CN108646748A - A kind of place unmanned vehicle trace tracking method and system - Google Patents
A kind of place unmanned vehicle trace tracking method and system Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
A kind of place unmanned vehicle trace tracking method of present invention offer and system, wherein method include the following steps：Waypoint sequence P is obtained by the sensor installed on the unmanned vehicle of placeiSpatial positional information, and to the waypoint sequence PiHigh-order Bezier is carried out to be fitted to obtain path line；Delay time is set, unmanned vehicle current location is extended along directional velocity, it is current time speed and delay time product to extend distance, obtains one and extends line endpoints O (xO, yO), and then find point M (x nearest in waypoint sequence and at the extension line endpoints OM, yM)；Calculate the lateral deviation ex (t) and tangent line angle e (t) of presently described place unmanned vehicle and the M points；Current vehicle corner controlled quentity controlled variable δ (t) is calculated, and applied in the crosswise joint strategy of the place unmanned vehicle.The present invention solves dependence of the place unmanned vehicle to inertial navigation set, improves place unmanned vehicle tracking accuracy and reliability, is suitable for the track following of place unmanned vehicle in varied situations and realizes.
Description
Technical field
The present invention relates to unpiloted technical field, especially a kind of place unmanned vehicle trace tracking method and system.
Background technology
With the development of science and technology and productivity, unmanned technology receives the extensive concern of people.
Track following is to realize unmanned most basic one of technology.In recent years, many colleges and universities and research both at home and abroad
Extensive research has all been carried out, many track following algorithms are had developed.Track following side on unmanned vehicle at present
For method frequently with Single-point preview method, unmanned vehicle side velocity is that the speed data directly according to GPS calculates, and is often led
Cause saltus step serious；Pure tracing model method be by it is a kind of to take aim in advance strokes and dots circular arc in the way of go reach take aim at a little in advance, this method is
Make also to will appear picture dragon phenomenon on straight way.To sum up, at present unmanned vehicle trace tracking method when speed is higher or
When road curvature changes greatly, algorithm parameter is not applicable, and it is serious to frequently result in picture dragon phenomenon.
There are no specific road traffic laws and regulations on road on automatic driving car at present, and place unmanned vehicle is not by road traffic law
Limitation.According to statistics, the country share a scenic spot more than 2700,230 industrial zones, 650 airports and 1.2 ten thousand it is provincial and with
Lower industry park.If can take the lead in realizing a degree of application of unmanned technology under space enrironment, nothing will be greatly promoted
The landing and industrialization of people's driving technology.
Place unmanned vehicle due to product orientation and running environment difference, installation sensor cost often only high speed
1/20 or so or less of unmanned passenger car, commercial car.Precision, the resolution ratio of sensor etc. of low cost are restricted,
It must need special solution.Place unmanned vehicle operates in the unstructured roads such as scenic spot, garden traveling, usually there is tree
Wood is dense to be blocked or the case where building construction object is blocked to sky, vehicle GPS reception condition allows of no optimist.In addition, lacking Ground Vehicle
Diatom and land marking board, road are irregular, it is also possible to situations such as greater curvature turning, ramp, turnout occur.Therefore, place
Track following difficulty bigger of the unmanned vehicle track following than passenger car under structured road or semi-structured road.
The patent of invention of Publication No. CN107272692A discloses a kind of unmanned vehicle of the active disturbance rejection based on differential flat
Path planning and tracking and controlling method, include the following steps：Step 1：Establish Three Degree Of Freedom four-wheel steering automobile single track control mould
Type；Step 2：Drive lacking is transformed to by band by empty model according to differential flat theory according to the Controlling model that step 1 is established
There is the input and output coupling model without zero dy namics subsystem of disturbance；Step 3：Path planning is established on tracing control layer
Layer；Step 4：According to the input and output coupling model that step 2 is established, the active disturbance rejection based on broad sense Proportional integral observer is designed
Controller realizes the track cooked up to step 3 into line trace.This method combines four-wheel steering principle of dynamics and carries out nothing
People's vehicle path planning and tracking, but emulation experiment has only been carried out under MATLAB environment, the validity of method need real vehicle and tests
Card.
