CN109799830A - Impact road roller automatic driving control system and method - Google Patents
Impact road roller automatic driving control system and method Download PDFInfo
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- CN109799830A CN109799830A CN201910169361.1A CN201910169361A CN109799830A CN 109799830 A CN109799830 A CN 109799830A CN 201910169361 A CN201910169361 A CN 201910169361A CN 109799830 A CN109799830 A CN 109799830A
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Abstract
Impact road roller automatic driving control system of the invention, including impact stone roller, tractor, intelligent driving controller, locating base station, handheld monitor terminal and wireless router, intelligent driving controller realizes the positioning to impact road roller by the signal of acquisition locating base station；Handheld monitor terminal realizes the ad hoc network with intelligent driving controller through wireless router.The control method of impact road roller automatic driving control system of the invention include: a) construct path learning；B) planning operation path；C) it automatic Pilot and rolls；D) manual intervention.System and method of the invention realizes percussive pressure road in the multiplicating motion work in work section, and instead of previous pilot steering, the occupation that the personnel that avoid jolt on impact road roller and caused is sick and wounded, improves work efficiency, reduces labour cost.
Description
Technical field
The present invention relates to a kind of automatic driving control system and methods, more specifically, more particularly to a kind of percussive pressure road
Machine automatic drive control system and method.
Background technique
Impact road roller, also referred to as impact roller are a kind of novel towed rollers for being under the jurisdiction of road roller, by
Composition is ground in tractor and impact.Impact road roller is by loading machine travel, rushing when grinding the weight and advance of itself using impact
Power is hit, cement pavement, roadbed are crushed and are compacted.To reach preferable consolidation effect, punching is distinctly claimed in job specfication
Travel speed when hitting road roller working is not less than 10Km/h.By repeatedly rolling, impact roller can generate extraordinary
Consolidation effect, therefore be widely used in construction sites such as highway, railway, dam, airports.But due to impact
Grinding is usually triangle or pentagonal configuration, and at compacting process initial stage, road surface is first pressed into the up-and-down surfaced road of " washboard " formula by meeting.
The operation process of impact road roller has three features: 1) multiple repetition fortune is carried out in a fixed area
It is dynamic；2) its motion profile needs to cover specified region；3) in second time compacting process, impact road roller can because Uneven road and
Significantly undulatory motion is generated, to cause driver fatigue, and it is sick and wounded easily to cause occupation.
Summary of the invention
The present invention in order to overcome the shortcomings of the above technical problems, provides a kind of impact road roller automatic driving control system
And method.
Impact road roller automatic driving control system of the invention, it is characterised in that: including impacting stone roller, tractor, intelligence
Driving controller, locating base station, handheld monitor terminal and wireless router, impact is ground to be connected with tractor, intelligent driving control
Device processed is set on tractor, the broken or compacting for driving tractor automatic running to drive impact compaction by rolling existing to roadbed；
Locating base station is located in work section, and intelligent driving controller is realized by the signal of acquisition locating base station to impact road roller
Positioning；Wireless router is set to work section, and handheld monitor terminal is realized and intelligent driving controller through wireless router
Ad hoc network, handheld monitor terminal realize to impact road roller working process monitoring.
Impact road roller automatic driving control system of the invention, the intelligent driving controller by microcontroller and and its
The DGPS Receiver that is connected, Inertial Measurement Unit IMU, laser radar, avoiding obstacles by supersonic wave sensor, monitoring camera, oil
Door control unit, direction controlling unit, brake control unit and radio network unit composition, microcontroller are received through differential GPS
Device obtains the position signal of locating base station, to realize the positioning to impact road roller, senses through laser radar or avoiding obstacles by supersonic wave
Device detects the obstacle information in front of tractor, through the image information in front of monitoring camera acquisition tractor, through wireless network
Unit, wireless router realize the ad hoc network with handheld monitor terminal, control through Throttle Opening Control unit, direction controlling unit, brake
Unit processed respectively controls the travel speed of tractor, driving direction and ramp to stop, obtains through Inertial Measurement Unit IMU
The posture information on percussive pressure road；The laser radar is set on migration vehicle through two-dimensional pan-tilt.
