CN109656240A - A kind of vehicle route follow-up control apparatus, method and vehicle - Google Patents
A kind of vehicle route follow-up control apparatus, method and vehicle Download PDFInfo
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- CN109656240A CN109656240A CN201710932477.7A CN201710932477A CN109656240A CN 109656240 A CN109656240 A CN 109656240A CN 201710932477 A CN201710932477 A CN 201710932477A CN 109656240 A CN109656240 A CN 109656240A
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The present invention provides a kind of vehicle route follow-up control apparatus, method and vehicles, wherein vehicle route follow-up control apparatus includes: navigation control module and drive module；Information of the navigation control module for the destination path of the current running condition information and generation of the controlled vehicle based on acquisition, determine that controlled vehicle deviates the position deviation of the destination path, control instruction is generated based on position deviation, and control instruction is sent to drive module；Drive module receives control instruction, controlled Vehicular turn, correction position deviation is driven based on the control instruction, so that controlled vehicle is travelled along the destination path；Vehicle route follow-up control apparatus provided by the present invention can be automatically corrected after offset target path in vehicle travel process, and then realizing travels vehicle along destination path.
Description
Technical field
The present invention relates to farm machinery control technology field, in particular to a kind of vehicle route follow-up control apparatus,
Method and vehicle.
Background technique
Currently, will " multifunctional agriculture dress in " National Program for Medium-to Long-term Scientific and Technological Development (2006-2020) "
Standby and equipment " and " agricultural precisely operation and informationization " are classified as the major fields first developed；Wherein, farm machinery is accurate
During operation and information-based realization, farm machinery automatic navigation technology is an important composition portion of agricultural modernization production
Point, it is the important support technology of intelligent agriculturalmachine.
It realizes that the self-navigation of farm machinery is then also of great significance to unmanned agricultural machinery, therefore proposes how to control
Agricultural machinery automatic running to target position is to realize agricultural machinery precision and information-based urgent problem to be solved.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of vehicle route follow-up control apparatus, method and vehicle
, to solve the above problems.
In a first aspect, the embodiment of the invention provides a kind of vehicle route follow-up control apparatus, comprising: navigation control module
And drive module；
The navigation control module is used for the current running condition information of the controlled vehicle based on acquisition, and the mesh generated
The information for marking path, determines that the controlled vehicle deviates the position deviation of the destination path, is generated based on the position deviation
Control instruction, and the control instruction is sent to drive module；
The drive module receives the control instruction, drives the controlled Vehicular turn based on the control instruction, repairs
The just described position deviation, so that the controlled vehicle is travelled along the destination path.
The embodiment of the invention provides the first possible embodiments of first aspect with reference to first aspect, in which:
The navigation control module further include: agricultural information acquisition interface, the navigation control module are believed by the agricultural machinery
Breath acquisition interface obtains the current running condition information of the controlled vehicle；
The agricultural information acquisition interface connection position sensor, attitude transducer and angular transducer.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, in which:
The navigation control module, further includes: information interactive interface, the information interactive interface are connected with touch-control and show mould
Block；
The touch control display module is used to receive the information in the target travel path of the controlled vehicle of user's input；
The destination path planning unit, it is defeated for the current running condition information and user based on the controlled vehicle
The target travel routing information entered generates destination path.
With reference to first aspect, the possible embodiment of the first of first aspect or second of first aspect possible reality
When mode, the embodiment of the invention provides the third possible embodiments of first aspect, in which:
The destination path is equipped with multiple preset location points；
The navigation control module, further includes: computing unit, the computing unit for being determined in the following manner
The controlled vehicle deviates the position deviation of the destination path:
According to location information and the direction of the current location information and course and the location point of the controlled vehicle
Calculate the position deviation of the controlled vehicle.
The third possible embodiment with reference to first aspect, the 4th kind the embodiment of the invention provides first aspect can
The embodiment of energy, in which:
The computing unit is also used to generate control instruction in the following manner:
Restore the controlled vehicle to destination path deflecting roller needs when driving based on position deviation calculating
The target angle being finally reached；
According to the current angular of the target angle and the deflecting roller of the controlled vehicle, the deflecting roller is calculated from current
Angle turns to control amount required for the target angle；
Control instruction is generated based on the control amount.