The patent of invention of Publication No. CN106926840A discloses a kind of vehicle extremal dynamic model track following control
System processed, the control system include：Sensor assembly, speed file solve module, that is, calculation control module；Speed file solves
The position parameter of module receiving sensor module acquisition, is mapped on desired trajectory and obtains ideal position, and solution obtains the reason
The kinematic parameter joint of sensor assembly acquisition it is expected that longitudinal speed input calculates control mould by the expectation longitudinal direction speed for thinking position
Processing obtains the driving force needed for the required braking steering engine corner of vehicle, driving motor and steering-engine corner in block, to
Control the movement of vehicle.Sensor used in this method includes inertial navigation system, shock-absorbing displacement sensor and turns
Angle transducer is not suitable for the track following to navigate using laser radar SLAM or image SLAM.
Invention content
In order to solve the above technical problems, a kind of place unmanned vehicle trace tracking method of present invention proposition and system, are adopted
Technical solution is the place unmanned vehicle trace tracking method being fitted based on Bezier, and place unmanned vehicle may be implemented
Exact trajectory tracking can solve Dependence Problem of the place unmanned vehicle for inertial navigation set, and be suitable for being based on GPS simultaneously
Positioning, the unmanned vehicle track following based on laser radar SLAM, based on image SLAM, and can improve the unmanned wheel paths in place with
The precision and reliability of track are suitable for rail of the place unmanned vehicle under friction speed, straight way, bend, the U-shaped different situations such as turn around
Mark tracking is realized.
The first object of the present invention is to provide a kind of place unmanned vehicle trace tracking method, includes the following steps：Step 1：
Waypoint sequence P is obtained by the sensor installed on the unmanned vehicle of placeiSpatial positional information, and to the waypoint sequence PiIt carries out
High-order Bezier is fitted to obtain path line；
Step 2：Delay time is set, unmanned vehicle current location is extended along directional velocity, it is current time to extend distance
Speed and delay time product obtain one and extend line endpoints O (xO, yO), and then find in waypoint sequence with the extension line end
Nearest point M (x at point OM, yM)；
Step 3：Calculate the lateral deviation ex (t) and tangent line angle e (t) of presently described place unmanned vehicle and the M points；Step
Rapid 4：Current vehicle corner controlled quentity controlled variable δ (t) is calculated, and applied in the crosswise joint strategy of the place unmanned vehicle.
Preferably, the sensor includes at least one of positioning and directing receiver, in-vehicle camera, laser radar.
In any of the above-described scheme preferably, the step 1 is to the waypoint sequence PiIt is bent to carry out high-order Bezier
Line is fitted to obtain path line, and calculation formula isWherein, B
(t) it is the path after the fitting of high-order Bezier, n is Bezier exponent number (exponent number is taken as waiting for fitting points -1).
In any of the above-described scheme preferably, the calculating for extending the lateral deviation ex (t) at line endpoints O with M points
Formula is
In any of the above-described scheme preferably, the calculation formula of the tangent line angle e (t) is e (t)=θM-θP, wherein
θMIndicate the angle of path locus line M the point tangent line positive direction and horizontal axis positive direction after the fitting of high-order Bezier, θPTable
Show the course angle corresponding to unmanned vehicle real time running direction.
In any of the above-described scheme preferably, the calculation formula of the current vehicle corner controlled quentity controlled variable δ (t) isWherein, Vx (t) is the longitudinal velocity of presently described place unmanned vehicle, and k is to increase
Beneficial parameter.
In any of the above-described scheme preferably, the crosswise joint strategy includes that corner controlled quentity controlled variable δ (t) is multiplied by one
Transmission ratio weakening coefficient can convert wheel steering angle amount to steering wheel angle amount, be directly output to control module, carry out laterally
Control.