Impact road roller automatic driving control system of the invention, including DC servo motor, steering wheel gear and driving
Gear, steering wheel gear are fixed on the steering wheel shaft of tractor, and driving gear is meshed with steering wheel gear, DC servo
Motor drives driving gear to be rotated through electromagnetic clutch；Intelligent driving control system is through angular transducer detection tractor
Steering angle.
The control method of impact road roller automatic driving control system of the invention, which is characterized in that pass through following steps
To realize:
A) construction path learning, pilot steering tractor are learnt along construction area, in crossing in vehicle for traveling, intelligence
Driving controller records operation starting point, the operation terminal of construction area, in construction area according to the location coordinate information of acquisition
There are in the case where culvert, then record culvert starting point, culvert terminal；And the coordinate points information that will acquire is sent to hand-held control eventually
End；B) travel speed, the compacting counting, wrong wheel width of impact road roller are arranged by handheld monitor terminal for planning operation path
Degree, construction width of roadway, turning radius parameter, the operating path of impact road roller is gone out according to the parametric programming of setting；C) is automatic
It drives and rolls, operating path of the intelligent driving controller according to planning, control impact road roller progress automatic job；Work as front
When encountering barrier or operation to culvert starting point, deceleration-operation is carried out automatically, when obstacle distance reaches minimum braking distance,
Self-actuating brake simultaneously issues alarm signal to handheld monitor terminal；After barrier disappears, the automatic impact road roller that starts continues to make
Industry；When in certain time barrier do not disappear or other reasons cause parking without having restart conditionss when, then send out
Warning message requests manual intervention to handheld monitor terminal out；D) manual intervention, site operation personnel Ke Gen in work progress
According to surface evenness, speed is adjusted using handheld monitor terminal, when u-turn mode is set as manually reversing end for end, works as arrival
When reversing end for end position, u-turn is carried out by worker's driving tractor and is operated.
The control method of impact road roller automatic driving control system of the invention, in step a), if acquired i-th
The GPS coordinate of mark point is (Bi,Li,Hi), the Gaussian plane seat that formula calculates i-th of mark point is just being calculated according to gauss projection
Mark (xi,yi):
In formula (1), angle is radian, l "=L-L0, L0For central meridian longitude；N is radius of curvature of meridian, e
For the first eccentricity of ellipsoid, remember that a, b are respectively the long short radius of ellipsoid, f is flattening of ellipsoid, and W is the first auxiliary coefficient；
A=6378137.000m, b=
6356752.314m；F=1/298.257223563；T=tanBi；η2=e2cos2Bi,X is meridional arc
It is long, it is sought by following formula:
a0,a2,a4,a6,a8For fundamental constant, calculated by formula (3):
Wherein: m0,m2,m4,m6,m8For fundamental constant, it is calculated as follows:
The control method of impact road roller automatic driving control system of the invention in step b), is located at gauss coordinate system
The operation starting point coordinate in some lower section is (X0,Y0), the coordinate of operation terminal is (X1,Y2), the planning operation path is logical
Following steps are crossed to realize:
B-1) straightway equation of locus is (X in starting point0,Y0), terminal be (X1,Y2) section be linear section feelings
Under condition, it may be determined that the relevant parameter of the driving trace equation Ax+By+C=0 of impact road roller are as follows:
B-2) turning section trajectory planning, remembers the minimum turning radius set as rmin, overlap distance Lol, construction road surface
Width is W, then:
B-2-1) ifShow that impact road roller directly can not be reversed end for end once, requires manual intervention auxiliary and fall
Head；
B-2-2) ifShow that impact road roller can be reversed end for end directly, turning radius rmin, traveling
Equation of locus be (x-xcir)2+(y-ycir)2=rmin 2, the wherein central coordinate of circle of driving trace equation are as follows:
B-2-3) ifShowing that impact road roller is once turned can not turn to terminal from starting point, then will
Path planning is that two radiuses are rmin90 ° of circular arcs and straight line path combination；
B-3) automatic Pilot controls, in linear section driving process, the trajectory error calculation formula of impact road roller
Are as follows:
Wherein, (x, y) is position coordinates acquired in impact road roller driving process；
Trajectory error Computer Corp. during turning are as follows:
According to error derr, impact road roller Trajectory Tracking Control is carried out using based on Fuzzy PID.
