind of equivalent variations, its inevitable also falling within the protection domain of claims of the present invention.
By reading this instructions, these are simply replaced and change for a person skilled in the art, are conspicuous, are not therefore enumerating one by one.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can change that scope of the present invention is limited by claims and equivalent thereof to these embodiment.
Claims (10)
1. vehicle deviation rectifying control device comprises:
Detected target, described detected target are tiled on the road that vehicle advances;
Be separately positioned on the forward and backward photoelectric sensor of vehicle, described photoelectric sensor is used to detect described detected target;
Controller is used for according to the detected information of described photoelectric sensor the vehicle control of rectifying a deviation.
2. vehicle deviation rectifying control device according to claim 1, wherein, described detected target comprises the black-tape at middle part and is positioned at the leukorrhea of black-tape both sides, described forward and backward photoelectric sensor is made of four photoelectric probe that are arranged in a row respectively, when vehicle was exercised along correct enforcement path, two photoelectric probe in the centre of forward and backward two groups of photoelectric probe laid respectively in the black-tape zone of detected target.
3. vehicle deviation rectifying control device according to claim 2, wherein, described detected target is made by the PVC material.
4. control method that is used for the vehicle deviation rectifying control device of claim 1, described method comprise the control method that retreats when control method and vehicle backing of advancing when vehicle advances, wherein,
The described control method of advancing is: when vehicle advances, detect the state of vehicle body by the photoelectric sensor that is installed in vehicle front, when detecting vehicle body and depart from detected target, controller is carried out oppositely correction control to vehicle, so that make vehicle get back to correct enforcement path;
The described control method that retreats is: when vehicle rollback; detect the state of vehicle body by the photoelectric sensor that is installed in rear vehicle end; when detecting vehicle body and depart from detected target; controller is carried out oppositely correction control to vehicle; simultaneously, detect the state of body structure, if vehicle front departs from detected target when reaching scheduled volume by the photoelectric sensor that is installed in vehicle front; controller is carried out front-wheel protection control, so that make vehicle get back to correct enforcement path.
5. control method according to claim 4, wherein, described detected target comprises the black-tape at middle part and is positioned at the leukorrhea of black-tape both sides, described forward and backward photoelectric sensor is made of four photoelectric probe that are arranged in a row respectively, when vehicle was exercised along correct enforcement path, two photoelectric probe in the centre of forward and backward two groups of photoelectric probe laid respectively in the black-tape zone of detected target.
6. control method according to claim 5, wherein, the described control method of advancing comprises the steps:
FS1: detect described detected target with being arranged on one group of preceding photoelectric sensor of car, and send the information that is detected to controller;
FS2: when two photoelectric probe in centre of photoelectric sensor are positioned at the black-tape zone before detecting car, not executivecontrol function of controller;
FS3: before detecting car in two photoelectric probe in centre of photoelectric sensor one is positioned at the black-tape zone, when another is positioned at outside the black-tape zone, and controller is carried out oppositely fine setting control so that make vehicle get back to correct enforcement path to vehicle;
FS4: when two photoelectric probe in centre of photoelectric sensor all were positioned at outside the black-tape zone before detecting car, controller was carried out oppositely big regulation and control system so that make vehicle get back to correct enforcement path to vehicle.
7. control method according to claim 6, wherein, the described control method that retreats comprises the steps:
BS1: one group of photoelectric sensor that usefulness is arranged on behind the car detects described detected target, and sends the information that is detected to controller;
BS2: when two photoelectric probe in centre of photoelectric sensor are positioned at the black-tape zone after detecting car, not executivecontrol function of controller;
BS3: one in two photoelectric probe in the centre of the photoelectric sensor after detecting car is positioned at the black-tape zone, when another is positioned at outside the black-tape zone, controller is carried out oppositely fine setting control so that two photoelectric probe in centre of photoelectric sensor turn back in the black-tape zone after making car to vehicle, afterwards, detect described detected target with one group of photoelectric sensor before the car again, and send the information that is detected to controller, the information that photoelectric sensor detected of controller before according to car is carried out front-wheel protection control again to vehicle, promptly, when one or two in two photoelectric probe in the centre of the photoelectric sensor before detecting car was positioned at outside the black-tape zone, controller is carried out the control of oppositely rectifying a deviation to front-wheel made vehicle get back to correct enforcement path;
BS4: when two photoelectric probe in the centre of the photoelectric sensor after detecting car all are positioned at outside the black-tape zone; controller is carried out oppositely big regulation and control system so that two photoelectric probe in centre of photoelectric sensor turn back in the black-tape zone after making car to vehicle; afterwards; detect described detected target with one group of photoelectric sensor before the car again; and send the information that is detected to controller; the information that photoelectric sensor detected of controller before according to car is carried out front-wheel protection control again to vehicle; promptly; when one or two in two photoelectric probe in the centre of the photoelectric sensor before detecting car was positioned at outside the black-tape zone, controller is carried out the control of oppositely rectifying a deviation to front-wheel made vehicle get back to correct enforcement path.