The second object of the present invention is to provide a kind of place unmanned vehicle Trajectory Tracking System, comprises the following modules：It is fitted mould
Block：Waypoint sequence P is obtained for the sensor by being installed on the unmanned vehicle of placeiSpatial positional information, and to the waypoint sequence
Arrange PiHigh-order Bezier is carried out to be fitted to obtain path line；
Seek point module：For setting delay time, unmanned vehicle current location is extended along directional velocity, extends distance to work as
Preceding moment speed and delay time product obtain one and extend line endpoints O (xo, yO), and then find and prolong with described in waypoint sequence
Nearest point M (x at long line endpoints OM, yM)；
Computing module：The lateral deviation ex (t) and tangent line that presently described place unmanned vehicle and the M points are calculated based on are pressed from both sides
Angle e (t)；
Application module：For calculating current vehicle corner controlled quentity controlled variable δ (t), and applied to the transverse direction of the place unmanned vehicle
In control strategy.
Preferably, the sensor includes at least one of positioning and directing receiver, in-vehicle camera, laser radar.
In any of the above-described scheme preferably, the acquisition module is used for the waypoint sequence PiCarry out high-order Bezier
Curve matching obtains path line, and calculation formula isWherein, B
(t) it is the path after the fitting of high-order Bezier, n is Bezier exponent number (exponent number is taken as waiting for fitting points -1).
In any of the above-described scheme preferably, the calculating for extending the lateral deviation ex (t) at line endpoints O with M points
Formula is
In any of the above-described scheme preferably, the calculation formula of the tangent line angle e (t) is e (t)=θM-θP, wherein
θMIndicate the angle of path locus line M the point tangent line positive direction and horizontal axis positive direction after the fitting of high-order Bezier, θPTable
Show the course corresponding to unmanned vehicle real time running direction.
In any of the above-described scheme preferably, the calculation formula of the current vehicle corner controlled quentity controlled variable δ (t) isWherein, Vx (t) is the longitudinal velocity of presently described place unmanned vehicle, and k is to increase
Beneficial parameter.
In any of the above-described scheme preferably, the crosswise joint strategy includes that corner controlled quentity controlled variable δ (t) is multiplied by one
Transmission ratio weakening coefficient can convert wheel steering angle amount to steering wheel angle amount, be directly output to control module, carry out laterally
Control.
The present invention proposes a kind of place unmanned vehicle trace tracking method and system, has unified GPS and has followed line, laser radar rail
Mark follows line, image path follows line algorithm, i.e., is positioned simultaneously suitable for three kinds of sensors (GPS device, laser radar, in-vehicle camera)
Track following, substantially reduce the equipment cost of place unmanned vehicle, solve scenic spot, garden GPS signal is blocked and GPS is caused to lead
The boat not available problem of signal；The robustness and adaptability of the track following of place unmanned vehicle are promoted simultaneously, and then promote place
Unmanned vehicle technology is landed, and technology welfare is pushed to be converted into social welfare.
Description of the drawings
Fig. 1 is the flow chart of a preferred embodiment of unmanned vehicle trace tracking method in place according to the invention.
Fig. 2 is the module map of a preferred embodiment of unmanned vehicle Trajectory Tracking System in place according to the invention.
Fig. 3 is that the waypoint information of the embodiment as shown in Figure 1 of unmanned vehicle trace tracking method in place according to the invention shows
It is intended to.
Fig. 4 is that the lateral deviation of the embodiment as shown in Figure 1 of unmanned vehicle trace tracking method in place according to the invention is shown
It is intended to.
Fig. 5 is that the tangent line angle of the embodiment as shown in Figure 1 of unmanned vehicle trace tracking method in place according to the invention shows
It is intended to.
Fig. 6 is the corner controlled quentity controlled variable of the embodiment as shown in Figure 1 of unmanned vehicle trace tracking method in place according to the invention
Schematic diagram.