The control method of impact road roller automatic driving control system of the invention, in step c), intelligent driving controller
Tractor is measured by laser radar sensor and the method for front obstacle distance is as follows:
C-1) calculates the posture under tractor quiescent conditions, and intelligent driving controller is through adding in Inertial Measurement Unit IMU
Velocity sensor obtains the 3-axis acceleration (a of tractorx,ay,az), the heel of tractor is then calculated using Euler's angle formula
Angle φ and Angle of Trim θ:
The deflection ψ of tractor movement is obtained by differential GPS receiver；
Using quaternary number and Euler's angle formula, obtained initial quaternary number are as follows:
C-2) obtains the posture under tractor current intelligence, the renewal equation of quaternary number are as follows:
In formula (10), ωx、ωy、ωzFor the real-time three axis angular rates value obtained through Inertial Measurement Unit IMU；
In turn, the attitude of carrier under tractor current intelligence is obtained are as follows:
C-3) carries out fusion treatment, adaptive correction algorithm to each sensing data using second order complementary filter algorithm
When domain equation may be expressed as:
Wherein,The respectively fused Angle of Trim of tractor, Angle of Heel, Kp1、Kp2、KI1、KI2It is filtering parameter；
C-4) laser radar posture is corrected, and is driven laser radar to carry out Angle of Trim using two-dimensional stage and isAngle of Heel isMovement, influenced with offsetting the undulatory motion of car body low frequency to the ranging of laser radar.
The beneficial effects of the present invention are: impact road roller automatic driving control system of the invention, by percussive pressure road
Locating base station is arranged in the work section of machine, so that intelligent driving controller can realize the precise positioning to road roller, to realize standard
True path planning；Intelligent driving controller realizes the ad hoc network with locating base station through wireless router, so that intelligent driving control
The path key point of device acquisition processed is uploaded to handheld terminal, and the operating path of handheld terminal planning is transmitted to intelligent driving control
Device, position coordinates, steering angle of the intelligent driving controller according to the road roller of acquisition, driving direction, traveling to road roller
Speed is controlled and road roller is travelled according to the working path of planning.
The control method of impact road roller automatic driving control system of the invention, first pilot steering tractor are being constructed
Region is learnt, and to obtain operation starting point, terminal and culvert starting point, terminal, then basis is set in handheld monitor terminal
The parameter for the impact road roller set cooks up the operating path of road roller；Then, by intelligent driving controller according to the barrier of detection
Hinder object distance, whether be located at culvert starting point to control the automatic running of road roller, realizes percussive pressure road in work section
Motion work is repeated several times and avoids the duty that personnel jolt on impact road roller and caused instead of previous pilot steering
Industry is sick and wounded, improves work efficiency, and reduces labour cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of impact road roller of the invention；
Fig. 2 is the schematic diagram of impact road roller automatic driving control system of the invention；
Fig. 3 is the working principle diagram of intelligent driving controller in the present invention；
Fig. 4 is the course changing control structure chart of tractor in the present invention；
Fig. 5 is the operating path planning principle figure of impact road roller in the present invention.
In figure: 1 impact is ground, and 2 tractors, 3 intelligent driving controllers, 4 locating base stations, 5 handheld monitor terminals, 6 without route
By device, 7 steering wheels, 8 steering wheel shafts, 9 steering wheel gears, 10 driving gears.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1, give the structural schematic diagram of impact road roller of the invention, shown in impact road roller by impacting
1 and the composition of tractor 2 are ground, 1 rear for hanging on tractor 2 is ground in impact, so that tractor 2 drives impact stone roller 1 to be moved.Institute
It is triangle that the impact shown, which grinds 1, also can be pentagon, and during impact stone roller 1 is moved with tractor 2, impact grinds 1 by certainly
The weight of body is crushed cement pavement, or is compacted to subgrade and pavement.