With reference to first aspect in the 4th kind of possible embodiment, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, in which:
The computing unit turns to the target angle from current angular for calculating the deflecting roller in the following manner
Required control amount:
By the way of closed-loop control, the control amount at the k moment is calculated according to following formula (1), formula (2),
Wherein, u is output quantity, and y is input quantity, and ρ is control step parameter, and λ is weight coefficient, and y ' (k) is the micro- of y (k)
Point, φ (k) is pseudo- partial derivative；Wherein, η is step series, and μ is weight factor, Δ u (k- τ -1)=u (k- τ -1)-u (k- τ -
2), while in order to make parameter estimation algorithm that there is the stronger ability for tracking time-varying parameter, as φ (k)≤ε or Δ u (k- τ-
1)≤ε when, φ (k)≤φ (1), wherein 0 ε≤1 <.
5th kind of possible embodiment with reference to first aspect, the 6th kind the embodiment of the invention provides first aspect can
The embodiment of energy, in which:
Described device, further includes: wireless communication module, the wireless communication module are used for the needs of navigation control module
It is sent to the information that exterior terminal equipment is shown and is sent to background server.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, in which:
The position sensor is used to acquire course and the velocity information of the controlled vehicle；
The attitude transducer is used to acquire course and the velocity information of the controlled vehicle；
The course for the controlled vehicle that navigation control module is also used to acquire based on the position sensor and speed letter
Breath verify to the attitude transducer.
Second aspect, the embodiment of the invention provides a kind of vehicle route tracking and controlling methods, which comprises
The information of the destination path of the current running condition information and generation of controlled vehicle based on acquisition, determine described in
Controlled vehicle deviates the position deviation of the destination path；
Control instruction is generated based on the position deviation；
The controlled Vehicular turn is driven based on the control instruction, corrects the position deviation, control makes described controlled
Vehicle is travelled along the destination path.
The third aspect, the embodiment of the invention provides a kind of vehicle, the vehicle includes any possibility of above-mentioned first aspect
Implementation described in vehicle route tracking device.
A kind of vehicle route follow-up control apparatus, method provided by the embodiment of the present invention and vehicle, wherein vehicle route
Tracking device includes navigation control module and drive module, the current traveling of controlled vehicle of the navigation control module based on acquisition
Status information, and the information of destination path generated, determine that controlled vehicle deviates the position deviation of destination path, are based on the position
Deviation generates control instruction, and control instruction is sent to drive module；Drive module receives the control instruction, is referred to based on control
It enables and drives controlled Vehicular turn, correction position deviation, control travels controlled vehicle along the destination path.It is provided by the present invention
Vehicle route follow-up control apparatus can be automatically corrected after offset target path in vehicle travel process, Jin Ershi
Travel vehicle along destination path automatically.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings
Fig. 1 shows a kind of structural schematic diagram of vehicle route follow-up control apparatus provided by the embodiment of the present invention one；
Fig. 2 shows a kind of signals of the overall structure of vehicle route follow-up control apparatus provided by the embodiment of the present invention one
Figure；
Fig. 3 shows a kind of path following control of vehicle route follow-up control apparatus provided by the embodiment of the present invention one
Schematic illustration；
Fig. 4 shows a kind of MFA control schematic illustration provided by the embodiment of the present invention one；
Fig. 5 shows a kind of vehicle route tracking and controlling method flow diagram provided by the embodiment of the present invention two.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
Currently, how to control agricultural machinery automatic running to target position is to realize that agricultural machinery precision and informationization are urgently to be resolved
Problem；In view of this, the embodiment of the invention provides a kind of vehicle route follow-up control apparatus.
This programme is discussed in detail below by specific embodiment.
Embodiment one
Shown in referring to Fig.1, a kind of vehicle route follow-up control apparatus, the device are provided in one embodiment of the present of invention
It include: navigation control module 101 and drive module 102；
Above-mentioned navigation control module 101 is used for the current running condition information of the controlled vehicle based on acquisition, and generates
Destination path information, determine that the controlled vehicle deviates the position deviation of destination path, generated based on obtained position deviation
Control instruction, and the control instruction is sent to drive module 102；
Above-mentioned drive module 102 drives the controlled vehicle to turn for receiving above-mentioned control instruction, based on the control instruction
To correcting the position deviation, control travels the controlled vehicle along destination path.