Fig. 7 is the onboard sensor equipment of a preferred embodiment of unmanned vehicle Trajectory Tracking System in place according to the invention
Position view,
Specific implementation mode
The present invention is further elaborated with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figure 1, 2, step 100 is executed, sensor information is obtained using acquisition module 200.It is described by being mounted on
The sensor on the unmanned vehicle of place obtains the waypoint sequence P of the guiding unmanned vehicle advance route comprising spatial positional informationi,
Waypoint information is as shown in figure 3, be configured with double antenna positioning and directing receiver on the unmanned vehicle of place.Step 110 is executed, is carried out global
Waypoint coordinate is converted, including：Map file parsing is first carried out, then by WGS-84 coordinates (the World Geodetic of GPS
System-1984 Coordinate System) it is converted to UTM coordinates (Universal Transverse Mercator) and retouches
The plane coordinates stated, then by global coordinate transform for using unmanned vehicle particle as the local coordinate of coordinate origin.Step 120 is executed,
Step 120 is executed, carrying out high-order Bezier to obtained waypoint sequence using fitting module 210 is fitted to obtain path line,
Calculation formula isWherein, B (t) is by high-order Bezier
Path after curve matching, n are Bezier exponent number (exponent number is taken as waiting for fitting points -1).Step 130 is executed, using seeking a little
Module 220 finds closest approach：A delay time is set, vehicle location is extended along directional velocity, when extension distance is current
Speed and delay time product are carved, an extension line endpoints are obtained.And then find in waypoint sequence with to extend the places line endpoints O nearest
Point M, coordinate M (xM, yM).Step 140 is executed, presently described place unmanned vehicle and the M points are calculated using computing module 230
Lateral deviation ex (t) and tangent line angle e (t).Unmanned vehicle is treated as a particle by the dynamic characteristic for ignoring unmanned vehicle.
In local Grid Coordinate System centered on the barycenter of unmanned vehicle, lateral deviation ex (t) is exactly to extend lateral direction of car at line endpoints
Deviation,Extend at line endpoints as shown in figure 4, can be calculated simultaneously
Tangent line angle theta e (t), e (t)=θ at unmanned vehicle central axes and M pointsM-θP, wherein θMIndicate quasi- by high-order Bezier
The angle of path locus line M point tangent line positive direction and horizontal axis positive direction after conjunction, θPIndicate that unmanned vehicle real time running direction institute is right
The course angle answered.The tangent line angle schematic diagram extended at line endpoints O at unmanned vehicle central axes and M points is as shown in Figure 5.Execute step
150, corner controlled quentity controlled variable δ (t) is calculated using application module 240, calculation formula is
Wherein, Vx (t) is the longitudinal velocity of presently described place unmanned vehicle, and k is gain parameter, corner controlled quentity controlled variable schematic diagram such as Fig. 6 institutes
Show.Step 160 is executed, obtained corner controlled quentity controlled variable δ (t) is multiplied by a transmission ratio weakening coefficient, it can be by wheel steering angle amount
It is converted into steering wheel angle amount, is directly output to control module, carries out crosswise joint, place unmanned vehicle can carry out accurately
Track following.Step 170 is executed, judges whether to reach home.Step 180 is executed, track following terminates.
Embodiment two
As shown in Figure 1, 2, step 100 is executed, sensor information is obtained using acquisition module 200.Place unmanned vehicle headstock
It is configured with Velodyne16 line laser radars on middle position, is obtained by the sensor on the place unmanned vehicle
Take the waypoint sequence P of the guiding unmanned vehicle advance route comprising spatial positional informationi, waypoint information is as shown in Figure 3.Execute step
110, global waypoint coordinate conversion is carried out, including：The parsing of laser radar SLAM map files is first carried out, then turns world coordinates
It is changed to using unmanned vehicle particle as the local coordinate of coordinate origin.Step 120 is executed, using fitting module 210 to obtained waypoint
Sequence carries out high-order Bezier and is fitted to obtain path line, and calculation formula isWherein, B (t) is after the fitting of high-order Bezier
Path, n is Bezier exponent number (exponent number is taken as waiting for fitting points -1).Step 130 is executed, is sought using point module 220 is sought