As shown in Fig. 2, the schematic diagram of impact road roller automatic driving control system of the invention is given, by percussive pressure
Road machine, locating base station 4, intelligent driving controller 3, handheld monitor terminal 5 and wireless router 6 form, and locating base station 4 is set to
The central region in work section, for realizing the precise positioning of impact road roller, using differential GPS receiver,
Reachable ± the 1cm of positioning accuracy.Intelligent driving controller 3 is set on tractor 2, and intelligent driving controller 3 can be realized to traction
The operational parameter detection of vehicle 2 such as location information, steering angle and the speed of service, and can carry out the driving path of impact road roller
It automatically controls.Handheld monitor terminal 5 is used to plan the driving path of impact road roller, and to the running state parameter of press machine into
Row display, to realize the monitoring to road roller operating status.Wireless router 6 is provided with work section, so that hand-held monitoring is whole
End 5 carries out ad hoc network through wireless router 6 and intelligent driving controller 3.
As shown in figure 3, giving the working principle diagram of intelligent driving controller in the present invention, it is seen then that shown in intelligently drive
Sailing controller 3 can realize that direction controlling and detection, Throttle Opening Control and detection, brake is controllable and detects, and have wireless routing
Device, differential GPS receiver, avoiding obstacles by supersonic wave, laser radar, camera.Intelligent driving controller 1 by microcontroller and with its phase
The DGPS Receiver of connection, Inertial Measurement Unit IMU, laser radar, avoiding obstacles by supersonic wave sensor, monitoring camera, throttle
Control unit, direction controlling unit, brake control unit and radio network unit composition, microcontroller is through differential GPS receiver
The position signal of locating base station is obtained, to realize the positioning to impact road roller, through laser radar or avoiding obstacles by supersonic wave sensor
The obstacle information in front of tractor is detected, through the image information in front of monitoring camera acquisition tractor, through wireless network list
Member, wireless router (6) realize the ad hoc network with handheld monitor terminal, control through Throttle Opening Control unit, direction controlling unit, brake
Unit processed respectively controls the travel speed of tractor, driving direction and ramp to stop, obtains through Inertial Measurement Unit IMU
The posture information on percussive pressure road；The laser radar is set on migration vehicle through two-dimensional pan-tilt.
As shown in figure 4, giving the course changing control structure chart of tractor in the present invention, steering wheel passes through DC servo motor
Rotation is driven, vehicle steering angle feeds back to control system, motor and driving by the angular transducer being mounted in steering shaft
Electromagnetic clutch is installed between gear, it, can be by electromagnetic clutch by driving motor and steering wheel system in the case of pilot steering
System is detached from, to mitigate steering wheel resistance when pilot steering.
As shown in figure 5, giving the operating path planning principle figure of impact road roller in the present invention, pass through following steps
To realize:
A) construction path learning, pilot steering tractor are learnt along construction area, in crossing in vehicle for traveling, intelligence
Driving controller records operation starting point, the operation terminal of construction area, in construction area according to the location coordinate information of acquisition
There are in the case where culvert, then record culvert starting point, culvert terminal；And the coordinate points information that will acquire is sent to hand-held control eventually
End；
In step a), if the GPS coordinate of i-th acquired of mark point is (Bi,Li,Hi), public affairs are just calculated according to gauss projection
Formula calculates the Gauss plane coordinate (x of i-th of mark pointi,yi):
In formula (1), angle is radian, l "=L-L0, L0For central meridian longitude；N is radius of curvature of meridian, e
For the first eccentricity of ellipsoid, remember that a, b are respectively the long short radius of ellipsoid, f is flattening of ellipsoid, and W is the first auxiliary coefficient；
A=6378137.000m, b=
6356752.314m；F=1/298.257223563；T=tanBi；η2=e2cos2Bi,X is meridional arc
It is long, it is sought by following formula:
a0,a2,a4,a6,a8For fundamental constant, calculated by formula (3):
Wherein: m0,m2,m4,m6,m8For fundamental constant, it is calculated as follows:
B) travel speed, compacting counting, the mistake of impact road roller are arranged by handheld monitor terminal for planning operation path