In the present embodiment, above-mentioned device is installed on vehicle two, the vehicle be motor vehicles or electric vehicle, preferably
Ground, the vehicle are farm machinery, which is installed on farm machinery, carries out for controlling the farm machinery according to destination path
Traveling, and then above-mentioned navigation control module 101 includes: agricultural information acquisition interface 204, the agricultural information acquisition interface 204
Connect position sensor 207, attitude transducer 208 and angular transducer 209；The position sensor 207, attitude transducer
208 and angular transducer 209 for acquiring the current running condition information of agricultural machinery, and then navigation control module 101 passes through the agriculture
Machine information acquisition interface 204 obtains the current running condition information of the controlled vehicle；The running condition information includes vehicle
Location information and vehicle posture information, the posture information of the further vehicle includes course, speed, roll, pitching etc.
Information.
Above-mentioned information collecting interface can acquire analog signal, serial data and CAN data, for acquiring above-mentioned position
The data information that sensor, attitude transducer and angular transducer obtain.
In the present embodiment, above-mentioned position sensor 207 is used to obtain location information, course information and the speed letter of vehicle
Breath；It includes: GPS (Global Positioning System, global positioning system) navigation that the position sensor 207, which can be,
Component, BDS (BeiDou Navigation Satellite System, Chinese Beidou satellite navigation system) navigation component,
GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM, Global Satellite Navigation System) navigation component and Galileo
It is any one or more in satellite navigation component；When the vehicle tracking route control device is mounted on farm machinery,
The position sensor can be mounted to the car body top of farm machinery, which is sent to agricultural machinery for the information of acquisition
Information collecting interface 204.
In the present embodiment, above-mentioned attitude transducer 208 is used to obtain roll, pitching, course information and the speed of vehicle
Information, on the central axis for the car body which is installed on vehicle, the information which will acquire is sent to
Information collecting interface；The attitude transducer can be to be surveyed by the inertia that the sensors such as three-dimensional accelerometer, three-dimensional gyroscope form
Measure component.
In the present embodiment, above-mentioned angular transducer 209 is for obtaining the angle information that the deflecting roller of vehicle is turned over；It should
Angular transducer 209 can measure the angle that pivoted wheels on vehicle turns over, and illustratively, which is mounted on farm machinery
When, which can be mounted in car body deflecting roller connecting portion, to measure the steering angle of deflecting roller, and will obtain
Information issue the agricultural information acquisition interface 204.
In a possible embodiment, the position sensor in the present embodiment can acquire the course information and speed of vehicle
Information is spent, attitude transducer can also acquire the course information and velocity information of vehicle, and above-mentioned navigation control module is also used to
By position sensor acquisition course information, velocity information and attitude transducer acquisition course information, velocity information respectively into
Row compares, the course information that collects when course information, velocity information and the attitude transducer that position sensor collects,
When location information is consistent, illustrate that attitude transducer works in normal condition；When there is inconsistency, illustrate that attitude transducer work occurs
Error, navigation control module can carry out the verifying work of attitude transducer automatically at this time；And then improve the acquisition of attitude transducer
The accuracy of data.
In the present embodiment, above-mentioned navigation control module 101, further includes: information interactive interface 203 and destination path planning are single
Member 202, which is connected with touch control display module 205.
Above-mentioned touch control display module 205 is used to receive the information in the target travel path of the controlled vehicle of user's input；Show
Example property, which can be a kind of display or display screen with human-computer interaction function, tangible control,
The display or display screen are connect by information interactive interface with navigation control module, for showing that navigation control module is sent
Information, while for navigation control module issuing control parameter and control command, which can be controlled vehicle
Target travel path information, such as can be the information for the target position finally to be reached, controlled vehicle driving range,
The information such as straight travel state, turning driving state or rectangular-ambulatory-plane driving status；The touch control display module is in response to user's
Touch operation generates corresponding control command, and the control command is sent to navigation control module 101, navigation control module
101 in response to the control command, the control command can be control navigation control module started to work, the finger of power cut-off
Enable etc..