Look for closest approach：Set a delay time, by unmanned truck position along directional velocity extend, extend distance be current time speed with
Delay time product obtains an extension line endpoints, and then finds point M nearest in waypoint sequence and at extension line endpoints O, sits
Mark M (xM,yM).Step 140 is executed, the transverse direction that presently described place unmanned vehicle and the M points are calculated using computing module 230 is inclined
Poor ex (t) and tangent line angle theta e (t).Unmanned vehicle is treated as a particle by the dynamic characteristic for ignoring unmanned vehicle.With unmanned vehicle
Barycenter centered on local Grid Coordinate System in, lateral deviation ex (t) is exactly to extend lateral direction of car deviation at line endpoints,Extend unmanned vehicle at line endpoints as shown in figure 4, can be calculated simultaneously
Tangent line angle theta e (t), θ e (t)=θ at central axes and M pointsM-θP, extend cutting at unmanned vehicle central axes and M points at line endpoints
Wire clamp angle schematic diagram, as shown in Figure 5.Step 150 is executed, corner controlled quentity controlled variable δ (t), calculation formula are calculated using application module 240
For Wherein, Vx (t) is the longitudinal velocity of presently described place unmanned vehicle, and k is
Gain parameter, corner controlled quentity controlled variable schematic diagram are as shown in Figure 6.Step 160 is executed, obtained corner controlled quentity controlled variable δ (t) is multiplied by one
Transmission ratio weakening coefficient can convert wheel steering angle amount to steering wheel angle amount, be directly output to control module, carry out laterally
Control, place unmanned vehicle can carry out accurate track following.Step 170 is executed, judges whether to reach home.Execute step
180, track following terminates.
Embodiment three
As shown in Figure 1, 2, step 100 is executed, sensor information is obtained using acquisition module 200.Place unmanned vehicle headstock
It is configured with vehicle-mounted monocular camera on middle position, is obtained comprising sky by the sensor on the place unmanned vehicle
Between location information guiding unmanned vehicle advance route waypoint sequence Pi, waypoint information is as shown in Figure 3.Step 110 is executed, is carried out
Global waypoint coordinate conversion, including：The parsing of image SLAM map files is first carried out, is then with unmanned vehicle by global coordinate transform
Particle is the local coordinate of coordinate origin.Step 120 is executed, high-order is carried out to obtained waypoint sequence using fitting module 210
Bezier is fitted to obtain path line, and calculation formula is
Wherein, B (t) is the path after the fitting of high-order Bezier, and n is that (exponent number is taken as waiting for match point Bezier exponent number
Number -1).Step 130 is executed, closest approach is found using point module 220 is sought：A delay time is set, by unmanned truck position along speed
It spends direction to extend, it is current time speed and delay time product to extend distance, obtains an extension line endpoints, and then find road
Nearest point M, coordinate M (x on point sequence and at extension line endpoints OM,yM).Step 140 is executed, is calculated using computing module 230
The lateral deviation ex (t) and tangent line angle theta e (t) of presently described place unmanned vehicle and the M points.Ignore the dynamics of unmanned vehicle
Unmanned vehicle is treated as a particle by feature.In local Grid Coordinate System centered on by the barycenter of unmanned vehicle, lateral deviation ex
(t) it is exactly to extend lateral direction of car deviation at line endpoints,Such as Fig. 4 institutes
Show, while can be calculated the tangent line angle theta e (t), θ e (t)=θ extended at line endpoints at unmanned vehicle central axes and M pointsM-θP, prolong
Tangent line angle schematic diagram at long line endpoints at unmanned vehicle central axes and M points, as shown in Figure 5.Step 150 is executed, application is used
Module 240 calculates corner controlled quentity controlled variable δ (t), and calculation formula isWherein, Vx (t)
For the longitudinal velocity of presently described place unmanned vehicle, k is gain parameter, and corner controlled quentity controlled variable schematic diagram is as shown in Figure 6.Execute step
160, obtained corner controlled quentity controlled variable δ (t) is multiplied by a transmission ratio weakening coefficient, wheel steering angle amount can be converted to steering wheel
Corner amount is directly output to control module, carries out crosswise joint, and place unmanned vehicle can carry out accurate track following.It holds
Row step 170 judges whether to reach home.Step 180 is executed, track following terminates.