Width, construction width of roadway, turning radius parameter are taken turns, the operating path of impact road roller is gone out according to the parametric programming of setting；
In step b), the operation starting point coordinate for being located at some section under gauss coordinate system is (X0,Y0), the seat of operation terminal
It is designated as (X1,Y2), the planning operation path is realized by following steps:
B-1) straightway equation of locus is (X in starting point0,Y0), terminal be (X1,Y2) section be linear section feelings
Under condition, it may be determined that the relevant parameter of the driving trace equation Ax+By+C=0 of impact road roller are as follows:
B-2) turning section trajectory planning, remembers the minimum turning radius set as rmin, overlap distance Lol, construction road surface
Width is W, then:
B-2-1) ifShow that impact road roller directly can not be reversed end for end once, requires manual intervention auxiliary and fall
Head；
B-2-2) ifShow that impact road roller can be reversed end for end directly, turning radius rmin, traveling
Equation of locus be (x-xcir)2+(y-ycir)2=rmin 2, the wherein central coordinate of circle of driving trace equation are as follows:
B-2-3) ifShowing that impact road roller is once turned can not turn to terminal from starting point, then will
Path planning is that two radiuses are rmin90 ° of circular arcs and straight line path combination；
B-3) automatic Pilot controls, in linear section driving process, the trajectory error calculation formula of impact road roller
Are as follows:
Wherein, (x, y) is position coordinates acquired in impact road roller driving process；
Trajectory error Computer Corp. during turning are as follows:
According to error derr, impact road roller Trajectory Tracking Control is carried out using based on Fuzzy PID.
C) it automatic Pilot and rolls, intelligent driving controller is carried out according to the operating path of planning, control impact road roller
Automatic job；When front encounters barrier or operation to culvert starting point, deceleration-operation is carried out automatically, when obstacle distance reaches
When minimum braking distance, self-actuating brake simultaneously issues alarm signal to handheld monitor terminal；After barrier disappears, automatic starting punching
It hits road roller and continues operation；When barrier does not disappear in certain time or other reasons cause parking without having again
When entry condition, then alert to handheld monitor terminal, requests manual intervention；
There are many impact stone roller own wt of surge machine, up to 16t.The impact road roller of normal work is in emergency braking
When, minimum braking distance is generally all not less than 10m.Laser radar sensor measurement tractor and preceding object are selected in the present invention
The distance of object.But when road surface exists and rises and falls, the measurement result of laser radar is very easy to generate very big fluctuation, is easy
Cause unnecessary deceleration.
In step c), intelligent driving controller measures tractor and front obstacle distance by laser radar sensor
Method is as follows:
C-1) calculates the posture under tractor quiescent conditions, and intelligent driving controller is through adding in Inertial Measurement Unit IMU
Velocity sensor obtains the 3-axis acceleration (a of tractorx,ay,az), the heel of tractor is then calculated using Euler's angle formula
Angle φ and Angle of Trim θ:
The deflection ψ of tractor movement is obtained by differential GPS receiver；
Using quaternary number and Euler's angle formula, obtained initial quaternary number are as follows:
C-2) obtains the posture under tractor current intelligence, the renewal equation of quaternary number are as follows:
In formula (10), ωx、ωy、ωzFor the real-time three axis angular rates value obtained through Inertial Measurement Unit IMU；
In turn, the attitude of carrier under tractor current intelligence is obtained are as follows:
C-3) carries out fusion treatment, adaptive correction algorithm to each sensing data using second order complementary filter algorithm
When domain equation may be expressed as:
Wherein,The respectively fused Angle of Trim of tractor, Angle of Heel, Kp1、Kp2、KI1、KI2It is filtering parameter；
C-4) laser radar posture is corrected, and is driven laser radar to carry out Angle of Trim using two-dimensional stage and isAngle of Heel
ForMovement, influenced with offsetting the undulatory motion of car body low frequency to the ranging of laser radar.
D) manual intervention, site operation personnel can utilize handheld monitor terminal pair according to surface evenness in work progress
Speed is adjusted, and when u-turn mode is set as manually reversing end for end, when reaching u-turn position, is driven tractor by worker and is carried out
U-turn operation.