In a possible embodiment, above-mentioned vehicle route follow-up control apparatus further includes wireless communication unit, should
Wireless communication unit is used to establish wireless communication connection with background server, which is the management platform of vehicle, into
And the needs of navigation control module can be sent to outside through wireless communication by the vehicle route follow-up control apparatus
The information that terminal device is shown is sent to background server, and the exterior terminal equipment and background server are established and communicated to connect
After, data acquisition request is sent to background server, and then the needs are further sent to outside by background server
The information that terminal device is shown is sent to terminal device；The side of vehicle route follow-up control apparatus also by wireless communication
Formula receives the control parameter and control command of background server transmission；And then it may be implemented remotely to monitor the long-range tune with vehicle
Degree.The exterior terminal equipment can be the mobile devices such as mobile phone, tablet computer, and it includes: GPRS which, which can be,
(General Packet Radio Service, general packet radio service technology) communication component, GSM (Global System
For Mobile Communications, global system for mobile communications) communication component, 3G communication component, in 4G communication component
Any one or more.
Above-mentioned destination path planning unit 202, for based on the quilt received by agricultural information acquisition interface 204
Control the running condition information of vehicle and the information in the target travel path inputted by the user that information interactive interface 203 receives
Generate destination path.
It should be noted that the destination path can be before vehicle driving pre-generate, be also possible in vehicle
Driving process in real time or at interval of certain time revised planning generate.
In the present embodiment, multiple source locations are provided on above-mentioned destination path；
Above-mentioned navigation control module, further includes: computing unit 201, the computing unit 201 in the following manner into
Row determines that controlled vehicle deviates the position deviation of destination path:
According to the location information and direction calculating of the current location information and course and source location of controlled vehicle
The position deviation of controlled vehicle.
In the present embodiment, it can be and the location information of the current location information of vehicle and source location is subjected to coordinate system
Conversion, is in the current location of vehicle and source location in the same coordinate system, and determines the coordinate of current vehicle position
And orientation, and determine the coordinate and orientation of source location, between the relationship and orientation between the coordinate based on the two
Relationship calculate the position deviation of controlled vehicle, which includes direction and the distance of deviation.
Above-mentioned computing unit 201 is also used to generate control instruction in the following manner:
Restoring controlled vehicle based on above-mentioned position deviation calculating, deflecting roller needs finally reach when driving to destination path
The target angle arrived；
According to the deflecting roller of target angle and controlled vehicle when the angle of front steering, the deflecting roller is calculated from working as front steering
Angle turn to target angle required for control amount；
Control instruction is generated based on the control amount.
Above-mentioned control amount is one and is executed by drive module, is able to achieve the control parameter of vehicle route tracking.
The control instruction of generation is sent to drive module by computing unit, which includes above-mentioned control amount, should
Drive module is used to drive the steered wheel rotation of vehicle, which can be driving motor or electric hydraulic drive mechanism,
Steering engine can be used when for driving motor, and wheel rotation is pulled round by steering engine；When for electric hydraulic drive mechanism, this is electro-hydraulic
Pressing includes solenoid valve and hydraulic mechanism in driving mechanism, and solenoid valve receives the control instruction, which is control electric signal,
The solenoid valve controls hydraulic mechanism driving farm machinery steered wheel rotation after receiving control electric signal, and then turns to deflecting roller
Reach target angle.