Example IV
1, this method uses high-order Bezier and carries out the curve matching of unmanned vehicle tracing point, and then calculates nobody
Then the angle of tangent line at vehicle central axes and track closest approach calculates unmanned vehicle corner controlled quentity controlled variable, to carry out unmanned vehicle steering
Bias Correction.This method is suitable for simultaneously based on GPS positioning, based on laser radar SLAM, the unmanned vehicle based on image SLAM
Track following, it can also be used to intelligent decision is carried out on the basis of sensor data fusion.This method can solve place unmanned vehicle
Being blocked in scenic spot, garden GPS signal leads to the not available problem of GPS navigation signal：When GPS navigation signal is unavailable, can cut
It is changed to the unmanned vehicle track following based on laser radar SLAM or based on image SLAM.
2, using this method, unmanned vehicle is without being equipped with expensive inertial navigation set, so that it may high-precision to carry out
Track following, unmanned vehicle navigation equipment need to only be equipped with location receiver, the equipment cost of place unmanned vehicle be greatly reduced, to field
The track following of ground unmanned vehicle provides a kind of feasible low cost solution.
3, this method is suitable for place unmanned vehicle and is realized under friction speed, straight way, bend, the U-shaped different situations such as turn around
There is preferable performance of dynamic tracking and higher lateral deviation to correct performance, avoid speed for stable, accurate track following
Picture dragon phenomenon when higher or when road curvature changes.
Embodiment five
It is described in detail in conjunction with example.
1, place unmanned vehicle platform
This example using the independent research of institute of robot of Beijing Union University the unmanned cruiser of " whirly " series,
As shown in fig. 7, unmanned vehicle concrete configuration is as follows：
2.78 meters of car body length, 1.2 meters wide, 1.8 meters high, two people of rated crew member, course continuation mileage 100km, max. climb slope
30%, maximum travelling speed 24km/h support artificial/unmanned function switch.Vehicle is equipped with connection and fits R60S double antenna positioning
Direction-finding receiver 700, first rubber science and technology vehicle-mounted monocular camera 710, Velodyne16 line lasers radar 720 and surround vehicle body 12
The sensing equipments such as ultrasonic radar, and configure tetra- core High performance industrial control computers of i7.
This example runs the realization of unmanned vehicle track following algorithm on the ROS operating platforms under linux system.
2, track following algorithm is realized
The guide car for including spatial positional information is obtained by the positioning and directing receiver installed on the unmanned vehicle of place first
The waypoint sequence Pi of advance route.
High-order Bezier is carried out to obtained waypoint sequence to be fitted to obtain path line.High-order Bezier section is
Wherein Pi, (i ∈ n) are the waypoint sequence in priori map.
According to the path line that high-order Bezier is fitted, finds at the extension line endpoints of unmanned vehicle current location and be fitted
Closest approach M (the x of path lineM,yM).The lateral deviation ex (t) of current unmanned vehicle and M points is calculated,As shown in Figure 4；It calculates at current unmanned vehicle central axes and M points simultaneously
Tangent line angle theta e (t), θ e (t)=θM-θP, as shown in Figure 5.
And then calculate current vehicle corner controlled quentity controlled variable δ (t).
Wherein：
θ e (t) are the tangent line angle extended at line endpoints at unmanned vehicle central axes and M points；
Ex (t) is the deviation for extending unmanned vehicle and closest approach M at line endpoints；
Vx (t) is the longitudinal velocity of current unmanned vehicle；
K is gain parameter.
Obtained δ (t) is applied in the crosswise joint strategy of place unmanned vehicle：It is weak that δ (t) is multiplied by a transmission ratio
Change coefficient, wheel steering angle amount can be converted to steering wheel angle amount, be directly output to control module, carries out crosswise joint, field
Ground unmanned vehicle can carry out accurate track following.