When barrier and tractor distance are less than setting value, it should be slowed down or be stopped.When vehicle is in the fortune that rises and falls
When in dynamic, horizontality can be no longer on due to vehicle attitude, it is very big partially to will lead to the obstacle distance generation measured
Difference.Laser radar in the present invention is fixed on the car body by two shaft platforms, after calculating the Angle of Trim and Angle of Heel of car body,
By the undulatory motion of the quick balancing out motions car body low frequency of two-dimensional pan-tilt, to achieve the purpose that avoidance data calibration.And it will
The attitude angle of itself of two-dimensional pan-tilt is introduced into the calculating of front obstacle distance, to guarantee that barrier is surveyed to the full extent
The accuracy of amount.
Claims (7)
1. a kind of impact road roller automatic driving control system, it is characterised in that: grind (1), tractor (2), intelligence including impact
Driving controller (3), locating base station (4), handheld monitor terminal (5) and wireless router (6), impact is ground to be connected with tractor
It connects, intelligent driving controller is set on tractor, for driving tractor automatic running to drive impact compaction by rolling existing to roadbed
Broken or compacting；Locating base station is located in work section, and intelligent driving controller is realized by the signal of acquisition locating base station
Positioning to impact road roller；Wireless router is set to work section, and handheld monitor terminal is realized through wireless router and intelligence
The ad hoc network of energy driving controller, handheld monitor terminal realize the monitoring to impact road roller working process.
2. impact road roller automatic driving control system according to claim 1, it is characterised in that: the intelligent driving control
Device (3) processed is by microcontroller and coupled DGPS Receiver, Inertial Measurement Unit IMU, laser radar, ultrasonic wave
Obstacle avoidance sensor, monitoring camera, Throttle Opening Control unit, direction controlling unit, brake control unit and radio network unit group
At microcontroller obtains the position signal of locating base station through differential GPS receiver, to realize the positioning to impact road roller, warp
Obstacle information in front of laser radar or avoiding obstacles by supersonic wave sensor detection tractor, before acquiring tractor through monitoring camera
The image information of side realizes the ad hoc network with handheld monitor terminal through radio network unit, wireless router (6), through throttle control
Unit processed, direction controlling unit, brake control unit respectively carry out the travel speed of tractor, driving direction and ramp to stop
Control obtains the posture information on percussive pressure road through Inertial Measurement Unit IMU；The laser radar is set to migration through two-dimensional pan-tilt
Che Shang.
3. impact road roller automatic driving control system according to claim 1 or 2, it is characterised in that: watched including direct current
It takes motor, steering wheel gear (9) and driving gear (10), steering wheel gear to be fixed on the steering wheel shaft (8) of tractor, drive
Moving gear is meshed with steering wheel gear, and DC servo motor drives driving gear to be rotated through electromagnetic clutch；Intelligence is driven
Sail steering angle of the control system through angular transducer detection tractor.
4. a kind of control method based on impact road roller automatic driving control system described in claim 1, which is characterized in that
It is realized by following steps:
A) construction path learning, pilot steering tractor are learnt along construction area, in crossing in vehicle for traveling, intelligent driving
Controller records operation starting point, the operation terminal of construction area, exists in construction area according to the location coordinate information of acquisition
In the case where culvert, then culvert starting point, culvert terminal are recorded；And the coordinate points information that will acquire is sent to hand-held controlling terminal；
B) travel speed, the compacting counting, wrong wheel width of impact road roller are arranged by handheld monitor terminal for planning operation path
Degree, construction width of roadway, turning radius parameter, the operating path of impact road roller is gone out according to the parametric programming of setting；
C) it automatic Pilot and rolls, according to the operating path of planning, control impact road roller carries out automatic intelligent driving controller
Operation；When front encounters barrier or operation to culvert starting point, deceleration-operation is carried out automatically, when obstacle distance reaches minimum
When braking distance, self-actuating brake simultaneously issues alarm signal to handheld monitor terminal；After barrier disappears, start percussive pressure automatically
Road machine continues operation；When barrier does not disappear in certain time or other reasons cause parking without having restarting
When condition, then alert to handheld monitor terminal, requests manual intervention；
D) manual intervention, site operation personnel can be according to surface evenness, using handheld monitor terminal to speed in work progress
It is adjusted, when u-turn mode is set as manually reversing end for end, when reaching u-turn position, tractor is driven by worker and is reversed end for end
Operation.