Referring to shown in Fig. 3, vehicle route follow-up control apparatus provided in the present embodiment, using the control of close loop negative feedback
Method processed, in real time or at interval of preset time such as 500ms detection current vehicle position running condition information, and by the vehicle
The running condition information of current location is compared with the information of destination path, when there are position deviation, based on determining position
Deviation, which is calculated, restores controlled vehicle to the destination path target angle that deflecting roller needs are finally reached when driving, Jin Erji
Calculation unit calculates control vehicle according to the current angular of the target angle and deflecting roller and turns to target angle institute from current angular
The control amount needed, drive module according to the control amount control deflecting roller steering reaches target angle, vehicle driving to newly
Continue to have detected whether position deviation behind position；The process repeats, and constantly corrects, and then carries out vehicle along destination path
Traveling.Computing unit generates the control amount using model-free adaptive controller in the present embodiment, specifically, the model-free
Adaptive controller carries out calculating control amount according to following principle:
This method calculates the control at the k moment according to following formula (1), formula (2) by the way of close loop negative feedback control
Amount processed,
Wherein, u is output quantity, and y is input quantity, and ρ is control step parameter, and λ is weight coefficient, and y ' (k) is the micro- of y (k)
Point, φ (k) is pseudo- partial derivative；Input quantity in the present embodiment includes: the steering angle and target angle when steering front wheel, or
It can be current location information and target position information；
φ (k) can be using symmetrically similar parameter estimation algorithm obtains with control algolithm:
Wherein, η is step series, and μ is weight factor, Δ u (k- τ -1)=u (k- τ -1)-u (k- τ -2), while in order to make
Parameter estimation algorithm has the ability of stronger tracking time-varying parameter, as φ (k)≤ε or Δ u (k- τ -1)≤ε, φ (k)
≤ φ (1), wherein 0 ε≤1 <, preferably ε=1；Specifically, the control principle of the MFA control system such as Fig. 4
It is shown, wherein Gp(s)e-τsIt is the transmission function of non-linear large-lag object, Gp(s) be controlled device transmission function, τ right and wrong
The lag time of linear large-lag object, ω are the external disturbance of system, and a differentiation element is added to predict not in feedback fraction
Carry out the output at moment；In the case where due to system parameter and structure slow time-varying, e is replaced using τ s+1-τs, then the advanced ring that is added
Section can be approximated to be a Smith predictor.
In MFA control method employed in the present embodiment, only one on-line tuning parameter, i.e. system
Pseudo- partial derivative, thus calculation amount is smaller, control system response quickly, it is easy to accomplish.
Model-free adaptive controller in the present embodiment outputs and inputs information merely with controlled system, does not need
The complex processes such as mathematical modeling and the adjusting of the artificial parameter of complexity i.e. controllable time-varying, lag, multivariable；The embodiment of the present invention
The middle automatic control that vehicle route tracking is realized using the MFA control method, can preferably accelerate the sound of system
Speed, the adaptivity for improving system and robustness, the control parameter for reducing system are answered, it is easy to adjust, it is easy to accomplish.
Since the operating environment of farm machinery is complicated, farm machinery navigation operation process can be considered one it is non-linear, not really
Qualitative, time variation system, the kinetic model for establishing the system is an extremely difficult problem, so as to cause control system
Response speed is slower；Therefore, vehicle route follow-up control apparatus provided by the embodiment of the present invention is particularly suitable for farm machinery
On, there is better response speed, anti-interference ability and robustness, control parameter is few, and computation burden is small, while the control method
Design only needs the inputoutput data of system, does not need the mathematical model of controll plant, without any training process is wanted, solves
The certainly problem of founding mathematical models difficulty realizes the accurate control of automated navigation system path trace.
Embodiment two
A kind of method that vehicle route automatically tracks control is provided in the embodiment of the present invention, this method includes following step
It is rapid:
S501, controlled vehicle based on acquisition current running condition information and generation destination path information, really
The fixed controlled vehicle deviates the position deviation of the destination path；
Before above-mentioned steps S501, this method further includes being inputted by the location information and user of the controlled vehicle of acquisition
The information in the target travel path of controlled vehicle generates destination path；The running condition information of the controlled vehicle includes the position of vehicle
The posture information of confidence breath and vehicle, which includes the information such as course, speed, roll, pitching；
Multiple source locations are provided on the destination path；According to the current location information and boat of the controlled vehicle
To and the location information and direction calculating of source location described in be controlled vehicle position deviation；Illustratively, can be by
The current location information of vehicle and the location information of source location carry out coordinate system conversion, make current location and the target of vehicle
Location point is in the same coordinate system, and determines the coordinate and orientation of current vehicle position, and determines source location
Coordinate and orientation, the relationship between relationship and the two orientation between the coordinate based on the two calculate the position of controlled vehicle
Deviation, the position deviation include direction and the distance of deviation.
The information of the driving status of vehicle is obtained above by position sensor, attitude transducer and angular transducer, and
And the above method further includes by the heading device of course information, velocity information and the attitude transducer acquisition of position sensor acquisition
Breath, velocity information are compared respectively, when course information, velocity information and the attitude transducer that position sensor collects are adopted
Collect obtained course information, location information it is consistent when, illustrate that attitude transducer works in normal condition；When there is inconsistency, explanation
There is error in attitude transducer work, can carry out the verifying work of attitude transducer automatically at this time；And then improve attitude transducer
Acquisition data accuracy.