For a better understanding of the present invention, it is described in detail above in association with specific embodiments of the present invention, but is not
Limitation of the present invention.Every any simple modification made to the above embodiment according to the technical essence of the invention, still belongs to
In the range of technical solution of the present invention.In this specification the highlights of each of the examples are it is different from other embodiments it
Locate, same or analogous part cross-reference between each embodiment.For system embodiments, due to itself and method
Embodiment corresponds to substantially, so description is fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
Claims (10)
1. a kind of place unmanned vehicle trace tracking method, includes the following steps：
Step 1：Waypoint sequence P is obtained by the sensor installed on the unmanned vehicle of placeiSpatial positional information, and to the waypoint
Sequence PiHigh-order Bezier is carried out to be fitted to obtain path line；
Step 2：Delay time is set, unmanned vehicle current location is extended along directional velocity, it is current time speed to extend distance
With delay time product, obtains one and extend line endpoints O (xO, yO), and then find in waypoint sequence with the extension line endpoints O
Locate nearest point M (xM, yM)；
Step 3：Calculate the lateral deviation ex (t) and tangent line angle e (t) of presently described place unmanned vehicle and the M points；
Step 4：Current vehicle corner controlled quentity controlled variable δ (t) is calculated, and applied in the crosswise joint strategy of the place unmanned vehicle.
2. unmanned vehicle trace tracking method in place as described in claim 1, it is characterised in that：The sensor includes that positioning is fixed
To at least one of receiver, in-vehicle camera, laser radar.
3. unmanned vehicle trace tracking method in place as claimed in claim 2, it is characterised in that：The step 1 is to the road
Point sequence PiIt carries out high-order Bezier to be fitted to obtain path line, calculation formula isWherein, B (t) is after the fitting of high-order Bezier
Path, n is Bezier exponent number (exponent number is taken as waiting for fitting points -1).
4. unmanned vehicle trace tracking method in place as claimed in claim 3, it is characterised in that：At the extension line endpoints O and M
The calculation formula of lateral deviation ex (t) of point is
5. unmanned vehicle trace tracking method in place as claimed in claim 4, it is characterised in that：The meter of the tangent line angle e (t)
Calculation formula is e (t)=θM-θP, wherein θMIndicate that the path locus line M points tangent line after the fitting of high-order Bezier is square
To the angle with horizontal axis positive direction, θPIndicate the course angle corresponding to unmanned vehicle real time running direction.
6. unmanned vehicle trace tracking method in place as claimed in claim 5, it is characterised in that：The current vehicle corner control
Amount δ (t) calculation formula beWherein, Vx (t) be presently described place nobody
The longitudinal velocity of vehicle, k are gain parameter.
7. unmanned vehicle trace tracking method in place as claimed in claim 6, it is characterised in that：The crosswise joint strategy includes
Corner controlled quentity controlled variable δ (t) is multiplied by a transmission ratio weakening coefficient, wheel steering angle amount can be converted to steering wheel angle amount, directly
Output is connect to control module, carries out crosswise joint.
8. a kind of place unmanned vehicle Trajectory Tracking System, comprises the following modules：
Fitting module：Waypoint sequence P is obtained for the sensor by being installed on the unmanned vehicle of placeiSpatial positional information, and to institute
State waypoint sequence PiHigh-order Bezier is carried out to be fitted to obtain path line；
Seek point module：For setting delay time, unmanned vehicle current location is extended along directional velocity, when extension distance is current
Speed and delay time product are carved, one is obtained and extends line endpoints O (xO, yO), and then find in waypoint sequence with the extended line
Nearest point M (x at endpoint OM, yM)；
Computing module：The lateral deviation ex (t) and tangent line angle e of presently described place unmanned vehicle and the M points are calculated based on
(t)；
Application module：For calculating current vehicle corner controlled quentity controlled variable δ (t), and applied to the crosswise joint of the place unmanned vehicle
In strategy.
9. unmanned vehicle Trajectory Tracking System in place as claimed in claim 8, it is characterised in that：The sensor includes that positioning is fixed
To at least one of receiver, in-vehicle camera, laser radar.
10. unmanned vehicle Trajectory Tracking System in place as claimed in claim 9, it is characterised in that：The acquisition module is used for institute
State waypoint sequence PiIt carries out high-order Bezier to be fitted to obtain path line, calculation formula isWherein, B (t) is after the fitting of high-order Bezier
Path, n is Bezier exponent number (exponent number is taken as waiting for fitting points -1).
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