5. the control method of impact road roller automatic driving control system according to claim 4, which is characterized in that step
A) in, if the GPS coordinate of i-th acquired of mark point is (Bi,Li,Hi), formula is just being calculated according to gauss projection calculates i-th
Gauss plane coordinate (the x of a mark pointi,yi):
In formula (1), angle is radian, l "=L-L0, L0For central meridian longitude；N is radius of curvature of meridian, and e is ellipse
First eccentricity of ball, note a, b are respectively the long short radius of ellipsoid, and f is flattening of ellipsoid, and W is the first auxiliary coefficient；
A=6378137.000m, b=6356752.314m；f
=1/298.257223563；T=tanBi；η2=e2cos2Bi,X is Meridian arc length, by as follows
Formula is sought:
a0,a2,a4,a6,a8For fundamental constant, calculated by formula (3):
Wherein: m0,m2,m4,m6,m8For fundamental constant, it is calculated as follows:
6. the control method of impact road roller automatic driving control system according to claim 4, which is characterized in that step
B) in, the operation starting point coordinate for being located at some section under gauss coordinate system is (X0,Y0), the coordinate of operation terminal is (X1,Y2),
It is realized by following steps in the planning operation path:
B-1) straightway equation of locus is (X in starting point0,Y0), terminal be (X1,Y2) section be linear section in the case where,
It can determine the relevant parameter of the driving trace equation Ax+By+C=0 of impact road roller are as follows:
B-2) turning section trajectory planning, remembers the minimum turning radius set as rmin, overlap distance Lol, construction width of roadway
For W, then:
B-2-1) ifShow that impact road roller directly can not be reversed end for end once, requires manual intervention auxiliary and turn around；
B-2-2) ifShow that impact road roller can be reversed end for end directly, turning radius rmin, the rail of traveling
Mark equation is (x-xcir)2+(y-ycir)2=rmin 2, the wherein central coordinate of circle of driving trace equation are as follows:
B-2-3) ifShowing that impact road roller is once turned can not turn from starting point to terminal, then by path
Being planned to two radiuses is rmin90 ° of circular arcs and straight line path combination；
B-3) automatic Pilot controls, in linear section driving process, the trajectory error calculation formula of impact road roller are as follows:
Wherein, (x, y) is position coordinates acquired in impact road roller driving process；
Trajectory error Computer Corp. during turning are as follows:
According to error derr, impact road roller Trajectory Tracking Control is carried out using based on Fuzzy PID.
7. the control method of impact road roller automatic driving control system according to claim 4, which is characterized in that step
C) in, intelligent driving controller measures tractor by laser radar sensor and the method for front obstacle distance is as follows:
C-1) calculates the posture under tractor quiescent conditions, and intelligent driving controller is through the acceleration in Inertial Measurement Unit IMU
Sensor obtains the 3-axis acceleration (a of tractorx,ay,az), the Angle of Heel φ of tractor is then calculated using Euler's angle formula
With Angle of Trim θ:
The deflection ψ of tractor movement is obtained by differential GPS receiver；
Using quaternary number and Euler's angle formula, obtained initial quaternary number are as follows:
C-2) obtains the posture under tractor current intelligence, the renewal equation of quaternary number are as follows:
In formula (10), ωx、ωy、ωzFor the real-time three axis angular rates value obtained through Inertial Measurement Unit IMU；
In turn, the attitude of carrier under tractor current intelligence is obtained are as follows:
C-3) using second order complementary filter algorithm to each sensing data carry out fusion treatment, adaptive correction algorithm when
Domain equation may be expressed as:
Wherein,The respectively fused Angle of Trim of tractor, Angle of Heel, Kp1、Kp2、KI1、KI2It is filtering parameter；
C-4) laser radar posture is corrected, and is driven laser radar to carry out Angle of Trim using two-dimensional stage and isAngle of Heel is
Movement, influenced with offsetting the undulatory motion of car body low frequency to the ranging of laser radar.
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