S502, control instruction is generated based on the position deviation；
Restoring controlled vehicle based on above-mentioned position deviation calculating, deflecting roller needs finally reach when driving to destination path
The target angle arrived；
According to the current steering angle of target angle and the deflecting roller of the vehicle, deflecting roller is calculated from current steering angle
Turn to control amount required for target angle；
Control instruction is generated based on the control amount；Further, it calculates and controls above by MFA control method
Amount processed, this method are calculated described in the k moment by the way of close loop negative feedback control according to following formula (1), formula (2)
Control amount,
Wherein, u is output quantity, and y is input quantity, and ρ is control step parameter, and λ is weight coefficient, and y ' (k) is the micro- of y (k)
Point, φ (k) is pseudo- partial derivative；Input quantity in the present embodiment includes: the steering angle and target angle when steering front wheel, or
It is current location information and target position information；
φ (k) can be using symmetrically similar parameter estimation algorithm obtains with control algolithm:
Wherein, η is step series, and μ is weight factor, Δ u (k- τ -1)=u (k- τ -1)-u (k- τ -2), while in order to make
Parameter estimation algorithm has the ability of stronger tracking time-varying parameter, as φ (k)≤ε or Δ u (k- τ -1)≤ε, φ (k)
≤ φ (1), ε are the smaller constant value of setting, wherein 0 ε≤1 <, preferably ε=1；It is set in output channel in this control loop
There is the transmission function of non-linear large-lag objectGp(s) be controlled device transmission function, τ is non-linear large time delay
The lag time of object, ω are the external disturbance of system, and a differentiation element is added to predict the defeated of future time instance in feedback fraction
Out；In the case where due to system parameter and structure slow time-varying, e is replaced using τ s+1-τsThe differentiation element being then added can be approximated to be
One Smith predictor.
In the MFA control method, only one on-line tuning parameter, the i.e. pseudo- partial derivative of system, thus count
Calculation amount is smaller, and control system is quick, it is easy to accomplish.
S503, the controlled Vehicular turn is driven based on the control instruction, the position deviation is corrected, so that the quilt
Control vehicle is travelled along the destination path.
It include control amount in the control instruction, which is that control amount is one by drive module execution, can be real
The control parameter of existing vehicle route tracking.Drive module controls steered wheel rotation after receiving given control amount.
In a possible embodiment, the above method is also wrapped: will need to be sent to what exterior terminal equipment was shown
Information is sent to background server, which is the management platform of vehicle, and then makes the exterior terminal equipment and backstage
Server is established after communication connection, sends data acquisition request to background server, and then background server is further by institute
The information that exterior terminal equipment is shown that needs to be sent to stated is sent to terminal device；And receive background server hair
The control parameter and control command sent；And then it may be implemented remotely to monitor the remote scheduling with vehicle.
Method provided by the present embodiment controls deflecting roller steering according to the control amount in drive module and reaches target angle
Degree, continues to execute step 501 after vehicle driving to new position, whether continue to test has position deviation again；The process repeats
It carries out, constantly corrects, and then travel vehicle along destination path.
Embodiment three
A kind of vehicle is provided in the present embodiment, which includes: any one possible embodiment of above-described embodiment
Described in vehicle route follow-up control apparatus.
Vehicle provided in the present embodiment may be implemented to carry out certainly after offset target path in vehicle travel process
Dynamic amendment, and then realizing travels vehicle along destination path automatically.
Preferably, above-mentioned vehicle is farm machinery, and above-mentioned vehicle route tracing control dress is equipped on the farm machinery
It sets, can be realized the tracing control to farm machinery self-navigation path, especially suitable in complicated operating environment
Farm machinery.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.Should all it cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of vehicle route follow-up control apparatus, comprising: navigation control module and drive module；
The navigation control module is used for the current running condition information of the controlled vehicle based on acquisition, and the target road generated
The information of diameter determines that the controlled vehicle deviates the position deviation of the destination path, generates control based on the position deviation
Instruction, and the control instruction is sent to drive module；
The drive module receives the control instruction, drives the controlled Vehicular turn based on the control instruction, corrects institute
Position deviation is stated, so that the controlled vehicle is travelled along the destination path.