8. according to claim 6 or 7 described control methods, wherein, each adjustment angle of described reverse fine setting control is 1-6 degree.
9. according to claim 6 or 7 described control methods, wherein, each adjustment angle of described oppositely big regulation and control system is 7-13 degree.
10. control method according to claim 5, wherein, described detected target is made by the PVC material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710177800A CN101441479B (en) | 2007-11-21 | 2007-11-21 | Control apparatus and control method of vehicle error correcting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710177800A CN101441479B (en) | 2007-11-21 | 2007-11-21 | Control apparatus and control method of vehicle error correcting |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102542824A (en) * | 2012-01-19 | 2012-07-04 | 何志斌 | Automatic vehicle guidance system and method based on colorized ribbons |
| CN103676953A (en) * | 2013-12-19 | 2014-03-26 | 深圳市朗驰欣创科技有限公司 | Automatic recovery method for transformer substation robot magnetic navigation derailment |
| CN104898661A (en) * | 2015-03-31 | 2015-09-09 | 苏州佳世达电通有限公司 | Vehicle deviation correction control method and system |
| CN107608356A (en) * | 2017-09-25 | 2018-01-19 | 芜湖智久机器人有限公司 | A kind of AGV dollies Vehicle Controller control system |
| CN108425311A (en) * | 2018-04-27 | 2018-08-21 | 长沙理工大学 | A kind of road marking pattern air brushing trolley and its running orbit method for correcting error |
| CN109828590A (en) * | 2019-03-15 | 2019-05-31 | 武汉理工大学 | A kind of motion positions device and method based on photoelectric sensor |
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| CN87103730A (en) * | 1987-05-27 | 1988-01-06 | 葛晓峰 | Car radar and road surface filament air navigation aid |
| CN2294880Y (en) * | 1997-07-15 | 1998-10-21 | 保定朋邦电子实业有限公司 | Infrared visual backing and running device of automobile |
| JP3690283B2 (en) * | 2001-01-18 | 2005-08-31 | 日産自動車株式会社 | Lane tracking control device |
| CN1712267A (en) * | 2004-06-21 | 2005-12-28 | 上海中油企业集团有限公司 | Indicating method and indicator for preventing vehicle from departurning road |
| US7388475B2 (en) * | 2006-01-19 | 2008-06-17 | Gm Global Technology Operations, Inc. | Lane departure warning and avoidance system with warning modification criteria |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102542824A (en) * | 2012-01-19 | 2012-07-04 | 何志斌 | Automatic vehicle guidance system and method based on colorized ribbons |
| CN103676953A (en) * | 2013-12-19 | 2014-03-26 | 深圳市朗驰欣创科技有限公司 | Automatic recovery method for transformer substation robot magnetic navigation derailment |
| CN103676953B (en) * | 2013-12-19 | 2017-06-16 | 深圳市朗驰欣创科技有限公司 | Intelligent Mobile Robot magnetic navigation derailing automatic recovery method |
| CN104898661A (en) * | 2015-03-31 | 2015-09-09 | 苏州佳世达电通有限公司 | Vehicle deviation correction control method and system |
| CN107608356A (en) * | 2017-09-25 | 2018-01-19 | 芜湖智久机器人有限公司 | A kind of AGV dollies Vehicle Controller control system |
| CN108425311A (en) * | 2018-04-27 | 2018-08-21 | 长沙理工大学 | A kind of road marking pattern air brushing trolley and its running orbit method for correcting error |
| CN109828590A (en) * | 2019-03-15 | 2019-05-31 | 武汉理工大学 | A kind of motion positions device and method based on photoelectric sensor |
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| CN101441479B (en) | 2012-08-29 |
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