2. vehicle route follow-up control apparatus according to claim 1, which is characterized in that the navigation control module packet
Include: agricultural information acquisition interface, the navigation control module obtain the controlled vehicle by the agricultural information acquisition interface
Current running condition information；
The agricultural information acquisition interface connection position sensor, attitude transducer and angular transducer.
3. vehicle route follow-up control apparatus according to claim 1, which is characterized in that the navigation control module, also
It include: information interactive interface and destination path planning unit, the information interactive interface is connected with touch control display module；
The touch control display module is used to receive the information in the target travel path of the controlled vehicle of user's input；
The destination path planning unit, for based on the controlled vehicle current running condition information and user input
Target travel routing information generates destination path.
4. vehicle route follow-up control apparatus according to claim 1 to 3, which is characterized in that on the destination path
It is provided with multiple source locations；
The navigation control module, further includes: computing unit, the computing unit are described for being determined in the following manner
Controlled vehicle deviates the position deviation of the destination path:
According to the location information and direction calculating of the current location information and course and the location point of the controlled vehicle
The position deviation of the controlled vehicle.
5. vehicle route follow-up control apparatus according to claim 4, which is characterized in that the computing unit is also used to lead to
It crosses following manner and generates control instruction:
Restoring the controlled vehicle based on position deviation calculating, deflecting roller needs finally when driving to the destination path
The target angle reached；
According to the current angular of the target angle and the deflecting roller of the controlled vehicle, the deflecting roller is calculated from current angular
Turn to control amount required for the target angle；
Control instruction is generated based on the control amount.
6. vehicle route follow-up control apparatus according to claim 5, which is characterized in that the computing unit is for passing through
Following manner calculates the deflecting roller and turns to control amount required for the target angle from current angular:
By the way of closed-loop control, the control amount at the k moment is calculated according to following formula (1), formula (2),
Wherein, u is output quantity, and y is input quantity, and ρ is control step parameter, and λ is weight coefficient, and y ' (k) is the differential of y (k), φ
It (k) is pseudo- partial derivative；Wherein, η is step series, and μ is weight factor, Δ u (k- τ -1)=u (k- τ -1)-u (k- τ -2), simultaneously
For the ability for making parameter estimation algorithm that there is stronger tracking time-varying parameter, as φ (k)≤ε or Δ u (k- τ -1)≤ε,
φ (k)≤φ (1), wherein 0 ε≤1 <.
7. vehicle route follow-up control apparatus according to claim 1, which is characterized in that it further include wireless communication module,
The wireless communication module is used to send the information that exterior terminal equipment is shown that needs to be sent to of navigation control module
To background server.
8. vehicle route follow-up control apparatus according to claim 2, which is characterized in that the position sensor is for adopting
Collect course and the velocity information of the controlled vehicle；
The attitude transducer is also used for acquiring course and the velocity information of the controlled vehicle；
Navigation control module be also used to based on the position sensor acquire the controlled vehicle course and velocity information into
Row verifies the attitude transducer.
9. a kind of vehicle route tracking and controlling method, which is characterized in that the described method includes:
The information of the destination path of the current running condition information and generation of controlled vehicle based on acquisition determines described controlled
Vehicle deviates the position deviation of the destination path；
Control instruction is generated based on the position deviation；
The controlled Vehicular turn is driven based on the control instruction, corrects the position deviation, control makes the controlled vehicle
It is travelled along the destination path.
10. a kind of vehicle characterized by comprising vehicle route follow-up control apparatus a method as claimed in any one of claims 1-8.
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| CN201710932477.7A CN109656240A (en) | 2017-10-10 | 2017-10-10 | A kind of vehicle route follow-up control apparatus, method and vehicle |
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| CN110231826A (en) * | 2019-06-25 | 2019-09-13 | 苏州佳世达光电有限公司 | Transport vehicle control method, system and the transport vehicle using it |
| CN112346446A (en) * | 2019-08-08 | 2021-02-09 | 阿里巴巴集团控股有限公司 | Code-shedding recovery method and device for automatic guided transport vehicle and electronic equipment |
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